NvCloth library v1.0.0

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diff --git a/PxShared/include/foundation/PxMath.h b/PxShared/include/foundation/PxMath.h
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+#ifndef PXFOUNDATION_PXMATH_H
+#define PXFOUNDATION_PXMATH_H
+
+/** \addtogroup foundation
+@{
+*/
+
+#include "foundation/PxPreprocessor.h"
+
+#if PX_VC
+#pragma warning(push)
+#pragma warning(disable : 4985) // 'symbol name': attributes not present on previous declaration
+#endif
+#include <math.h>
+#if PX_VC
+#pragma warning(pop)
+#endif
+
+#include <float.h>
+#include "foundation/PxIntrinsics.h"
+#include "foundation/PxAssert.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+// constants
+static const float PxPi = float(3.141592653589793);
+static const float PxHalfPi = float(1.57079632679489661923);
+static const float PxTwoPi = float(6.28318530717958647692);
+static const float PxInvPi = float(0.31830988618379067154);
+static const float PxInvTwoPi = float(0.15915494309189533577);
+static const float PxPiDivTwo = float(1.57079632679489661923);
+static const float PxPiDivFour = float(0.78539816339744830962);
+
+/**
+\brief The return value is the greater of the two specified values.
+*/
+template <class T>
+PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMax(T a, T b)
+{
+	return a < b ? b : a;
+}
+
+//! overload for float to use fsel on xbox
+template <>
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMax(float a, float b)
+{
+	return intrinsics::selectMax(a, b);
+}
+
+/**
+\brief The return value is the lesser of the two specified values.
+*/
+template <class T>
+PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMin(T a, T b)
+{
+	return a < b ? a : b;
+}
+
+template <>
+//! overload for float to use fsel on xbox
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMin(float a, float b)
+{
+	return intrinsics::selectMin(a, b);
+}
+
+/*
+Many of these are just implemented as PX_CUDA_CALLABLE PX_FORCE_INLINE calls to the C lib right now,
+but later we could replace some of them with some approximations or more
+clever stuff.
+*/
+
+/**
+\brief abs returns the absolute value of its argument.
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)
+{
+	return intrinsics::abs(a);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxEquals(float a, float b, float eps)
+{
+	return (PxAbs(a - b) < eps);
+}
+
+/**
+\brief abs returns the absolute value of its argument.
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAbs(double a)
+{
+	return ::fabs(a);
+}
+
+/**
+\brief abs returns the absolute value of its argument.
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE int32_t PxAbs(int32_t a)
+{
+	return ::abs(a);
+}
+
+/**
+\brief Clamps v to the range [hi,lo]
+*/
+template <class T>
+PX_CUDA_CALLABLE PX_FORCE_INLINE T PxClamp(T v, T lo, T hi)
+{
+	PX_ASSERT(lo <= hi);
+	return PxMin(hi, PxMax(lo, v));
+}
+
+//!	\brief Square root.
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSqrt(float a)
+{
+	return intrinsics::sqrt(a);
+}
+
+//!	\brief Square root.
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSqrt(double a)
+{
+	return ::sqrt(a);
+}
+
+//!	\brief reciprocal square root.
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxRecipSqrt(float a)
+{
+	return intrinsics::recipSqrt(a);
+}
+
+//!	\brief reciprocal square root.
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxRecipSqrt(double a)
+{
+	return 1 / ::sqrt(a);
+}
+
+//! trigonometry -- all angles are in radians.
+
+//!	\brief Sine of an angle ( <b>Unit:</b> Radians )
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSin(float a)
+{
+	return intrinsics::sin(a);
+}
+
+//!	\brief Sine of an angle ( <b>Unit:</b> Radians )
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSin(double a)
+{
+	return ::sin(a);
+}
+
+//!	\brief Cosine of an angle (<b>Unit:</b> Radians)
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCos(float a)
+{
+	return intrinsics::cos(a);
+}
+
+//!	\brief Cosine of an angle (<b>Unit:</b> Radians)
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxCos(double a)
+{
+	return ::cos(a);
+}
+
+/**
+\brief Tangent of an angle.
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxTan(float a)
+{
+	return ::tanf(a);
+}
+
+/**
+\brief Tangent of an angle.
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxTan(double a)
+{
+	return ::tan(a);
+}
+
+/**
+\brief Arcsine.
+Returns angle between -PI/2 and PI/2 in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAsin(float f)
+{
+	return ::asinf(PxClamp(f, -1.0f, 1.0f));
+}
+
+/**
+\brief Arcsine.
+Returns angle between -PI/2 and PI/2 in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAsin(double f)
+{
+	return ::asin(PxClamp(f, -1.0, 1.0));
+}
+
+/**
+\brief Arccosine.
+Returns angle between 0 and PI in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAcos(float f)
+{
+	return ::acosf(PxClamp(f, -1.0f, 1.0f));
+}
+
+/**
+\brief Arccosine.
+Returns angle between 0 and PI in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAcos(double f)
+{
+	return ::acos(PxClamp(f, -1.0, 1.0));
+}
+
+/**
+\brief ArcTangent.
+Returns angle between -PI/2 and PI/2 in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan(float a)
+{
+	return ::atanf(a);
+}
+
+/**
+\brief ArcTangent.
+Returns angle between -PI/2 and PI/2 in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan(double a)
+{
+	return ::atan(a);
+}
+
+/**
+\brief Arctangent of (x/y) with correct sign.
+Returns angle between -PI and PI in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan2(float x, float y)
+{
+	return ::atan2f(x, y);
+}
+
+/**
+\brief Arctangent of (x/y) with correct sign.
+Returns angle between -PI and PI in radians
+<b>Unit:</b> Radians
+*/
+PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan2(double x, double y)
+{
+	return ::atan2(x, y);
+}
+
+//!	\brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
+PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)
+{
+	return intrinsics::isFinite(f);
+}
+
+//!	\brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
+PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(double f)
+{
+	return intrinsics::isFinite(f);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxFloor(float a)
+{
+	return ::floorf(a);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxExp(float a)
+{
+	return ::expf(a);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCeil(float a)
+{
+	return ::ceilf(a);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSign(float a)
+{
+	return physx::intrinsics::sign(a);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxPow(float x, float y)
+{
+	return ::powf(x, y);
+}
+
+PX_CUDA_CALLABLE PX_FORCE_INLINE float PxLog(float x)
+{
+	return ::logf(x);
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif // #ifndef PXFOUNDATION_PXMATH_H