vector_math.hpp

/*
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*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
 
#ifndef PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_
#define PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_
 
namespace pcl
{
    namespace device
    {
        ////////////////////////////////
        // one element vectors
 
 
        ////////////////////////////////
        // two element vectors
 
 
        ////////////////////////////////
        // three element vectors
 
#define PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(type, scalar, op) \
        __device__ __host__ __forceinline__ type & operator op (type & v1, const type & v2) { v1.x op v2.x; v1.y op v2.y; v1.z op v2.z; return v1; } \
        __device__ __host__ __forceinline__ type & operator op (type & v, scalar val)       {  v.x op val;   v.y op val;   v.z op val;  return v;  }
 
        PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, -=)    
        PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, +=)
        PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, *=)
 
        PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(short3, short, -=) 
 
        PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(int3, int, +=)
 
#undef PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP
 
        __device__ __host__ __forceinline__ float dot(const float3& v1, const float3& v2)
        {
            return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
        }
        
        __device__ __host__ __forceinline__ float3 cross(const float3& v1, const float3& v2)
        {
            return make_float3(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);
        }
        
        ////////////////////////////////
        // four element vectors 
 
    __device__ __host__ __forceinline__ float dot(const float4& v1, const float4& v2)
        {
            return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
        }
 
        ////////////////////////////////
        // alltype binary operarators
 
#define PCL_GPU_IMPLEMENT_VEC_BINOP(type, scalar, op, cop) \
        __device__ __host__ __forceinline__ type operator op (const type & v1, const type & v2) { type r = v1; r cop v2; return r; } \
        __device__ __host__ __forceinline__ type operator op (const type & v1, scalar c)        { type r = v1; r cop c;  return r; }
            
        PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, -, -=)
        PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, +, +=)
        PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, *, *=)
 
        PCL_GPU_IMPLEMENT_VEC_BINOP(short3, short, -, -=)
 
        PCL_GPU_IMPLEMENT_VEC_BINOP(int3, int, +, +=)
 
#undef PCL_GPU_IMPLEMENT_VEC_BINOP
 
 
        ////////////////////////////////
        // templated operations vectors 
 
        template<typename T> __device__ __host__ __forceinline__ float norm(const T& val)
        {
            return sqrtf(dot(val, val));
        }
 
        template<typename T> __host__ __device__ __forceinline__ float inverse_norm(const T& v)
        {
            return rsqrtf(dot(v, v));
        }
 
        template<typename T> __host__ __device__ __forceinline__ T normalized(const T& v)
        {
            return v * inverse_norm(v);
        }
 
    template<typename T> __host__ __device__ __forceinline__ T normalized_safe(const T& v)
        {     
      return (dot(v, v) > 0) ? (v * rsqrtf(dot(v, v))) : v;            
        }
    }
}
 
#endif /* PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_ */