diff options
Diffstat (limited to 'intern/cycles/util/util_transform.h')
| -rw-r--r-- | intern/cycles/util/util_transform.h | 578 |
1 files changed, 297 insertions, 281 deletions
diff --git a/intern/cycles/util/util_transform.h b/intern/cycles/util/util_transform.h index e4cadd3e81a..13ca27c2fed 100644 --- a/intern/cycles/util/util_transform.h +++ b/intern/cycles/util/util_transform.h @@ -18,7 +18,7 @@ #define __UTIL_TRANSFORM_H__ #ifndef __KERNEL_GPU__ -#include <string.h> +# include <string.h> #endif #include "util/util_math.h" @@ -29,11 +29,17 @@ CCL_NAMESPACE_BEGIN /* Affine transformation, stored as 4x3 matrix. */ typedef struct Transform { - float4 x, y, z; + float4 x, y, z; #ifndef __KERNEL_GPU__ - float4 operator[](int i) const { return *(&x + i); } - float4& operator[](int i) { return *(&x + i); } + float4 operator[](int i) const + { + return *(&x + i); + } + float4 &operator[](int i) + { + return *(&x + i); + } #endif } Transform; @@ -42,267 +48,268 @@ typedef struct Transform { * rotation (4), then translation (3), then 3x3 scale matrix (9). */ typedef struct DecomposedTransform { - float4 x, y, z, w; + float4 x, y, z, w; } DecomposedTransform; /* Functions */ ccl_device_inline float3 transform_point(const Transform *t, const float3 a) { - /* TODO(sergey): Disabled for now, causes crashes in certain cases. */ + /* TODO(sergey): Disabled for now, causes crashes in certain cases. */ #if defined(__KERNEL_SSE__) && defined(__KERNEL_SSE2__) - ssef x, y, z, w, aa; - aa = a.m128; + ssef x, y, z, w, aa; + aa = a.m128; - x = _mm_loadu_ps(&t->x.x); - y = _mm_loadu_ps(&t->y.x); - z = _mm_loadu_ps(&t->z.x); - w = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f); + x = _mm_loadu_ps(&t->x.x); + y = _mm_loadu_ps(&t->y.x); + z = _mm_loadu_ps(&t->z.x); + w = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f); - _MM_TRANSPOSE4_PS(x, y, z, w); + _MM_TRANSPOSE4_PS(x, y, z, w); - ssef tmp = shuffle<0>(aa) * x; - tmp = madd(shuffle<1>(aa), y, tmp); - tmp = madd(shuffle<2>(aa), z, tmp); - tmp += w; + ssef tmp = shuffle<0>(aa) * x; + tmp = madd(shuffle<1>(aa), y, tmp); + tmp = madd(shuffle<2>(aa), z, tmp); + tmp += w; - return float3(tmp.m128); + return float3(tmp.m128); #else - float3 c = make_float3( - a.x*t->x.x + a.y*t->x.y + a.z*t->x.z + t->x.w, - a.x*t->y.x + a.y*t->y.y + a.z*t->y.z + t->y.w, - a.x*t->z.x + a.y*t->z.y + a.z*t->z.z + t->z.w); + float3 c = make_float3(a.x * t->x.x + a.y * t->x.y + a.z * t->x.z + t->x.w, + a.x * t->y.x + a.y * t->y.y + a.z * t->y.z + t->y.w, + a.x * t->z.x + a.y * t->z.y + a.z * t->z.z + t->z.w); - return c; + return c; #endif } ccl_device_inline float3 transform_direction(const Transform *t, const float3 a) { #if defined(__KERNEL_SSE__) && defined(__KERNEL_SSE2__) - ssef x, y, z, w, aa; - aa = a.m128; - x = _mm_loadu_ps(&t->x.x); - y = _mm_loadu_ps(&t->y.x); - z = _mm_loadu_ps(&t->z.x); - w = _mm_setzero_ps(); + ssef x, y, z, w, aa; + aa = a.m128; + x = _mm_loadu_ps(&t->x.x); + y = _mm_loadu_ps(&t->y.x); + z = _mm_loadu_ps(&t->z.x); + w = _mm_setzero_ps(); - _MM_TRANSPOSE4_PS(x, y, z, w); + _MM_TRANSPOSE4_PS(x, y, z, w); - ssef tmp = shuffle<0>(aa) * x; - tmp = madd(shuffle<1>(aa), y, tmp); - tmp = madd(shuffle<2>(aa), z, tmp); + ssef tmp = shuffle<0>(aa) * x; + tmp = madd(shuffle<1>(aa), y, tmp); + tmp = madd(shuffle<2>(aa), z, tmp); - return float3(tmp.m128); + return float3(tmp.m128); #else - float3 c = make_float3( - a.x*t->x.x + a.y*t->x.y + a.z*t->x.z, - a.x*t->y.x + a.y*t->y.y + a.z*t->y.z, - a.x*t->z.x + a.y*t->z.y + a.z*t->z.z); + float3 c = make_float3(a.x * t->x.x + a.y * t->x.y + a.z * t->x.z, + a.x * t->y.x + a.y * t->y.y + a.z * t->y.z, + a.x * t->z.x + a.y * t->z.y + a.z * t->z.z); - return c; + return c; #endif } ccl_device_inline float3 transform_direction_transposed(const Transform *t, const float3 a) { - float3 x = make_float3(t->x.x, t->y.x, t->z.x); - float3 y = make_float3(t->x.y, t->y.y, t->z.y); - float3 z = make_float3(t->x.z, t->y.z, t->z.z); + float3 x = make_float3(t->x.x, t->y.x, t->z.x); + float3 y = make_float3(t->x.y, t->y.y, t->z.y); + float3 z = make_float3(t->x.z, t->y.z, t->z.z); - return make_float3(dot(x, a), dot(y, a), dot(z, a)); + return make_float3(dot(x, a), dot(y, a), dot(z, a)); } -ccl_device_inline Transform make_transform(float a, float b, float c, float d, - float e, float f, float g, float h, - float i, float j, float k, float l) +ccl_device_inline Transform make_transform(float a, + float b, + float c, + float d, + float e, + float f, + float g, + float h, + float i, + float j, + float k, + float l) { - Transform t; - - t.x.x = a; t.x.y = b; t.x.z = c; t.x.w = d; - t.y.x = e; t.y.y = f; t.y.z = g; t.y.w = h; - t.z.x = i; t.z.y = j; t.z.z = k; t.z.w = l; - - return t; + Transform t; + + t.x.x = a; + t.x.y = b; + t.x.z = c; + t.x.w = d; + t.y.x = e; + t.y.y = f; + t.y.z = g; + t.y.w = h; + t.z.x = i; + t.z.y = j; + t.z.z = k; + t.z.w = l; + + return t; } /* Constructs a coordinate frame from a normalized normal. */ ccl_device_inline Transform make_transform_frame(float3 N) { - const float3 dx0 = cross(make_float3(1.0f, 0.0f, 0.0f), N); - const float3 dx1 = cross(make_float3(0.0f, 1.0f, 0.0f), N); - const float3 dx = normalize((dot(dx0,dx0) > dot(dx1,dx1))? dx0: dx1); - const float3 dy = normalize(cross(N, dx)); - return make_transform(dx.x, dx.y, dx.z, 0.0f, - dy.x, dy.y, dy.z, 0.0f, - N.x , N.y, N.z, 0.0f); + const float3 dx0 = cross(make_float3(1.0f, 0.0f, 0.0f), N); + const float3 dx1 = cross(make_float3(0.0f, 1.0f, 0.0f), N); + const float3 dx = normalize((dot(dx0, dx0) > dot(dx1, dx1)) ? dx0 : dx1); + const float3 dy = normalize(cross(N, dx)); + return make_transform(dx.x, dx.y, dx.z, 0.0f, dy.x, dy.y, dy.z, 0.0f, N.x, N.y, N.z, 0.0f); } #ifndef __KERNEL_GPU__ ccl_device_inline Transform operator*(const Transform a, const Transform b) { - float4 c_x = make_float4(b.x.x, b.y.x, b.z.x, 0.0f); - float4 c_y = make_float4(b.x.y, b.y.y, b.z.y, 0.0f); - float4 c_z = make_float4(b.x.z, b.y.z, b.z.z, 0.0f); - float4 c_w = make_float4(b.x.w, b.y.w, b.z.w, 1.0f); + float4 c_x = make_float4(b.x.x, b.y.x, b.z.x, 0.0f); + float4 c_y = make_float4(b.x.y, b.y.y, b.z.y, 0.0f); + float4 c_z = make_float4(b.x.z, b.y.z, b.z.z, 0.0f); + float4 c_w = make_float4(b.x.w, b.y.w, b.z.w, 1.0f); - Transform t; - t.x = make_float4(dot(a.x, c_x), dot(a.x, c_y), dot(a.x, c_z), dot(a.x, c_w)); - t.y = make_float4(dot(a.y, c_x), dot(a.y, c_y), dot(a.y, c_z), dot(a.y, c_w)); - t.z = make_float4(dot(a.z, c_x), dot(a.z, c_y), dot(a.z, c_z), dot(a.z, c_w)); + Transform t; + t.x = make_float4(dot(a.x, c_x), dot(a.x, c_y), dot(a.x, c_z), dot(a.x, c_w)); + t.y = make_float4(dot(a.y, c_x), dot(a.y, c_y), dot(a.y, c_z), dot(a.y, c_w)); + t.z = make_float4(dot(a.z, c_x), dot(a.z, c_y), dot(a.z, c_z), dot(a.z, c_w)); - return t; + return t; } -ccl_device_inline void print_transform(const char *label, const Transform& t) +ccl_device_inline void print_transform(const char *label, const Transform &t) { - print_float4(label, t.x); - print_float4(label, t.y); - print_float4(label, t.z); - printf("\n"); + print_float4(label, t.x); + print_float4(label, t.y); + print_float4(label, t.z); + printf("\n"); } ccl_device_inline Transform transform_translate(float3 t) { - return make_transform( - 1, 0, 0, t.x, - 0, 1, 0, t.y, - 0, 0, 1, t.z); + return make_transform(1, 0, 0, t.x, 0, 1, 0, t.y, 0, 0, 1, t.z); } ccl_device_inline Transform transform_translate(float x, float y, float z) { - return transform_translate(make_float3(x, y, z)); + return transform_translate(make_float3(x, y, z)); } ccl_device_inline Transform transform_scale(float3 s) { - return make_transform( - s.x, 0, 0, 0, - 0, s.y, 0, 0, - 0, 0, s.z, 0); + return make_transform(s.x, 0, 0, 0, 0, s.y, 0, 0, 0, 0, s.z, 0); } ccl_device_inline Transform transform_scale(float x, float y, float z) { - return transform_scale(make_float3(x, y, z)); + return transform_scale(make_float3(x, y, z)); } ccl_device_inline Transform transform_rotate(float angle, float3 axis) { - float s = sinf(angle); - float c = cosf(angle); - float t = 1.0f - c; - - axis = normalize(axis); - - return make_transform( - axis.x*axis.x*t + c, - axis.x*axis.y*t - s*axis.z, - axis.x*axis.z*t + s*axis.y, - 0.0f, - - axis.y*axis.x*t + s*axis.z, - axis.y*axis.y*t + c, - axis.y*axis.z*t - s*axis.x, - 0.0f, - - axis.z*axis.x*t - s*axis.y, - axis.z*axis.y*t + s*axis.x, - axis.z*axis.z*t + c, - 0.0f); + float s = sinf(angle); + float c = cosf(angle); + float t = 1.0f - c; + + axis = normalize(axis); + + return make_transform(axis.x * axis.x * t + c, + axis.x * axis.y * t - s * axis.z, + axis.x * axis.z * t + s * axis.y, + 0.0f, + + axis.y * axis.x * t + s * axis.z, + axis.y * axis.y * t + c, + axis.y * axis.z * t - s * axis.x, + 0.0f, + + axis.z * axis.x * t - s * axis.y, + axis.z * axis.y * t + s * axis.x, + axis.z * axis.z * t + c, + 0.0f); } /* Euler is assumed to be in XYZ order. */ ccl_device_inline Transform transform_euler(float3 euler) { - return - transform_rotate(euler.z, make_float3(0.0f, 0.0f, 1.0f)) * - transform_rotate(euler.y, make_float3(0.0f, 1.0f, 0.0f)) * - transform_rotate(euler.x, make_float3(1.0f, 0.0f, 0.0f)); + return transform_rotate(euler.z, make_float3(0.0f, 0.0f, 1.0f)) * + transform_rotate(euler.y, make_float3(0.0f, 1.0f, 0.0f)) * + transform_rotate(euler.x, make_float3(1.0f, 0.0f, 0.0f)); } ccl_device_inline Transform transform_identity() { - return transform_scale(1.0f, 1.0f, 1.0f); + return transform_scale(1.0f, 1.0f, 1.0f); } -ccl_device_inline bool operator==(const Transform& A, const Transform& B) +ccl_device_inline bool operator==(const Transform &A, const Transform &B) { - return memcmp(&A, &B, sizeof(Transform)) == 0; + return memcmp(&A, &B, sizeof(Transform)) == 0; } -ccl_device_inline bool operator!=(const Transform& A, const Transform& B) +ccl_device_inline bool operator!=(const Transform &A, const Transform &B) { - return !(A == B); + return !(A == B); } ccl_device_inline float3 transform_get_column(const Transform *t, int column) { - return make_float3(t->x[column], t->y[column], t->z[column]); + return make_float3(t->x[column], t->y[column], t->z[column]); } ccl_device_inline void transform_set_column(Transform *t, int column, float3 value) { - t->x[column] = value.x; - t->y[column] = value.y; - t->z[column] = value.z; + t->x[column] = value.x; + t->y[column] = value.y; + t->z[column] = value.z; } -Transform transform_inverse(const Transform& a); -Transform transform_transposed_inverse(const Transform& a); +Transform transform_inverse(const Transform &a); +Transform transform_transposed_inverse(const Transform &a); -ccl_device_inline bool transform_uniform_scale(const Transform& tfm, float& scale) +ccl_device_inline bool transform_uniform_scale(const Transform &tfm, float &scale) { - /* the epsilon here is quite arbitrary, but this function is only used for - * surface area and bump, where we expect it to not be so sensitive */ - float eps = 1e-6f; - - float sx = len_squared(float4_to_float3(tfm.x)); - float sy = len_squared(float4_to_float3(tfm.y)); - float sz = len_squared(float4_to_float3(tfm.z)); - float stx = len_squared(transform_get_column(&tfm, 0)); - float sty = len_squared(transform_get_column(&tfm, 1)); - float stz = len_squared(transform_get_column(&tfm, 2)); - - if(fabsf(sx - sy) < eps && fabsf(sx - sz) < eps && - fabsf(sx - stx) < eps && fabsf(sx - sty) < eps && - fabsf(sx - stz) < eps) - { - scale = sx; - return true; - } - - return false; + /* the epsilon here is quite arbitrary, but this function is only used for + * surface area and bump, where we expect it to not be so sensitive */ + float eps = 1e-6f; + + float sx = len_squared(float4_to_float3(tfm.x)); + float sy = len_squared(float4_to_float3(tfm.y)); + float sz = len_squared(float4_to_float3(tfm.z)); + float stx = len_squared(transform_get_column(&tfm, 0)); + float sty = len_squared(transform_get_column(&tfm, 1)); + float stz = len_squared(transform_get_column(&tfm, 2)); + + if (fabsf(sx - sy) < eps && fabsf(sx - sz) < eps && fabsf(sx - stx) < eps && + fabsf(sx - sty) < eps && fabsf(sx - stz) < eps) { + scale = sx; + return true; + } + + return false; } -ccl_device_inline bool transform_negative_scale(const Transform& tfm) +ccl_device_inline bool transform_negative_scale(const Transform &tfm) { - float3 c0 = transform_get_column(&tfm, 0); - float3 c1 = transform_get_column(&tfm, 1); - float3 c2 = transform_get_column(&tfm, 2); + float3 c0 = transform_get_column(&tfm, 0); + float3 c1 = transform_get_column(&tfm, 1); + float3 c2 = transform_get_column(&tfm, 2); - return (dot(cross(c0, c1), c2) < 0.0f); + return (dot(cross(c0, c1), c2) < 0.0f); } -ccl_device_inline Transform transform_clear_scale(const Transform& tfm) +ccl_device_inline Transform transform_clear_scale(const Transform &tfm) { - Transform ntfm = tfm; + Transform ntfm = tfm; - transform_set_column(&ntfm, 0, normalize(transform_get_column(&ntfm, 0))); - transform_set_column(&ntfm, 1, normalize(transform_get_column(&ntfm, 1))); - transform_set_column(&ntfm, 2, normalize(transform_get_column(&ntfm, 2))); + transform_set_column(&ntfm, 0, normalize(transform_get_column(&ntfm, 0))); + transform_set_column(&ntfm, 1, normalize(transform_get_column(&ntfm, 1))); + transform_set_column(&ntfm, 2, normalize(transform_get_column(&ntfm, 2))); - return ntfm; + return ntfm; } ccl_device_inline Transform transform_empty() { - return make_transform( - 0, 0, 0, 0, - 0, 0, 0, 0, - 0, 0, 0, 0); + return make_transform(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); } #endif @@ -311,90 +318,101 @@ ccl_device_inline Transform transform_empty() ccl_device_inline float4 quat_interpolate(float4 q1, float4 q2, float t) { - /* use simpe nlerp instead of slerp. it's faster and almost the same */ - return normalize((1.0f - t)*q1 + t*q2); + /* use simpe nlerp instead of slerp. it's faster and almost the same */ + return normalize((1.0f - t) * q1 + t * q2); #if 0 - /* note: this does not ensure rotation around shortest angle, q1 and q2 - * are assumed to be matched already in transform_motion_decompose */ - float costheta = dot(q1, q2); - - /* possible optimization: it might be possible to precompute theta/qperp */ - - if(costheta > 0.9995f) { - /* linear interpolation in degenerate case */ - return normalize((1.0f - t)*q1 + t*q2); - } - else { - /* slerp */ - float theta = acosf(clamp(costheta, -1.0f, 1.0f)); - float4 qperp = normalize(q2 - q1 * costheta); - float thetap = theta * t; - return q1 * cosf(thetap) + qperp * sinf(thetap); - } + /* note: this does not ensure rotation around shortest angle, q1 and q2 + * are assumed to be matched already in transform_motion_decompose */ + float costheta = dot(q1, q2); + + /* possible optimization: it might be possible to precompute theta/qperp */ + + if(costheta > 0.9995f) { + /* linear interpolation in degenerate case */ + return normalize((1.0f - t)*q1 + t*q2); + } + else { + /* slerp */ + float theta = acosf(clamp(costheta, -1.0f, 1.0f)); + float4 qperp = normalize(q2 - q1 * costheta); + float thetap = theta * t; + return q1 * cosf(thetap) + qperp * sinf(thetap); + } #endif } ccl_device_inline Transform transform_quick_inverse(Transform M) { - /* possible optimization: can we avoid doing this altogether and construct - * the inverse matrix directly from negated translation, transposed rotation, - * scale can be inverted but what about shearing? */ - Transform R; - float det = M.x.x*(M.z.z*M.y.y - M.z.y*M.y.z) - M.y.x*(M.z.z*M.x.y - M.z.y*M.x.z) + M.z.x*(M.y.z*M.x.y - M.y.y*M.x.z); - if(det == 0.0f) { - M.x.x += 1e-8f; - M.y.y += 1e-8f; - M.z.z += 1e-8f; - det = M.x.x*(M.z.z*M.y.y - M.z.y*M.y.z) - M.y.x*(M.z.z*M.x.y - M.z.y*M.x.z) + M.z.x*(M.y.z*M.x.y - M.y.y*M.x.z); - } - det = (det != 0.0f)? 1.0f/det: 0.0f; - - float3 Rx = det*make_float3(M.z.z*M.y.y - M.z.y*M.y.z, M.z.y*M.x.z - M.z.z*M.x.y, M.y.z*M.x.y - M.y.y*M.x.z); - float3 Ry = det*make_float3(M.z.x*M.y.z - M.z.z*M.y.x, M.z.z*M.x.x - M.z.x*M.x.z, M.y.x*M.x.z - M.y.z*M.x.x); - float3 Rz = det*make_float3(M.z.y*M.y.x - M.z.x*M.y.y, M.z.x*M.x.y - M.z.y*M.x.x, M.y.y*M.x.x - M.y.x*M.x.y); - float3 T = -make_float3(M.x.w, M.y.w, M.z.w); - - R.x = make_float4(Rx.x, Rx.y, Rx.z, dot(Rx, T)); - R.y = make_float4(Ry.x, Ry.y, Ry.z, dot(Ry, T)); - R.z = make_float4(Rz.x, Rz.y, Rz.z, dot(Rz, T)); - - return R; + /* possible optimization: can we avoid doing this altogether and construct + * the inverse matrix directly from negated translation, transposed rotation, + * scale can be inverted but what about shearing? */ + Transform R; + float det = M.x.x * (M.z.z * M.y.y - M.z.y * M.y.z) - M.y.x * (M.z.z * M.x.y - M.z.y * M.x.z) + + M.z.x * (M.y.z * M.x.y - M.y.y * M.x.z); + if (det == 0.0f) { + M.x.x += 1e-8f; + M.y.y += 1e-8f; + M.z.z += 1e-8f; + det = M.x.x * (M.z.z * M.y.y - M.z.y * M.y.z) - M.y.x * (M.z.z * M.x.y - M.z.y * M.x.z) + + M.z.x * (M.y.z * M.x.y - M.y.y * M.x.z); + } + det = (det != 0.0f) ? 1.0f / det : 0.0f; + + float3 Rx = det * make_float3(M.z.z * M.y.y - M.z.y * M.y.z, + M.z.y * M.x.z - M.z.z * M.x.y, + M.y.z * M.x.y - M.y.y * M.x.z); + float3 Ry = det * make_float3(M.z.x * M.y.z - M.z.z * M.y.x, + M.z.z * M.x.x - M.z.x * M.x.z, + M.y.x * M.x.z - M.y.z * M.x.x); + float3 Rz = det * make_float3(M.z.y * M.y.x - M.z.x * M.y.y, + M.z.x * M.x.y - M.z.y * M.x.x, + M.y.y * M.x.x - M.y.x * M.x.y); + float3 T = -make_float3(M.x.w, M.y.w, M.z.w); + + R.x = make_float4(Rx.x, Rx.y, Rx.z, dot(Rx, T)); + R.y = make_float4(Ry.x, Ry.y, Ry.z, dot(Ry, T)); + R.z = make_float4(Rz.x, Rz.y, Rz.z, dot(Rz, T)); + + return R; } ccl_device_inline void transform_compose(Transform *tfm, const DecomposedTransform *decomp) { - /* rotation */ - float q0, q1, q2, q3, qda, qdb, qdc, qaa, qab, qac, qbb, qbc, qcc; - - q0 = M_SQRT2_F * decomp->x.w; - q1 = M_SQRT2_F * decomp->x.x; - q2 = M_SQRT2_F * decomp->x.y; - q3 = M_SQRT2_F * decomp->x.z; - - qda = q0*q1; - qdb = q0*q2; - qdc = q0*q3; - qaa = q1*q1; - qab = q1*q2; - qac = q1*q3; - qbb = q2*q2; - qbc = q2*q3; - qcc = q3*q3; - - float3 rotation_x = make_float3(1.0f-qbb-qcc, -qdc+qab, qdb+qac); - float3 rotation_y = make_float3(qdc+qab, 1.0f-qaa-qcc, -qda+qbc); - float3 rotation_z = make_float3(-qdb+qac, qda+qbc, 1.0f-qaa-qbb); - - /* scale */ - float3 scale_x = make_float3(decomp->y.w, decomp->z.z, decomp->w.y); - float3 scale_y = make_float3(decomp->z.x, decomp->z.w, decomp->w.z); - float3 scale_z = make_float3(decomp->z.y, decomp->w.x, decomp->w.w); - - /* compose with translation */ - tfm->x = make_float4(dot(rotation_x, scale_x), dot(rotation_x, scale_y), dot(rotation_x, scale_z), decomp->y.x); - tfm->y = make_float4(dot(rotation_y, scale_x), dot(rotation_y, scale_y), dot(rotation_y, scale_z), decomp->y.y); - tfm->z = make_float4(dot(rotation_z, scale_x), dot(rotation_z, scale_y), dot(rotation_z, scale_z), decomp->y.z); + /* rotation */ + float q0, q1, q2, q3, qda, qdb, qdc, qaa, qab, qac, qbb, qbc, qcc; + + q0 = M_SQRT2_F * decomp->x.w; + q1 = M_SQRT2_F * decomp->x.x; + q2 = M_SQRT2_F * decomp->x.y; + q3 = M_SQRT2_F * decomp->x.z; + + qda = q0 * q1; + qdb = q0 * q2; + qdc = q0 * q3; + qaa = q1 * q1; + qab = q1 * q2; + qac = q1 * q3; + qbb = q2 * q2; + qbc = q2 * q3; + qcc = q3 * q3; + + float3 rotation_x = make_float3(1.0f - qbb - qcc, -qdc + qab, qdb + qac); + float3 rotation_y = make_float3(qdc + qab, 1.0f - qaa - qcc, -qda + qbc); + float3 rotation_z = make_float3(-qdb + qac, qda + qbc, 1.0f - qaa - qbb); + + /* scale */ + float3 scale_x = make_float3(decomp->y.w, decomp->z.z, decomp->w.y); + float3 scale_y = make_float3(decomp->z.x, decomp->z.w, decomp->w.z); + float3 scale_z = make_float3(decomp->z.y, decomp->w.x, decomp->w.w); + + /* compose with translation */ + tfm->x = make_float4( + dot(rotation_x, scale_x), dot(rotation_x, scale_y), dot(rotation_x, scale_z), decomp->y.x); + tfm->y = make_float4( + dot(rotation_y, scale_x), dot(rotation_y, scale_y), dot(rotation_y, scale_z), decomp->y.y); + tfm->z = make_float4( + dot(rotation_z, scale_x), dot(rotation_z, scale_y), dot(rotation_z, scale_z), decomp->y.z); } /* Interpolate from array of decomposed transforms. */ @@ -403,62 +421,60 @@ ccl_device void transform_motion_array_interpolate(Transform *tfm, uint numsteps, float time) { - /* Figure out which steps we need to interpolate. */ - int maxstep = numsteps-1; - int step = min((int)(time*maxstep), maxstep-1); - float t = time*maxstep - step; - - const ccl_global DecomposedTransform *a = motion + step; - const ccl_global DecomposedTransform *b = motion + step + 1; - - /* Interpolate rotation, translation and scale. */ - DecomposedTransform decomp; - decomp.x = quat_interpolate(a->x, b->x, t); - decomp.y = (1.0f - t)*a->y + t*b->y; - decomp.z = (1.0f - t)*a->z + t*b->z; - decomp.w = (1.0f - t)*a->w + t*b->w; - - /* Compose rotation, translation, scale into matrix. */ - transform_compose(tfm, &decomp); + /* Figure out which steps we need to interpolate. */ + int maxstep = numsteps - 1; + int step = min((int)(time * maxstep), maxstep - 1); + float t = time * maxstep - step; + + const ccl_global DecomposedTransform *a = motion + step; + const ccl_global DecomposedTransform *b = motion + step + 1; + + /* Interpolate rotation, translation and scale. */ + DecomposedTransform decomp; + decomp.x = quat_interpolate(a->x, b->x, t); + decomp.y = (1.0f - t) * a->y + t * b->y; + decomp.z = (1.0f - t) * a->z + t * b->z; + decomp.w = (1.0f - t) * a->w + t * b->w; + + /* Compose rotation, translation, scale into matrix. */ + transform_compose(tfm, &decomp); } #ifndef __KERNEL_GPU__ -#ifdef WITH_EMBREE -ccl_device void transform_motion_array_interpolate_straight(Transform *tfm, - const ccl_global DecomposedTransform *motion, - uint numsteps, - float time) +# ifdef WITH_EMBREE +ccl_device void transform_motion_array_interpolate_straight( + Transform *tfm, const ccl_global DecomposedTransform *motion, uint numsteps, float time) { - /* Figure out which steps we need to interpolate. */ - int maxstep = numsteps - 1; - int step = min((int)(time*maxstep), maxstep - 1); - float t = time * maxstep - step; - - const ccl_global DecomposedTransform *a = motion + step; - const ccl_global DecomposedTransform *b = motion + step + 1; - Transform step1, step2; - - transform_compose(&step1, a); - transform_compose(&step2, b); - - /* matrix lerp */ - tfm->x = (1.0f - t) * step1.x + t * step2.x; - tfm->y = (1.0f - t) * step1.y + t * step2.y; - tfm->z = (1.0f - t) * step1.z + t * step2.z; + /* Figure out which steps we need to interpolate. */ + int maxstep = numsteps - 1; + int step = min((int)(time * maxstep), maxstep - 1); + float t = time * maxstep - step; + + const ccl_global DecomposedTransform *a = motion + step; + const ccl_global DecomposedTransform *b = motion + step + 1; + Transform step1, step2; + + transform_compose(&step1, a); + transform_compose(&step2, b); + + /* matrix lerp */ + tfm->x = (1.0f - t) * step1.x + t * step2.x; + tfm->y = (1.0f - t) * step1.y + t * step2.y; + tfm->z = (1.0f - t) * step1.z + t * step2.z; } -#endif +# endif class BoundBox2D; -ccl_device_inline bool operator==(const DecomposedTransform& A, const DecomposedTransform& B) +ccl_device_inline bool operator==(const DecomposedTransform &A, const DecomposedTransform &B) { - return memcmp(&A, &B, sizeof(DecomposedTransform)) == 0; + return memcmp(&A, &B, sizeof(DecomposedTransform)) == 0; } -float4 transform_to_quat(const Transform& tfm); +float4 transform_to_quat(const Transform &tfm); void transform_motion_decompose(DecomposedTransform *decomp, const Transform *motion, size_t size); -Transform transform_from_viewplane(BoundBox2D& viewplane); +Transform transform_from_viewplane(BoundBox2D &viewplane); #endif @@ -469,14 +485,14 @@ Transform transform_from_viewplane(BoundBox2D& viewplane); #ifdef __KERNEL_OPENCL__ -#define OPENCL_TRANSFORM_ADDRSPACE_GLUE(a, b) a ## b -#define OPENCL_TRANSFORM_ADDRSPACE_DECLARE(function) \ -ccl_device_inline float3 OPENCL_TRANSFORM_ADDRSPACE_GLUE(function, _addrspace)( \ - ccl_addr_space const Transform *t, const float3 a) \ -{ \ - Transform private_tfm = *t; \ - return function(&private_tfm, a); \ -} +# define OPENCL_TRANSFORM_ADDRSPACE_GLUE(a, b) a##b +# define OPENCL_TRANSFORM_ADDRSPACE_DECLARE(function) \ + ccl_device_inline float3 OPENCL_TRANSFORM_ADDRSPACE_GLUE(function, _addrspace)( \ + ccl_addr_space const Transform *t, const float3 a) \ + { \ + Transform private_tfm = *t; \ + return function(&private_tfm, a); \ + } OPENCL_TRANSFORM_ADDRSPACE_DECLARE(transform_point) OPENCL_TRANSFORM_ADDRSPACE_DECLARE(transform_direction) @@ -495,4 +511,4 @@ OPENCL_TRANSFORM_ADDRSPACE_DECLARE(transform_direction_transposed) CCL_NAMESPACE_END -#endif /* __UTIL_TRANSFORM_H__ */ +#endif /* __UTIL_TRANSFORM_H__ */ |