warp-lang 1.10.0__py3-none-macosx_11_0_arm64.whl

warp/native/intersect_tri.h

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+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/* Triangle/triangle intersection test routine,
+ * by Tomas Moller, 1997.
+ * See article "A Fast Triangle-Triangle Intersection Test",
+ * Journal of Graphics Tools, 2(2), 1997
+ *
+ * Updated June 1999: removed the divisions -- a little faster now!
+ * Updated October 1999: added {} to CROSS and SUB macros
+ *
+ * int NoDivTriTriIsect(T V0[3],T V1[3],T V2[3],
+ *                      T U0[3],T U1[3],T U2[3])
+ *
+ * parameters: vertices of triangle 1: V0,V1,V2
+ *             vertices of triangle 2: U0,U1,U2
+ * result    : returns 1 if the triangles intersect, otherwise 0
+ *
+ */
+
+ /*
+ Copyright 2020 Tomas Akenine-Möller
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
+ documentation files (the "Software"), to deal in the Software without restriction, including without limitation
+ the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and
+ to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or substantial
+ portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS
+ OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
+ OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/* if USE_EPSILON_TEST is true then we do a check:
+         if |dv|<EPSILON then dv=0.0;
+   else no check is done (which is less robust)
+*/
+#define USE_EPSILON_TEST TRUE
+#define EPSILON 0.000001
+
+
+/* some macros */
+#define CROSS(dest,v1,v2){                     \
+              dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
+              dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
+              dest[2]=v1[0]*v2[1]-v1[1]*v2[0];}
+
+#define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
+
+#define SUB(dest,v1,v2){         \
+            dest[0]=v1[0]-v2[0]; \
+            dest[1]=v1[1]-v2[1]; \
+            dest[2]=v1[2]-v2[2];}
+
+/* sort so that a<=b */
+#define SORT(a,b)       \
+             if(a>b)    \
+             {          \
+               T c; \
+               c=a;     \
+               a=b;     \
+               b=c;     \
+             }
+
+
+/* this edge to edge test is based on Franlin Antonio's gem:
+   "Faster Line Segment Intersection", in Graphics Gems III,
+   pp. 199-202 */
+#define EDGE_EDGE_TEST(V0,U0,U1)                      \
+  Bx=U0[i0]-U1[i0];                                   \
+  By=U0[i1]-U1[i1];                                   \
+  Cx=V0[i0]-U0[i0];                                   \
+  Cy=V0[i1]-U0[i1];                                   \
+  f=Ay*Bx-Ax*By;                                      \
+  d=By*Cx-Bx*Cy;                                      \
+  if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f))  \
+  {                                                   \
+    e=Ax*Cy-Ay*Cx;                                    \
+    if(f>0)                                           \
+    {                                                 \
+      if(e>=0 && e<=f) return 1;                      \
+    }                                                 \
+    else                                              \
+    {                                                 \
+      if(e<=0 && e>=f) return 1;                      \
+    }                                                 \
+  }
+
+#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
+{                                              \
+  T Ax,Ay,Bx,By,Cx,Cy,e,d,f;               \
+  Ax=V1[i0]-V0[i0];                            \
+  Ay=V1[i1]-V0[i1];                            \
+  /* test edge U0,U1 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U0,U1);                    \
+  /* test edge U1,U2 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U1,U2);                    \
+  /* test edge U2,U1 against V0,V1 */          \
+  EDGE_EDGE_TEST(V0,U2,U0);                    \
+}
+
+#define POINT_IN_TRI(V0,U0,U1,U2)           \
+{                                           \
+  T a,b,c,d0,d1,d2;                     \
+  /* is T1 completely inside T2? */          \
+  /* check if V0 is inside tri(U0,U1,U2) */ \
+  a=U1[i1]-U0[i1];                          \
+  b=-(U1[i0]-U0[i0]);                       \
+  c=-a*U0[i0]-b*U0[i1];                     \
+  d0=a*V0[i0]+b*V0[i1]+c;                   \
+                                            \
+  a=U2[i1]-U1[i1];                          \
+  b=-(U2[i0]-U1[i0]);                       \
+  c=-a*U1[i0]-b*U1[i1];                     \
+  d1=a*V0[i0]+b*V0[i1]+c;                   \
+                                            \
+  a=U0[i1]-U2[i1];                          \
+  b=-(U0[i0]-U2[i0]);                       \
+  c=-a*U2[i0]-b*U2[i1];                     \
+  d2=a*V0[i0]+b*V0[i1]+c;                   \
+  if(d0*d1>0.0)                             \
+  {                                         \
+    if(d0*d2>0.0) return 1;                 \
+  }                                         \
+}
+
+
+// Type-generic abs that works on device & host without relying on std overloads
+CUDA_CALLABLE inline float abs_t(float x) { return fabsf(x); }
+CUDA_CALLABLE inline double abs_t(double x) { return fabs(x); }
+
+template <typename T>
+CUDA_CALLABLE inline T abs_t(T x) { return x < T(0) ? -x : x; }
+
+template<typename T>
+CUDA_CALLABLE inline int coplanar_tri_tri(T N[3],T V0[3],T V1[3],T V2[3],
+                     T U0[3],T U1[3],T U2[3])
+{
+   T A[3];
+   short i0,i1;
+   /* first project onto an axis-aligned plane, that maximizes the area */
+   /* of the triangles, compute indices: i0,i1. */
+   A[0]=abs_t(N[0]);
+   A[1]=abs_t(N[1]);
+   A[2]=abs_t(N[2]);
+   if(A[0]>A[1])
+   {
+      if(A[0]>A[2])
+      {
+          i0=1;      /* A[0] is greatest */
+          i1=2;
+      }
+      else
+      {
+          i0=0;      /* A[2] is greatest */
+          i1=1;
+      }
+   }
+   else   /* A[0]<=A[1] */
+   {
+      if(A[2]>A[1])
+      {
+          i0=0;      /* A[2] is greatest */
+          i1=1;
+      }
+      else
+      {
+          i0=0;      /* A[1] is greatest */
+          i1=2;
+      }
+    }
+
+    /* test all edges of triangle 1 against the edges of triangle 2 */
+    EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2);
+    EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2);
+    EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2);
+
+    /* finally, test if tri1 is totally contained in tri2 or vice versa */
+    POINT_IN_TRI(V0,U0,U1,U2);
+    POINT_IN_TRI(U0,V0,V1,V2);
+
+    return 0;
+}
+
+
+
+#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
+{ \
+        if(D0D1>0.0f) \
+        { \
+                /* here we know that D0D2<=0.0 */ \
+            /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+        } \
+        else if(D0D2>0.0f)\
+        { \
+                /* here we know that d0d1<=0.0 */ \
+            A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+        } \
+        else if(D1*D2>0.0f || D0!=0.0f) \
+        { \
+                /* here we know that d0d1<=0.0 or that D0!=0.0 */ \
+                A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
+        } \
+        else if(D1!=0.0f) \
+        { \
+                A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+        } \
+        else if(D2!=0.0f) \
+        { \
+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+        } \
+        else \
+        { \
+                /* triangles are coplanar */ \
+                return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \
+        } \
+}
+
+
+template<typename T>
+CUDA_CALLABLE inline int NoDivTriTriIsect(T V0[3], T V1[3], T V2[3],
+    T U0[3], T U1[3], T U2[3])
+{
+  T E1[3],E2[3];
+  T N1[3],N2[3],d1,d2;
+  T du0,du1,du2,dv0,dv1,dv2;
+  T D[3];
+  T isect1[2], isect2[2];
+  T du0du1,du0du2,dv0dv1,dv0dv2;
+  short index;
+  T vp0,vp1,vp2;
+  T up0,up1,up2;
+  T bb,cc,max;
+
+  /* compute plane equation of triangle(V0,V1,V2) */
+  SUB(E1,V1,V0);
+  SUB(E2,V2,V0);
+  CROSS(N1,E1,E2);
+  d1=-DOT(N1,V0);
+  /* plane equation 1: N1.X+d1=0 */
+
+  /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/
+  du0=DOT(N1,U0)+d1;
+  du1=DOT(N1,U1)+d1;
+  du2=DOT(N1,U2)+d1;
+
+  /* coplanarity robustness check */
+#if USE_EPSILON_TEST==TRUE
+  if(abs_t(du0)<EPSILON) du0=0.0;
+  if(abs_t(du1)<EPSILON) du1=0.0;
+  if(abs_t(du2)<EPSILON) du2=0.0;
+#endif
+  du0du1=du0*du1;
+  du0du2=du0*du2;
+
+  if(du0du1>0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute plane of triangle (U0,U1,U2) */
+  SUB(E1,U1,U0);
+  SUB(E2,U2,U0);
+  CROSS(N2,E1,E2);
+  d2=-DOT(N2,U0);
+  /* plane equation 2: N2.X+d2=0 */
+
+  /* put V0,V1,V2 into plane equation 2 */
+  dv0=DOT(N2,V0)+d2;
+  dv1=DOT(N2,V1)+d2;
+  dv2=DOT(N2,V2)+d2;
+
+#if USE_EPSILON_TEST==TRUE
+  if(abs_t(dv0)<EPSILON) dv0=0.0;
+  if(abs_t(dv1)<EPSILON) dv1=0.0;
+  if(abs_t(dv2)<EPSILON) dv2=0.0;
+#endif
+
+  dv0dv1=dv0*dv1;
+  dv0dv2=dv0*dv2;
+
+  if(dv0dv1>0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */
+    return 0;                    /* no intersection occurs */
+
+  /* compute direction of intersection line */
+  CROSS(D,N1,N2);
+
+  /* compute and index to the largest component of D */
+  max=abs_t(D[0]);
+  index=0;
+  bb=abs_t(D[1]);
+  cc=abs_t(D[2]);
+  if(bb>max) max=bb,index=1;
+  if(cc>max) max=cc,index=2;
+
+  /* this is the simplified projection onto L*/
+  vp0=V0[index];
+  vp1=V1[index];
+  vp2=V2[index];
+
+  up0=U0[index];
+  up1=U1[index];
+  up2=U2[index];
+
+  /* compute interval for triangle 1 */
+  T a,b,c,x0,x1;
+  NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
+
+  /* compute interval for triangle 2 */
+  T d,e,f,y0,y1;
+  NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
+
+  T xx,yy,xxyy,tmp;
+  xx=x0*x1;
+  yy=y0*y1;
+  xxyy=xx*yy;
+
+  tmp=a*xxyy;
+  isect1[0]=tmp+b*x1*yy;
+  isect1[1]=tmp+c*x0*yy;
+
+  tmp=d*xxyy;
+  isect2[0]=tmp+e*xx*y1;
+  isect2[1]=tmp+f*xx*y0;
+
+  SORT(isect1[0],isect1[1]);
+  SORT(isect2[0],isect2[1]);
+
+  if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+  return 1;
+}