192 lines
7.6 KiB
C
192 lines
7.6 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <cmath>
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#ifdef __CUDACC__
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#define FN_SPECIFIERS inline __host__ __device__
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#else
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#define FN_SPECIFIERS inline
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#endif
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namespace open3d {
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namespace utility {
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/// Small vector class with some basic arithmetic operations that can be used
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/// within cuda kernels
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template <class T, int N>
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struct MiniVec {
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typedef T Scalar_t;
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FN_SPECIFIERS MiniVec() {}
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template <class... TInit>
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FN_SPECIFIERS explicit MiniVec(TInit... as) : arr{as...} {}
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FN_SPECIFIERS explicit MiniVec(const T* const ptr) {
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for (int i = 0; i < N; ++i) operator[](i) = ptr[i];
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}
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FN_SPECIFIERS const T operator[](size_t i) const { return arr[i]; }
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FN_SPECIFIERS T& operator[](size_t i) { return arr[i]; }
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template <class T2>
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FN_SPECIFIERS MiniVec<T2, N> cast() const {
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MiniVec<T2, N> a;
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for (int i = 0; i < N; ++i) a[i] = T2(operator[](i));
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return a;
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}
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FN_SPECIFIERS T dot(const MiniVec<T, N>& a) const {
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T result = 0;
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for (int i = 0; i < N; ++i) result += operator[](i) * a[i];
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return result;
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}
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FN_SPECIFIERS MiniVec<T, N> abs() const {
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MiniVec<T, N> r;
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for (int i = 0; i < N; ++i) r[i] = std::abs(operator[](i));
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return r;
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}
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FN_SPECIFIERS bool all() const {
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bool result = true;
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for (int i = 0; i < N && result; ++i) result = result && operator[](i);
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return result;
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}
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FN_SPECIFIERS bool any() const {
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for (int i = 0; i < N; ++i)
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if (operator[](i)) return true;
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return false;
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}
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T arr[N];
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};
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template <int N>
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FN_SPECIFIERS MiniVec<float, N> floor(const MiniVec<float, N>& a) {
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MiniVec<float, N> r;
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for (int i = 0; i < N; ++i) r[i] = floorf(a[i]);
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return r;
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}
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template <int N>
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FN_SPECIFIERS MiniVec<double, N> floor(const MiniVec<double, N>& a) {
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MiniVec<double, N> r;
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for (int i = 0; i < N; ++i) r[i] = std::floor(a[i]);
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return r;
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}
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template <int N>
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FN_SPECIFIERS MiniVec<float, N> ceil(const MiniVec<float, N>& a) {
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MiniVec<float, N> r;
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for (int i = 0; i < N; ++i) r[i] = ceilf(a[i]);
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return r;
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}
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template <int N>
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FN_SPECIFIERS MiniVec<double, N> ceil(const MiniVec<double, N>& a) {
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MiniVec<double, N> r;
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for (int i = 0; i < N; ++i) r[i] = std::ceil(a[i]);
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return r;
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}
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template <class T, int N>
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FN_SPECIFIERS MiniVec<T, N> operator-(const MiniVec<T, N>& a) {
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MiniVec<T, N> r;
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for (int i = 0; i < N; ++i) r[i] = -a[i];
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return r;
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}
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template <class T, int N>
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FN_SPECIFIERS MiniVec<T, N> operator!(const MiniVec<T, N>& a) {
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MiniVec<T, N> r;
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for (int i = 0; i < N; ++i) r[i] = !a[i];
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return r;
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}
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#define DEFINE_OPERATOR(op, opas) \
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<T, N> operator op(const MiniVec<T, N>& a, \
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const MiniVec<T, N>& b) { \
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MiniVec<T, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a[i] op b[i]; \
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return c; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS void operator opas(MiniVec<T, N>& a, \
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const MiniVec<T, N>& b) { \
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for (int i = 0; i < N; ++i) a[i] opas b[i]; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<T, N> operator op(const MiniVec<T, N>& a, T b) { \
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MiniVec<T, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a[i] op b; \
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return c; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<T, N> operator op(T a, const MiniVec<T, N>& b) { \
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MiniVec<T, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a op b[i]; \
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return c; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS void operator opas(MiniVec<T, N>& a, T b) { \
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for (int i = 0; i < N; ++i) a[i] opas b; \
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}
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DEFINE_OPERATOR(+, +=)
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DEFINE_OPERATOR(-, -=)
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DEFINE_OPERATOR(*, *=)
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DEFINE_OPERATOR(/, /=)
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#undef DEFINE_OPERATOR
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#define DEFINE_OPERATOR(op) \
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<bool, N> operator op(const MiniVec<T, N>& a, \
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const MiniVec<T, N>& b) { \
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MiniVec<bool, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a[i] op b[i]; \
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return c; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<bool, N> operator op(const MiniVec<T, N>& a, T b) { \
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MiniVec<T, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a[i] op b; \
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return c; \
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} \
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\
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template <class T, int N> \
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FN_SPECIFIERS MiniVec<T, N> operator op(T a, const MiniVec<T, N>& b) { \
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MiniVec<bool, N> c; \
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for (int i = 0; i < N; ++i) c[i] = a op b[i]; \
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return c; \
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}
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DEFINE_OPERATOR(<)
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DEFINE_OPERATOR(<=)
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DEFINE_OPERATOR(>)
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DEFINE_OPERATOR(>=)
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DEFINE_OPERATOR(==)
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DEFINE_OPERATOR(!=)
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DEFINE_OPERATOR(&&)
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DEFINE_OPERATOR(||)
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#undef DEFINE_OPERATOR
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#undef FN_SPECIFIERS
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} // namespace utility
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} // namespace open3d
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