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Framework/external/embree/kernels/geometry/cylinder.h
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Framework/external/embree/kernels/geometry/cylinder.h
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// Copyright 2009-2021 Intel Corporation
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "../common/ray.h"
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namespace embree
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{
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namespace isa
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{
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struct Cylinder
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{
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const Vec3fa p0; //!< start location
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const Vec3fa p1; //!< end position
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const float rr; //!< squared radius of cylinder
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__forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float r)
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: p0(p0), p1(p1), rr(sqr(r)) {}
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__forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float rr, bool)
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: p0(p0), p1(p1), rr(rr) {}
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__forceinline bool intersect(const Vec3fa& org,
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const Vec3fa& dir,
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BBox1f& t_o,
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float& u0_o, Vec3fa& Ng0_o,
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float& u1_o, Vec3fa& Ng1_o) const
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{
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/* calculate quadratic equation to solve */
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const float rl = rcp_length(p1-p0);
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const Vec3fa P0 = p0, dP = (p1-p0)*rl;
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const Vec3fa O = org-P0, dO = dir;
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const float dOdO = dot(dO,dO);
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const float OdO = dot(dO,O);
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const float OO = dot(O,O);
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const float dOz = dot(dP,dO);
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const float Oz = dot(dP,O);
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const float A = dOdO - sqr(dOz);
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const float B = 2.0f * (OdO - dOz*Oz);
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const float C = OO - sqr(Oz) - rr;
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/* we miss the cylinder if determinant is smaller than zero */
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const float D = B*B - 4.0f*A*C;
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if (D < 0.0f) {
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t_o = BBox1f(pos_inf,neg_inf);
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return false;
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}
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/* special case for rays that are parallel to the cylinder */
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const float eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
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if (abs(A) < eps)
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{
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if (C <= 0.0f) {
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t_o = BBox1f(neg_inf,pos_inf);
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return true;
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} else {
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t_o = BBox1f(pos_inf,neg_inf);
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return false;
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}
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}
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/* standard case for rays that are not parallel to the cylinder */
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const float Q = sqrt(D);
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const float rcp_2A = rcp(2.0f*A);
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const float t0 = (-B-Q)*rcp_2A;
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const float t1 = (-B+Q)*rcp_2A;
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/* calculates u and Ng for near hit */
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{
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u0_o = madd(t0,dOz,Oz)*rl;
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const Vec3fa Pr = t0*dir;
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const Vec3fa Pl = madd(u0_o,p1-p0,p0);
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Ng0_o = Pr-Pl;
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}
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/* calculates u and Ng for far hit */
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{
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u1_o = madd(t1,dOz,Oz)*rl;
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const Vec3fa Pr = t1*dir;
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const Vec3fa Pl = madd(u1_o,p1-p0,p0);
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Ng1_o = Pr-Pl;
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}
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t_o.lower = t0;
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t_o.upper = t1;
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return true;
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}
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__forceinline bool intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox1f& t_o) const
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{
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float u0_o; Vec3fa Ng0_o;
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float u1_o; Vec3fa Ng1_o;
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return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
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}
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static bool verify(const size_t id, const Cylinder& cylinder, const RayHit& ray, bool shouldhit, const float t0, const float t1)
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{
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float eps = 0.001f;
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BBox1f t; bool hit;
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hit = cylinder.intersect(ray.org,ray.dir,t);
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bool failed = hit != shouldhit;
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if (shouldhit) failed |= std::isinf(t0) ? t0 != t.lower : abs(t0-t.lower) > eps;
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if (shouldhit) failed |= std::isinf(t1) ? t1 != t.upper : abs(t1-t.upper) > eps;
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if (!failed) return true;
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embree_cout << "Cylinder test " << id << " failed: cylinder = " << cylinder << ", ray = " << ray << ", hit = " << hit << ", t = " << t << embree_endl;
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return false;
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}
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/* verify cylinder class */
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static bool verify()
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{
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bool passed = true;
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const Cylinder cylinder(Vec3fa(0.0f,0.0f,0.0f),Vec3fa(1.0f,0.0f,0.0f),1.0f);
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passed &= verify(0,cylinder,RayHit(Vec3fa(-2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
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passed &= verify(1,cylinder,RayHit(Vec3fa(+2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
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passed &= verify(2,cylinder,RayHit(Vec3fa(+2.0f,1.0f,2.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),false,0.0f,0.0f);
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passed &= verify(3,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
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passed &= verify(4,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
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passed &= verify(5,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
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passed &= verify(6,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
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return passed;
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}
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/*! output operator */
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friend __forceinline embree_ostream operator<<(embree_ostream cout, const Cylinder& c) {
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return cout << "Cylinder { p0 = " << c.p0 << ", p1 = " << c.p1 << ", r = " << sqrtf(c.rr) << "}";
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}
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};
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template<int N>
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struct CylinderN
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{
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const Vec3vf<N> p0; //!< start location
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const Vec3vf<N> p1; //!< end position
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const vfloat<N> rr; //!< squared radius of cylinder
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__forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& r)
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: p0(p0), p1(p1), rr(sqr(r)) {}
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__forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& rr, bool)
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: p0(p0), p1(p1), rr(rr) {}
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__forceinline vbool<N> intersect(const Vec3fa& org, const Vec3fa& dir,
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BBox<vfloat<N>>& t_o,
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vfloat<N>& u0_o, Vec3vf<N>& Ng0_o,
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vfloat<N>& u1_o, Vec3vf<N>& Ng1_o) const
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{
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/* calculate quadratic equation to solve */
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const vfloat<N> rl = rcp_length(p1-p0);
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const Vec3vf<N> P0 = p0, dP = (p1-p0)*rl;
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const Vec3vf<N> O = Vec3vf<N>(org)-P0, dO = dir;
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const vfloat<N> dOdO = dot(dO,dO);
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const vfloat<N> OdO = dot(dO,O);
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const vfloat<N> OO = dot(O,O);
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const vfloat<N> dOz = dot(dP,dO);
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const vfloat<N> Oz = dot(dP,O);
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const vfloat<N> A = dOdO - sqr(dOz);
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const vfloat<N> B = 2.0f * (OdO - dOz*Oz);
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const vfloat<N> C = OO - sqr(Oz) - rr;
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/* we miss the cylinder if determinant is smaller than zero */
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const vfloat<N> D = B*B - 4.0f*A*C;
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vbool<N> valid = D >= 0.0f;
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if (none(valid)) {
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t_o = BBox<vfloat<N>>(empty);
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return valid;
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}
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/* standard case for rays that are not parallel to the cylinder */
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const vfloat<N> Q = sqrt(D);
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const vfloat<N> rcp_2A = rcp(2.0f*A);
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const vfloat<N> t0 = (-B-Q)*rcp_2A;
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const vfloat<N> t1 = (-B+Q)*rcp_2A;
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/* calculates u and Ng for near hit */
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{
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u0_o = madd(t0,dOz,Oz)*rl;
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const Vec3vf<N> Pr = t0*Vec3vf<N>(dir);
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const Vec3vf<N> Pl = madd(u0_o,p1-p0,p0);
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Ng0_o = Pr-Pl;
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}
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/* calculates u and Ng for far hit */
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{
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u1_o = madd(t1,dOz,Oz)*rl;
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const Vec3vf<N> Pr = t1*Vec3vf<N>(dir);
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const Vec3vf<N> Pl = madd(u1_o,p1-p0,p0);
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Ng1_o = Pr-Pl;
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}
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t_o.lower = select(valid, t0, vfloat<N>(pos_inf));
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t_o.upper = select(valid, t1, vfloat<N>(neg_inf));
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/* special case for rays that are parallel to the cylinder */
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const vfloat<N> eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
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vbool<N> validt = valid & (abs(A) < eps);
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if (unlikely(any(validt)))
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{
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vbool<N> inside = C <= 0.0f;
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t_o.lower = select(validt,select(inside,vfloat<N>(neg_inf),vfloat<N>(pos_inf)),t_o.lower);
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t_o.upper = select(validt,select(inside,vfloat<N>(pos_inf),vfloat<N>(neg_inf)),t_o.upper);
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valid &= !validt | inside;
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}
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return valid;
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}
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__forceinline vbool<N> intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox<vfloat<N>>& t_o) const
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{
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vfloat<N> u0_o; Vec3vf<N> Ng0_o;
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vfloat<N> u1_o; Vec3vf<N> Ng1_o;
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return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
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}
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};
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}
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}
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