def quat_to_euler(q):
name = _ek.detail.array_name('Array', q.Type, [3], q.IsScalar)
module = _modules.get(q.__module__)
Array3f = getattr(module, name)
sinp = 2 * _ek.fmsub(q.w, q.y, q.z * q.x)
gimbal_lock = _ek.abs(sinp) > (1.0 - 5e-8)
# roll (x-axis rotation)
q_y_2 = _ek.sqr(q.y)
sinr_cosp = 2 * _ek.fmadd(q.w, q.x, q.y * q.z)
cosr_cosp = _ek.fnmadd(2, _ek.fmadd(q.x, q.x, q_y_2), 1)
roll = _ek.select(gimbal_lock, 2 * _ek.atan2(q.x, q.w),
_ek.atan2(sinr_cosp, cosr_cosp))
# pitch (y-axis rotation)
pitch = _ek.select(gimbal_lock, _ek.copysign(0.5 * _ek.Pi, sinp),
_ek.asin(sinp))
# yaw (z-axis rotation)
siny_cosp = 2 * _ek.fmadd(q.w, q.z, q.x * q.y)
cosy_cosp = _ek.fnmadd(2, _ek.fmadd(q.z, q.z, q_y_2), 1)
yaw = _ek.select(gimbal_lock, 0, _ek.atan2(siny_cosp, cosy_cosp))
return Array3f(roll, pitch, yaw)
def test05_scalar(t):
if not ek.is_array_v(t) or ek.array_size_v(t) == 0:
return
get_class(t.__module__)
if ek.is_mask_v(t):
assert ek.all_nested(t(True))
assert ek.any_nested(t(True))
assert ek.none_nested(t(False))
assert ek.all_nested(t(False) ^ t(True))
assert ek.all_nested(ek.eq(t(False), t(False)))
assert ek.none_nested(ek.eq(t(True), t(False)))
if ek.is_arithmetic_v(t):
assert t(1) + t(1) == t(2)
assert t(3) - t(1) == t(2)
assert t(2) * t(2) == t(4)
assert ek.min(t(2), t(3)) == t(2)
assert ek.max(t(2), t(3)) == t(3)
if ek.is_signed_v(t):
assert t(2) * t(-2) == t(-4)
assert ek.abs(t(-2)) == t(2)
if ek.is_integral_v(t):
assert t(6) // t(2) == t(3)
assert t(7) % t(2) == t(1)
assert t(7) >> 1 == t(3)
assert t(7) << 1 == t(14)
assert t(1) | t(2) == t(3)
assert t(1) ^ t(3) == t(2)
assert t(1) & t(3) == t(1)
else:
assert t(6) / t(2) == t(3)
assert ek.sqrt(t(4)) == t(2)
assert ek.fmadd(t(1), t(2), t(3)) == t(5)
assert ek.fmsub(t(1), t(2), t(3)) == t(-1)
assert ek.fnmadd(t(1), t(2), t(3)) == t(1)
assert ek.fnmsub(t(1), t(2), t(3)) == t(-5)
assert (t(1) & True) == t(1)
assert (t(1) & False) == t(0)
assert (t(1) | False) == t(1)
assert ek.all_nested(t(3) > t(2))
assert ek.all_nested(ek.eq(t(2), t(2)))
assert ek.all_nested(ek.neq(t(3), t(2)))
assert ek.all_nested(t(1) >= t(1))
assert ek.all_nested(t(2) < t(3))
assert ek.all_nested(t(1) <= t(1))
assert ek.select(ek.eq(t(2), t(2)), t(4), t(5)) == t(4)
assert ek.select(ek.eq(t(3), t(2)), t(4), t(5)) == t(5)
t2 = t(2)
assert ek.hsum(t2) == t.Value(2 * len(t2))
assert ek.dot(t2, t2) == t.Value(4 * len(t2))
assert ek.dot_async(t2, t2) == t(4 * len(t2))
value = t(1)
value[ek.eq(value, t(1))] = t(2)
value[ek.eq(value, t(3))] = t(5)
assert value == t(2)
def map_forward(self, p):
from mitsuba.core import Vector3f
cos_theta = -p.y
sin_theta = ek.safe_sqrt(ek.fnmadd(cos_theta, cos_theta, 1))
sin_phi, cos_phi = ek.sincos(p.x)
return Vector3f(cos_phi * sin_theta, sin_phi * sin_theta, cos_theta)
def quat_to_euler(q):
q_y_2 = _ek.sqr(q.y)
sinr_cosp = 2 * _ek.fmadd(q.w, q.x, q.y * q.z)
cosr_cosp = _ek.fnmadd(2, _ek.fmadd(q.x, q.x, q_y_2), 1)
roll = _ek.atan2(sinr_cosp, cosr_cosp)
# pitch (y-axis rotation)
sinp = 2 * _ek.fmsub(q.w, q.y, q.z * q.x)
if (_ek.abs(sinp) >= 1.0):
pitch = _ek.copysign(0.5 * _ek.Pi, sinp)
else:
pitch = _ek.asin(sinp)
# yaw (z-axis rotation)
siny_cosp = 2 * _ek.fmadd(q.w, q.z, q.x * q.y)
cosy_cosp = _ek.fnmadd(2, _ek.fmadd(q.z, q.z, q_y_2), 1)
yaw = _ek.atan2(siny_cosp, cosy_cosp)
name = _ek.detail.array_name('Array', q.Type, [3], q.IsScalar)
module = _modules.get(q.__module__)
Array3f = getattr(module, name)
return Array3f(roll, pitch, yaw)
def det(m):
if not _ek.is_matrix_v(m):
raise Exception("Unsupported target type!")
if m.Size == 1:
return m[0, 0]
elif m.Size == 2:
return _ek.fmsub(m[0, 0], m[1, 1], m[0, 1] * m[1, 0])
elif m.Size == 3:
return _ek.dot(m[0], _ek.cross(m[1], m[2]))
elif m.Size == 4:
col0, col1, col2, col3 = m
col1 = _ek.shuffle((2, 3, 0, 1), col1)
col3 = _ek.shuffle((2, 3, 0, 1), col3)
temp = _ek.shuffle((1, 0, 3, 2), col2 * col3)
row0 = col1 * temp
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fmsub(col1, temp, row0)
temp = _ek.shuffle((1, 0, 3, 2), col1 * col2)
row0 = _ek.fmadd(col3, temp, row0)
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fnmadd(col3, temp, row0)
col1 = _ek.shuffle((2, 3, 0, 1), col1)
col2 = _ek.shuffle((2, 3, 0, 1), col2)
temp = _ek.shuffle((1, 0, 3, 2), col1 * col3)
row0 = _ek.fmadd(col2, temp, row0)
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fnmadd(col2, temp, row0)
return _ek.dot(col0, row0)
else:
raise Exception('Unsupported array size!')
def test04_operators():
I3 = ek.scalar.Array3i
F3 = ek.scalar.Array3f
assert (I3(1, 2, 3) + I3(0, 1, 0) == I3(1, 3, 3))
assert (I3(1, 2, 3) - I3(0, 1, 0) == I3(1, 1, 3))
assert (I3(1, 2, 3) * I3(0, 1, 0) == I3(0, 2, 0))
assert (I3(1, 2, 3) // I3(2, 2, 2) == I3(0, 1, 1))
assert (I3(1, 2, 3) % I3(2, 2, 2) == I3(1, 0, 1))
assert (I3(1, 2, 3) << 1 == I3(2, 4, 6))
assert (I3(1, 2, 3) >> 1 == I3(0, 1, 1))
assert (I3(1, 2, 3) & 1 == I3(1, 0, 1))
assert (I3(1, 2, 3) | 1 == I3(1, 3, 3))
assert (I3(1, 2, 3) ^ 1 == I3(0, 3, 2))
assert (-I3(1, 2, 3) == I3(-1, -2, -3))
assert (~I3(1, 2, 3) == I3(-2, -3, -4))
assert (ek.abs(I3(1, -2, 3)) == I3(1, 2, 3))
assert (abs(I3(1, -2, 3)) == I3(1, 2, 3))
assert (ek.abs(I3(1, -2, 3)) == I3(1, 2, 3))
assert (ek.fmadd(F3(1, 2, 3), F3(2, 3, 1), F3(1, 1, 1)) == F3(3, 7, 4))
assert (ek.fmsub(F3(1, 2, 3), F3(2, 3, 1), F3(1, 1, 1)) == F3(1, 5, 2))
assert (ek.fnmadd(F3(1, 2, 3), F3(2, 3, 1), F3(1, 1, 1)) == F3(-1, -5, -2))
assert (ek.fnmsub(F3(1, 2, 3), F3(2, 3, 1), F3(1, 1, 1)) == F3(-3, -7, -4))
def inverse_transpose(m):
if not _ek.is_matrix_v(m):
raise Exception("Unsupported target type!")
t = type(m)
if m.Size == 1:
return t(_ek.rcp(m[0, 0]))
elif m.Size == 2:
inv_det = _ek.rcp(_ek.fmsub(m[0, 0], m[1, 1], m[0, 1] * m[1, 0]))
return t(m[1, 1] * inv_det, -m[1, 0] * inv_det, -m[0, 1] * inv_det,
m[0, 0] * inv_det)
elif m.Size == 3:
col0, col1, col2 = m
row0 = _ek.cross(col1, col2)
row1 = _ek.cross(col2, col0)
row2 = _ek.cross(col0, col1)
inv_det = _ek.rcp(_ek.dot(col0, row0))
return t(row0 * inv_det, row1 * inv_det, row2 * inv_det)
elif m.Size == 4:
col0, col1, col2, col3 = m
col1 = _ek.shuffle((2, 3, 0, 1), col1)
col3 = _ek.shuffle((2, 3, 0, 1), col3)
temp = _ek.shuffle((1, 0, 3, 2), col2 * col3)
row0 = col1 * temp
row1 = col0 * temp
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fmsub(col1, temp, row0)
row1 = _ek.shuffle((2, 3, 0, 1), _ek.fmsub(col0, temp, row1))
temp = _ek.shuffle((1, 0, 3, 2), col1 * col2)
row0 = _ek.fmadd(col3, temp, row0)
row3 = col0 * temp
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fnmadd(col3, temp, row0)
row3 = _ek.shuffle((2, 3, 0, 1), _ek.fmsub(col0, temp, row3))
temp = _ek.shuffle((1, 0, 3, 2),
_ek.shuffle((2, 3, 0, 1), col1) * col3)
col2 = _ek.shuffle((2, 3, 0, 1), col2)
row0 = _ek.fmadd(col2, temp, row0)
row2 = col0 * temp
temp = _ek.shuffle((2, 3, 0, 1), temp)
row0 = _ek.fnmadd(col2, temp, row0)
row2 = _ek.shuffle((2, 3, 0, 1), _ek.fmsub(col0, temp, row2))
temp = _ek.shuffle((1, 0, 3, 2), col0 * col1)
row2 = _ek.fmadd(col3, temp, row2)
row3 = _ek.fmsub(col2, temp, row3)
temp = _ek.shuffle((2, 3, 0, 1), temp)
row2 = _ek.fmsub(col3, temp, row2)
row3 = _ek.fnmadd(col2, temp, row3)
temp = _ek.shuffle((1, 0, 3, 2), col0 * col3)
row1 = _ek.fnmadd(col2, temp, row1)
row2 = _ek.fmadd(col1, temp, row2)
temp = _ek.shuffle((2, 3, 0, 1), temp)
row1 = _ek.fmadd(col2, temp, row1)
row2 = _ek.fnmadd(col1, temp, row2)
temp = _ek.shuffle((1, 0, 3, 2), col0 * col2)
row1 = _ek.fmadd(col3, temp, row1)
row3 = _ek.fnmadd(col1, temp, row3)
temp = _ek.shuffle((2, 3, 0, 1), temp)
row1 = _ek.fnmadd(col3, temp, row1)
row3 = _ek.fmadd(col1, temp, row3)
inv_det = _ek.rcp(_ek.dot(col0, row0))
return t(row0 * inv_det, row1 * inv_det, row2 * inv_det,
row3 * inv_det)
else:
raise Exception('Unsupported array size!')