GuBV4_AABBAABBSweepTest.h

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#ifndef GU_BV4_AABB_AABB_SWEEP_TEST_H
#define GU_BV4_AABB_AABB_SWEEP_TEST_H
 
#ifndef GU_BV4_USE_SLABS
    PX_FORCE_INLINE PxIntBool BV4_SegmentAABBOverlap(const PxVec3& center, const PxVec3& extents, const PxVec3& extents2, const RayParams* PX_RESTRICT params)
    {
        const Vec4V fdirV = V4LoadA_Safe(&params->mFDir_PaddedAligned.x);
        const Vec4V extentsV = V4Add(V4LoadU(&extents.x), V4LoadU(&extents2.x));
        const Vec4V DV = V4Sub(V4LoadA_Safe(&params->mData2_PaddedAligned.x), V4LoadU(&center.x));
        const Vec4V absDV = V4Abs(DV);
        const BoolV resDV = V4IsGrtr(absDV, V4Add(extentsV, fdirV));
        const PxU32 test = BGetBitMask(resDV);
        if(test&7)
            return 0;
 
        if(1)
        {
            const Vec4V dataZYX_V = V4LoadA_Safe(&params->mData_PaddedAligned.x);           
            const Vec4V dataXZY_V = V4Perm<1, 2, 0, 3>(dataZYX_V);          
            const Vec4V DXZY_V = V4Perm<1, 2, 0, 3>(DV);
            const Vec4V fV = V4Sub(V4Mul(dataZYX_V, DXZY_V), V4Mul(dataXZY_V, DV));
 
            const Vec4V fdirZYX_V = V4LoadA_Safe(&params->mFDir_PaddedAligned.x);           
            const Vec4V fdirXZY_V = V4Perm<1, 2, 0, 3>(fdirZYX_V);          
            const Vec4V extentsXZY_V = V4Perm<1, 2, 0, 3>(extentsV);
            // PT: TODO: use V4MulAdd here (TA34704)
            const Vec4V fg = V4Add(V4Mul(extentsV, fdirXZY_V), V4Mul(extentsXZY_V, fdirZYX_V));
 
            const Vec4V absfV = V4Abs(fV);
            const BoolV resAbsfV = V4IsGrtr(absfV, fg);
            const PxU32 test2 = BGetBitMask(resAbsfV);
            if(test2&7)
                return 0;
            return 1;
        }
    }
 
#ifdef GU_BV4_QUANTIZED_TREE
    template<class T>
    PX_FORCE_INLINE PxIntBool BV4_SegmentAABBOverlap(const T* PX_RESTRICT node, const PxVec3& extents2, const RayParams* PX_RESTRICT params)
    {
        const VecI32V testV = I4LoadA((PxI32*)node->mAABB.mData);
        const VecI32V qextentsV = VecI32V_And(testV, I4Load(0x0000ffff));
        const VecI32V qcenterV = VecI32V_RightShift(testV, 16);
        const Vec4V centerV0 = V4Mul(Vec4V_From_VecI32V(qcenterV), V4LoadA_Safe(&params->mCenterOrMinCoeff_PaddedAligned.x));
        const Vec4V extentsV0 = V4Mul(Vec4V_From_VecI32V(qextentsV), V4LoadA_Safe(&params->mExtentsOrMaxCoeff_PaddedAligned.x));
 
        const Vec4V fdirV = V4LoadA_Safe(&params->mFDir_PaddedAligned.x);
        const Vec4V extentsV = V4Add(extentsV0, V4LoadU(&extents2.x));
        const Vec4V DV = V4Sub(V4LoadA_Safe(&params->mData2_PaddedAligned.x), centerV0);
        const Vec4V absDV = V4Abs(DV);
        const BoolV res = V4IsGrtr(absDV, V4Add(extentsV, fdirV));
        const PxU32 test = BGetBitMask(res);
        if(test&7)
            return 0;
 
        if(1)
        {
            const Vec4V dataZYX_V = V4LoadA_Safe(&params->mData_PaddedAligned.x);
            const Vec4V dataXZY_V = V4Perm<1, 2, 0, 3>(dataZYX_V);          
            const Vec4V DXZY_V = V4Perm<1, 2, 0, 3>(DV);
 
            const Vec4V fV = V4Sub(V4Mul(dataZYX_V, DXZY_V), V4Mul(dataXZY_V, DV));
 
            const Vec4V fdirZYX_V = V4LoadA_Safe(&params->mFDir_PaddedAligned.x);
            const Vec4V fdirXZY_V = V4Perm<1, 2, 0, 3>(fdirZYX_V);          
            const Vec4V extentsXZY_V = V4Perm<1, 2, 0, 3>(extentsV);
            // PT: TODO: use V4MulAdd here (TA34704)
            const Vec4V fg = V4Add(V4Mul(extentsV, fdirXZY_V), V4Mul(extentsXZY_V, fdirZYX_V));
 
            const Vec4V absfV = V4Abs(fV);
            const BoolV res2 = V4IsGrtr(absfV, fg);
            const PxU32 test2 = BGetBitMask(res2);
            if(test2&7)
                return 0;
            return 1;
        }
    }
#endif
#endif
 
#endif // GU_BV4_AABB_AABB_SWEEP_TEST_H