RayTriangle.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
JPH_NAMESPACE_BEGIN
 
JPH_INLINE float RayTriangle(Vec3Arg inOrigin, Vec3Arg inDirection, Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2)
{
    // Epsilon
    Vec3 epsilon = Vec3::sReplicate(1.0e-12f);
 
    // Zero & one
    Vec3 zero = Vec3::sZero();
    Vec3 one = Vec3::sReplicate(1.0f);
 
    // Find vectors for two edges sharing inV0
    Vec3 e1 = inV1 - inV0;
    Vec3 e2 = inV2 - inV0;
 
    // Begin calculating determinant - also used to calculate u parameter
    Vec3 p = inDirection.Cross(e2);
 
    // if determinant is near zero, ray lies in plane of triangle
    Vec3 det = Vec3::sReplicate(e1.Dot(p));
 
    // Check if determinant is near zero
    UVec4 det_near_zero = Vec3::sLess(det.Abs(), epsilon);
 
    // When the determinant is near zero, set it to one to avoid dividing by zero
    det = Vec3::sSelect(det, Vec3::sReplicate(1.0f), det_near_zero);
 
    // Calculate distance from inV0 to ray origin
    Vec3 s = inOrigin - inV0;
 
    // Calculate u parameter
    Vec3 u = Vec3::sReplicate(s.Dot(p)) / det;
 
    // Prepare to test v parameter
    Vec3 q = s.Cross(e1);
 
    // Calculate v parameter
    Vec3 v = Vec3::sReplicate(inDirection.Dot(q)) / det;
 
    // Get intersection point
    Vec3 t = Vec3::sReplicate(e2.Dot(q)) / det;
 
    // Check if there is an intersection
    UVec4 no_intersection =
        UVec4::sOr
        (
            UVec4::sOr
            (
                UVec4::sOr
                (
                    det_near_zero,
                    Vec3::sLess(u, zero)
                ),
                UVec4::sOr
                (
                    Vec3::sLess(v, zero),
                    Vec3::sGreater(u + v, one)
                )
            ),
            Vec3::sLess(t, zero)
        );
 
    // Select intersection point or FLT_MAX based on if there is an intersection or not
    return Vec3::sSelect(t, Vec3::sReplicate(FLT_MAX), no_intersection).GetX();
}
 
JPH_INLINE Vec4 RayTriangle4(Vec3Arg inOrigin, Vec3Arg inDirection, Vec4Arg inV0X, Vec4Arg inV0Y, Vec4Arg inV0Z, Vec4Arg inV1X, Vec4Arg inV1Y, Vec4Arg inV1Z, Vec4Arg inV2X, Vec4Arg inV2Y, Vec4Arg inV2Z)
{
    // Epsilon
    Vec4 epsilon = Vec4::sReplicate(1.0e-12f);
 
    // Zero
    Vec4 zero = Vec4::sZero();
 
    // Find vectors for two edges sharing inV0
    Vec4 e1x = inV1X - inV0X;
    Vec4 e1y = inV1Y - inV0Y;
    Vec4 e1z = inV1Z - inV0Z;
    Vec4 e2x = inV2X - inV0X;
    Vec4 e2y = inV2Y - inV0Y;
    Vec4 e2z = inV2Z - inV0Z;
 
    // Get direction vector components
    Vec4 dx = inDirection.SplatX();
    Vec4 dy = inDirection.SplatY();
    Vec4 dz = inDirection.SplatZ();
 
    // Begin calculating determinant - also used to calculate u parameter
    Vec4 px = dy * e2z - dz * e2y;
    Vec4 py = dz * e2x - dx * e2z;
    Vec4 pz = dx * e2y - dy * e2x;
 
    // if determinant is near zero, ray lies in plane of triangle
    Vec4 det = e1x * px + e1y * py + e1z * pz;
 
    // Get sign bit for determinant and make positive
    Vec4 det_sign = Vec4::sAnd(det, UVec4::sReplicate(0x80000000).ReinterpretAsFloat());
    det = Vec4::sXor(det, det_sign);
 
    // Check which determinants are near zero
    UVec4 det_near_zero = Vec4::sLess(det, epsilon);
 
    // Set components of the determinant to 1 that are near zero to avoid dividing by zero
    det = Vec4::sSelect(det, Vec4::sReplicate(1.0f), det_near_zero);
 
    // Calculate distance from inV0 to ray origin
    Vec4 sx = inOrigin.SplatX() - inV0X;
    Vec4 sy = inOrigin.SplatY() - inV0Y;
    Vec4 sz = inOrigin.SplatZ() - inV0Z;
 
    // Calculate u parameter and flip sign if determinant was negative
    Vec4 u = Vec4::sXor(sx * px + sy * py + sz * pz, det_sign);
 
    // Prepare to test v parameter
    Vec4 qx = sy * e1z - sz * e1y;
    Vec4 qy = sz * e1x - sx * e1z;
    Vec4 qz = sx * e1y - sy * e1x;
 
    // Calculate v parameter and flip sign if determinant was negative
    Vec4 v = Vec4::sXor(dx * qx + dy * qy + dz * qz, det_sign);
 
    // Get intersection point and flip sign if determinant was negative
    Vec4 t = Vec4::sXor(e2x * qx + e2y * qy + e2z * qz, det_sign);
 
    // Check if there is an intersection
    UVec4 no_intersection =
        UVec4::sOr
        (
            UVec4::sOr
            (
                UVec4::sOr
                (
                    det_near_zero,
                    Vec4::sLess(u, zero)
                ),
                UVec4::sOr
                (
                    Vec4::sLess(v, zero),
                    Vec4::sGreater(u + v, det)
                )
            ),
            Vec4::sLess(t, zero)
        );
 
    // Select intersection point or FLT_MAX based on if there is an intersection or not
    return Vec4::sSelect(t / det, Vec4::sReplicate(FLT_MAX), no_intersection);
}
 
JPH_NAMESPACE_END