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Diffstat (limited to 'PxShared/src/foundation/include/PsVecMath.h')
| -rw-r--r-- | PxShared/src/foundation/include/PsVecMath.h | 1335 |
1 files changed, 0 insertions, 1335 deletions
diff --git a/PxShared/src/foundation/include/PsVecMath.h b/PxShared/src/foundation/include/PsVecMath.h deleted file mode 100644 index ffd2de8..0000000 --- a/PxShared/src/foundation/include/PsVecMath.h +++ /dev/null @@ -1,1335 +0,0 @@ -// 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 PSFOUNDATION_PSVECMATH_H -#define PSFOUNDATION_PSVECMATH_H - -#include "Ps.h" -#include "PsIntrinsics.h" -#include "foundation/PxVec3.h" -#include "foundation/PxVec4.h" -#include "foundation/PxMat33.h" -#include "foundation/PxUnionCast.h" - -// We can opt to use the scalar version of vectorised functions. -// This can catch type safety issues and might even work out more optimal on pc. -// It will also be useful for benchmarking and testing. -// NEVER submit with vector intrinsics deactivated without good reason. -// AM: deactivating SIMD for debug win64 just so autobuild will also exercise -// non-SIMD path, until a dedicated non-SIMD platform sich as Arm comes online. -// TODO: dima: reference all platforms with SIMD support here, -// all unknown/experimental cases should better default to NO SIMD. - -// enable/disable SIMD -#if !defined(PX_SIMD_DISABLED) -#if PX_INTEL_FAMILY && (!defined(__EMSCRIPTEN__) || defined(__SSE2__)) -#define COMPILE_VECTOR_INTRINSICS 1 -#elif PX_ANDROID&& PX_NEON -#define COMPILE_VECTOR_INTRINSICS 1 -#elif PX_IOS&& PX_NEON -#define COMPILE_VECTOR_INTRINSICS 1 -#elif PX_SWITCH -#define COMPILE_VECTOR_INTRINSICS 1 -#else -#define COMPILE_VECTOR_INTRINSICS 0 -#endif -#else -#define COMPILE_VECTOR_INTRINSICS 0 -#endif - -#if COMPILE_VECTOR_INTRINSICS && PX_INTEL_FAMILY&&(PX_UNIX_FAMILY || PX_PS4) -// only SSE2 compatible platforms should reach this -#if PX_EMSCRIPTEN -#include <emmintrin.h> -#endif -#include <xmmintrin.h> -#endif - -namespace physx -{ -namespace shdfnd -{ -namespace aos -{ - -// Basic AoS types are -// FloatV - 16-byte aligned representation of float. -// Vec3V - 16-byte aligned representation of PxVec3 stored as (x y z 0). -// Vec4V - 16-byte aligned representation of vector of 4 floats stored as (x y z w). -// BoolV - 16-byte aligned representation of vector of 4 bools stored as (x y z w). -// VecU32V - 16-byte aligned representation of 4 unsigned ints stored as (x y z w). -// VecI32V - 16-byte aligned representation of 4 signed ints stored as (x y z w). -// Mat33V - 16-byte aligned representation of any 3x3 matrix. -// Mat34V - 16-byte aligned representation of transformation matrix (rotation in col1,col2,col3 and translation in -// col4). -// Mat44V - 16-byte aligned representation of any 4x4 matrix. - -#if COMPILE_VECTOR_INTRINSICS -#include "PsAoS.h" -#else -#include "PsVecMathAoSScalar.h" -#endif - -////////////////////////////////////////// -// Construct a simd type from a scalar type -////////////////////////////////////////// - -// FloatV -//(f,f,f,f) -PX_FORCE_INLINE FloatV FLoad(const PxF32 f); - -// Vec3V -//(f,f,f,0) -PX_FORCE_INLINE Vec3V V3Load(const PxF32 f); -//(f.x,f.y,f.z,0) -PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f); -//(f.x,f.y,f.z,0), f must be 16-byte aligned -PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f); -//(f.x,f.y,f.z,w_undefined), f must be 16-byte aligned -PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f); -//(f.x,f.y,f.z,0) -PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* f); -//(f.x,f.y,f.z,0), f must be 16-byte aligned -PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* f); - -// Vec4V -//(f,f,f,f) -PX_FORCE_INLINE Vec4V V4Load(const PxF32 f); -//(f[0],f[1],f[2],f[3]) -PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f); -//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned -PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f); -//(x,y,z,w) -PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w); - -// BoolV -//(f,f,f,f) -PX_FORCE_INLINE BoolV BLoad(const bool f); -//(f[0],f[1],f[2],f[3]) -PX_FORCE_INLINE BoolV BLoad(const bool* const f); - -// VecU32V -//(f,f,f,f) -PX_FORCE_INLINE VecU32V U4Load(const PxU32 f); -//(f[0],f[1],f[2],f[3]) -PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* f); -//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned -PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* f); -//((U32)x, (U32)y, (U32)z, (U32)w) -PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w); - -// VecI32V -//(i,i,i,i) -PX_FORCE_INLINE VecI32V I4Load(const PxI32 i); -//(i,i,i,i) -PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i); -//(i,i,i,i) -PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i); - -// QuatV -//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array don't need to aligned -PX_FORCE_INLINE QuatV QuatVLoadU(const PxF32* v); -//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array need to aligned, fast load -PX_FORCE_INLINE QuatV QuatVLoadA(const PxF32* v); -//(x, y, z, w) -PX_FORCE_INLINE QuatV QuatVLoadXYZW(const PxF32 x, const PxF32 y, const PxF32 z, const PxF32 w); - -// not added to public api -Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& v); - -/////////////////////////////////////////////////// -// Construct a simd type from a different simd type -/////////////////////////////////////////////////// - -// Vec3V -//(v.x,v.y,v.z,0) -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v); -//(v.x,v.y,v.z,undefined) - be very careful with w!=0 because many functions require w==0 for correct operation eg V3Dot, V3Length, V3Cross etc etc. -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v); - -// Vec4V -//(f.x,f.y,f.z,f.w) -PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f); -//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w) -PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a); -//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w) -PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a); -//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z), -//(reinterpret_cast<PxF32*>(&f.w)) -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a); -//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z), -//(reinterpret_cast<PxF32*>(&f.w)) -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a); - -// VecU32V -//(*(reinterpret_cast<PxU32*>(&f.x), (reinterpret_cast<PxU32*>(&f.y), (reinterpret_cast<PxU32*>(&f.z), -//(reinterpret_cast<PxU32*>(&f.w)) -PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a); -//(b[0], b[1], b[2], b[3]) -PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b); - -// VecI32V -//(*(reinterpret_cast<PxI32*>(&f.x), (reinterpret_cast<PxI32*>(&f.y), (reinterpret_cast<PxI32*>(&f.z), -//(reinterpret_cast<PxI32*>(&f.w)) -PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a); -//((I32)a.x, (I32)a.y, (I32)a.z, (I32)a.w) -PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a); -//((I32)b.x, (I32)b.y, (I32)b.z, (I32)b.w) -PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b); - -/////////////////////////////////////////////////// -// Convert from a simd type back to a scalar type -/////////////////////////////////////////////////// - -// FloatV -// a.x -PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f); - -// Vec3V -//(a.x,a.y,a.z) -PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f); -//(a.x,a.y,a.z) -PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f); - -// Vec4V -PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f); -PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f); - -// BoolV -PX_FORCE_INLINE void BStoreA(const BoolV b, PxU32* f); - -// VecU32V -PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u); - -// VecI32V -PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i); - -////////////////////////////////////////////////////////////////// -// Test that simd types have elements in the floating point range -////////////////////////////////////////////////////////////////// - -// check for each component is valid ie in floating point range -PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a); -// check for each component is valid ie in floating point range -PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a); -// check for each component is valid ie in floating point range -PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a); - -// Check that w-component is zero. -PX_FORCE_INLINE bool isValidVec3V(const Vec3V a); - -////////////////////////////////////////////////////////////////// -// Tests that all elements of two 16-byte types are completely equivalent. -// Use these tests for unit testing and asserts only. -////////////////////////////////////////////////////////////////// - -namespace _VecMathTests -{ -PX_FORCE_INLINE Vec3V getInvalidVec3V(); -PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b); -PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b); -PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b); -PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b); -PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b); -PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b); - -PX_FORCE_INLINE bool allElementsEqualMat33V(const Mat33V& a, const Mat33V& b) -{ - return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) && - allElementsEqualVec3V(a.col2, b.col2)); -} -PX_FORCE_INLINE bool allElementsEqualMat34V(const Mat34V& a, const Mat34V& b) -{ - return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) && - allElementsEqualVec3V(a.col2, b.col2) && allElementsEqualVec3V(a.col3, b.col3)); -} -PX_FORCE_INLINE bool allElementsEqualMat44V(const Mat44V& a, const Mat44V& b) -{ - return (allElementsEqualVec4V(a.col0, b.col0) && allElementsEqualVec4V(a.col1, b.col1) && - allElementsEqualVec4V(a.col2, b.col2) && allElementsEqualVec4V(a.col3, b.col3)); -} - -PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b); -PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b); -PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b); -PX_FORCE_INLINE bool allElementsNearEqualMat33V(const Mat33V& a, const Mat33V& b) -{ - return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) && - allElementsNearEqualVec3V(a.col2, b.col2)); -} -PX_FORCE_INLINE bool allElementsNearEqualMat34V(const Mat34V& a, const Mat34V& b) -{ - return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) && - allElementsNearEqualVec3V(a.col2, b.col2) && allElementsNearEqualVec3V(a.col3, b.col3)); -} -PX_FORCE_INLINE bool allElementsNearEqualMat44V(const Mat44V& a, const Mat44V& b) -{ - return (allElementsNearEqualVec4V(a.col0, b.col0) && allElementsNearEqualVec4V(a.col1, b.col1) && - allElementsNearEqualVec4V(a.col2, b.col2) && allElementsNearEqualVec4V(a.col3, b.col3)); -} -} - -////////////////////////////////////////////////////////////////// -// Math operations on FloatV -////////////////////////////////////////////////////////////////// - -//(0,0,0,0) -PX_FORCE_INLINE FloatV FZero(); -//(1,1,1,1) -PX_FORCE_INLINE FloatV FOne(); -//(0.5,0.5,0.5,0.5) -PX_FORCE_INLINE FloatV FHalf(); -//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL) -PX_FORCE_INLINE FloatV FEps(); -//(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL PX_MAX_REAL) -PX_FORCE_INLINE FloatV FMax(); -//(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL -PX_MAX_REAL) -PX_FORCE_INLINE FloatV FNegMax(); -//(1e-6f, 1e-6f, 1e-6f, 1e-6f) -PX_FORCE_INLINE FloatV FEps6(); -//((PxF32*)&1, (PxF32*)&1, (PxF32*)&1, (PxF32*)&1) - -//-f (per component) -PX_FORCE_INLINE FloatV FNeg(const FloatV f); -// a+b (per component) -PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b); -// a-b (per component) -PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b); -// a*b (per component) -PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b); -// 1.0f/a -PX_FORCE_INLINE FloatV FRecip(const FloatV a); -// 1.0f/a -PX_FORCE_INLINE FloatV FRecipFast(const FloatV a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE FloatV FRsqrt(const FloatV a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a); -// sqrt(a) -PX_FORCE_INLINE FloatV FSqrt(const FloatV a); -// a*b+c -PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c); -// c-a*b -PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c); -// fabs(a) -PX_FORCE_INLINE FloatV FAbs(const FloatV a); -// c ? a : b (per component) -PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b); -// a>b (per component) -PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b); -// a>=b (per component) -PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b); -// a==b (per component) -PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b); -// Max(a,b) (per component) -PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b); -// Min(a,b) (per component) -PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b); -// Clamp(a,b) (per component) -PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV); - -// a.x>b.x -PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b); -// a.x>=b.x -PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b); -// a.x==b.x -PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b); -// a<min || a>max -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max); -// a>=min && a<=max -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max); -// a<-bounds || a>bounds -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds); -// a>=-bounds && a<=bounds -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds); - -// round float a to the near int -PX_FORCE_INLINE FloatV FRound(const FloatV a); -// calculate the sin of float a -PX_FORCE_INLINE FloatV FSin(const FloatV a); -// calculate the cos of float b -PX_FORCE_INLINE FloatV FCos(const FloatV a); - -////////////////////////////////////////////////////////////////// -// Math operations on Vec3V -////////////////////////////////////////////////////////////////// - -//(f,f,f,f) -PX_FORCE_INLINE Vec3V V3Splat(const FloatV f); - -//(x,y,z) -PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z); - -//(1,0,0,0) -PX_FORCE_INLINE Vec3V V3UnitX(); -//(0,1,0,0) -PX_FORCE_INLINE Vec3V V3UnitY(); -//(0,0,1,0) -PX_FORCE_INLINE Vec3V V3UnitZ(); - -//(f.x,f.x,f.x,f.x) -PX_FORCE_INLINE FloatV V3GetX(const Vec3V f); -//(f.y,f.y,f.y,f.y) -PX_FORCE_INLINE FloatV V3GetY(const Vec3V f); -//(f.z,f.z,f.z,f.z) -PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f); - -//(f,v.y,v.z,v.w) -PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f); -//(v.x,f,v.z,v.w) -PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f); -//(v.x,v.y,f,v.w) -PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f); - -// v.x=f -PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f); -// v.y=f -PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f); -// v.z=f -PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f); -// v.x=f.x, v.y=f.y, v.z=f.z -PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f); -// return v.x -PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v); -// return v.y -PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v); -// return v.y -PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v); -// return (v.x,v.y,v.z) -PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v); - -//(a.x, b.x, c.x) -PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c); -//(a.y, b.y, c.y) -PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c); -//(a.z, b.z, c.z) -PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c); - -//(0,0,0,0) -PX_FORCE_INLINE Vec3V V3Zero(); -//(1,1,1,1) -PX_FORCE_INLINE Vec3V V3One(); -//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL) -PX_FORCE_INLINE Vec3V V3Eps(); -//-c (per component) -PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c); -// a+b (per component) -PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b); -// a-b (per component) -PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b); -// a*b (per component) -PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b); -// a*b (per component) -PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b); -// a/b (per component) -PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b); -// a/b (per component) -PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b); -// 1.0f/a -PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a); -// 1.0f/a -PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a); -// a*b+c -PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c); -// c-a*b -PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c); -// a*b+c -PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c); -// c-a*b -PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c); -// fabs(a) -PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a); - -// a.b -// Note: a.w and b.w must have value zero -PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b); -// aXb -// Note: a.w and b.w must have value zero -PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b); -// |a.a|^1/2 -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3Length(const Vec3V a); -// a.a -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a); -// a*|a.a|^-1/2 -// Note: a.w must have value zero -PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a); -// a.a>0 ? a*|a.a|^-1/2 : (0,0,0,0) -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3Length(const Vec3V a); -// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue -// Note: a.w must have value zero -PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue); -// a.x + a.y + a.z -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a); - -// c ? a : b (per component) -PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b); -// a>b (per component) -PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b); -// a>=b (per component) -PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b); -// a==b (per component) -PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b); -// Max(a,b) (per component) -PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b); -// Min(a,b) (per component) -PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b); - -// Extract the maximum value from a -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a); - -// Extract the minimum value from a -// Note: a.w must have value zero -PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a); - -// Clamp(a,b) (per component) -PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV); - -// Extract the sign for each component -PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a); - -// Test all components. -// (a.x>b.x && a.y>b.y && a.z>b.z) -// Note: a.w and b.w must have value zero -PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b); -// (a.x>=b.x && a.y>=b.y && a.z>=b.z) -// Note: a.w and b.w must have value zero -PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b); -// (a.x==b.x && a.y==b.y && a.z==b.z) -// Note: a.w and b.w must have value zero -PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b); -// a.x<min.x || a.y<min.y || a.z<min.z || a.x>max.x || a.y>max.y || a.z>max.z -// Note: a.w and min.w and max.w must have value zero -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max); -// a.x>=min.x && a.y>=min.y && a.z>=min.z && a.x<=max.x && a.y<=max.y && a.z<=max.z -// Note: a.w and min.w and max.w must have value zero -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max); -// a.x<-bounds.x || a.y<=-bounds.y || a.z<bounds.z || a.x>bounds.x || a.y>bounds.y || a.z>bounds.z -// Note: a.w and bounds.w must have value zero -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds); -// a.x>=-bounds.x && a.y>=-bounds.y && a.z>=-bounds.z && a.x<=bounds.x && a.y<=bounds.y && a.z<=bounds.z -// Note: a.w and bounds.w must have value zero -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds); - -//(floor(a.x + 0.5f), floor(a.y + 0.5f), floor(a.z + 0.5f)) -PX_FORCE_INLINE Vec3V V3Round(const Vec3V a); - -//(sinf(a.x), sinf(a.y), sinf(a.z)) -PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a); -//(cosf(a.x), cosf(a.y), cosf(a.z)) -PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a); - -//(a.y,a.z,a.z) -PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a); -//(a.x,a.y,a.x) -PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a); -//(a.y,a.z,a.x) -PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a); -//(a.z, a.x, a.y) -PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a); -//(a.z,a.z,a.y) -PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a); -//(a.y,a.x,a.x) -PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a); -//(0, v1.z, v0.y) -PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1); -//(v0.z, 0, v1.x) -PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1); -//(v1.y, v0.x, 0) -PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1); - -// Transpose 3 Vec3Vs inplace. Sets the w component to zero -// [ x0, y0, z0, w0] [ x1, y1, z1, w1] [ x2, y2, z2, w2] -> [x0 x1 x2 0] [y0 y1 y2 0] [z0 z1 z2 0] -PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2); - -////////////////////////////////////////////////////////////////// -// Math operations on Vec4V -////////////////////////////////////////////////////////////////// - -//(f,f,f,f) -PX_FORCE_INLINE Vec4V V4Splat(const FloatV f); - -//(f[0],f[1],f[2],f[3]) -PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const f); -//(x,y,z,w) -PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w); -//(x.w, y.w, z.w, w.w) -PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w); -//(x.z, y.z, z.z, w.z) -PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w); -//(x.y, y.y, z.y, w.y) -PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w); -//(x.x, y.x, z.x, w.x) -PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w); - -//(a.x, b.x, a.y, b.y) -PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b); -//(a.z, b.z, a.w, b.w) -PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b); - -//(1,0,0,0) -PX_FORCE_INLINE Vec4V V4UnitW(); -//(0,1,0,0) -PX_FORCE_INLINE Vec4V V4UnitY(); -//(0,0,1,0) -PX_FORCE_INLINE Vec4V V4UnitZ(); -//(0,0,0,1) -PX_FORCE_INLINE Vec4V V4UnitW(); - -//(f.x,f.x,f.x,f.x) -PX_FORCE_INLINE FloatV V4GetX(const Vec4V f); -//(f.y,f.y,f.y,f.y) -PX_FORCE_INLINE FloatV V4GetY(const Vec4V f); -//(f.z,f.z,f.z,f.z) -PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f); -//(f.w,f.w,f.w,f.w) -PX_FORCE_INLINE FloatV V4GetW(const Vec4V f); - -//(f,v.y,v.z,v.w) -PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f); -//(v.x,f,v.z,v.w) -PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f); -//(v.x,v.y,f,v.w) -PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f); -//(v.x,v.y,v.z,f) -PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f); - -//(v.x,v.y,v.z,0) -PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v); - -//(a[elementIndex], a[elementIndex], a[elementIndex], a[elementIndex]) -template <int elementIndex> -PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a); - -// v.x=f -PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f); -// v.y=f -PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f); -// v.z=f -PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f); -// v.w=f -PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f); -// v.x=f.x, v.y=f.y, v.z=f.z -PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f); -// return v.x -PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v); -// return v.y -PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v); -// return v.z -PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v); -// return v.w -PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v); -// return (v.x,v.y,v.z) -PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v); - -//(0,0,0,0) -PX_FORCE_INLINE Vec4V V4Zero(); -//(1,1,1,1) -PX_FORCE_INLINE Vec4V V4One(); -//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL) -PX_FORCE_INLINE Vec4V V4Eps(); - -//-c (per component) -PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c); -// a+b (per component) -PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b); -// a-b (per component) -PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b); -// a*b (per component) -PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b); -// a*b (per component) -PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b); -// a/b (per component) -PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b); -// a/b (per component) -PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b); -// a/b (per component) -PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b); -// 1.0f/a -PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a); -// 1.0f/a -PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a); -// 1.0f/sqrt(a) -PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a); -// a*b+c -PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c); -// c-a*b -PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c); -// a*b+c -PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c); -// c-a*b -PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c); - -// fabs(a) -PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a); -// bitwise a & ~b -PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b); - -// a.b (W is taken into account) -PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b); -// a.b (same computation as V3Dot. W is ignored in input) -PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b); -// aXb (same computation as V3Cross. W is ignored in input and undefined in output) -PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b); - -//|a.a|^1/2 -PX_FORCE_INLINE FloatV V4Length(const Vec4V a); -// a.a -PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a); - -// a*|a.a|^-1/2 -PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a); -// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue -PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue); -// a*|a.a|^-1/2 -PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a); - -// c ? a : b (per component) -PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b); -// a>b (per component) -PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b); -// a>=b (per component) -PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b); -// a==b (per component) -PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b); -// Max(a,b) (per component) -PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b); -// Min(a,b) (per component) -PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b); -// Get the maximum component from a -PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a); -// Get the minimum component from a -PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a); - -// Clamp(a,b) (per component) -PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV); - -// return 1 if all components of a are greater than all components of b. -PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b); -// return 1 if all components of a are greater than or equal to all components of b -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b); -// return 1 if XYZ components of a are greater than or equal to XYZ components of b. W is ignored. -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b); -// return 1 if all components of a are equal to all components of b -PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b); -// return 1 if any XYZ component of a is greater than the corresponding component of b. W is ignored. -PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b); - -// round(a)(per component) -PX_FORCE_INLINE Vec4V V4Round(const Vec4V a); -// sin(a) (per component) -PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a); -// cos(a) (per component) -PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a); - -// Permute v into a new vec4v with YXWZ format -PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v); -// Permute v into a new vec4v with XZXZ format -PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v); -// Permute v into a new vec4v with YWYW format -PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v); -// Permute v into a new vec4v with YZXW format -PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v); - -// Permute v into a new vec4v with format {a[x], a[y], a[z], a[w]} -// V4Perm<1,3,1,3> is equal to V4PermYWYW -// V4Perm<0,2,0,2> is equal to V4PermXZXZ -// V3Perm<1,0,3,2> is equal to V4PermYXWZ -template <PxU8 x, PxU8 y, PxU8 z, PxU8 w> -PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a); - -// Transpose 4 Vec4Vs inplace. -// [ x0, y0, z0, w0] [ x1, y1, z1, w1] [ x2, y2, z2, w2] [ x3, y3, z3, w3] -> -// [ x0, x1, x2, x3] [ y0, y1, y2, y3] [ z0, z1, z2, z3] [ w0, w1, w2, w3] -PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2); - -// q = cos(a/2) + u*sin(a/2) -PX_FORCE_INLINE QuatV QuatV_From_RotationAxisAngle(const Vec3V u, const FloatV a); -// convert q to a unit quaternion -PX_FORCE_INLINE QuatV QuatNormalize(const QuatV q); -//|q.q|^1/2 -PX_FORCE_INLINE FloatV QuatLength(const QuatV q); -// q.q -PX_FORCE_INLINE FloatV QuatLengthSq(const QuatV q); -// a.b -PX_FORCE_INLINE FloatV QuatDot(const QuatV a, const QuatV b); -//(-q.x, -q.y, -q.z, q.w) -PX_FORCE_INLINE QuatV QuatConjugate(const QuatV q); -//(q.x, q.y, q.z) -PX_FORCE_INLINE Vec3V QuatGetImaginaryPart(const QuatV q); -// convert quaternion to matrix 33 -PX_FORCE_INLINE Mat33V QuatGetMat33V(const QuatVArg q); -// convert quaternion to matrix 33 -PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2); -// convert matrix 33 to quaternion -PX_FORCE_INLINE QuatV Mat33GetQuatV(const Mat33V& a); -// brief computes rotation of x-axis -PX_FORCE_INLINE Vec3V QuatGetBasisVector0(const QuatV q); -// brief computes rotation of y-axis -PX_FORCE_INLINE Vec3V QuatGetBasisVector1(const QuatV q); -// brief computes rotation of z-axis -PX_FORCE_INLINE Vec3V QuatGetBasisVector2(const QuatV q); -// calculate the rotation vector from q and v -PX_FORCE_INLINE Vec3V QuatRotate(const QuatV q, const Vec3V v); -// calculate the rotation vector from the conjugate quaternion and v -PX_FORCE_INLINE Vec3V QuatRotateInv(const QuatV q, const Vec3V v); -// quaternion multiplication -PX_FORCE_INLINE QuatV QuatMul(const QuatV a, const QuatV b); -// quaternion add -PX_FORCE_INLINE QuatV QuatAdd(const QuatV a, const QuatV b); -// (-q.x, -q.y, -q.z, -q.w) -PX_FORCE_INLINE QuatV QuatNeg(const QuatV q); -// (a.x - b.x, a.y-b.y, a.z-b.z, a.w-b.w ) -PX_FORCE_INLINE QuatV QuatSub(const QuatV a, const QuatV b); -// (a.x*b, a.y*b, a.z*b, a.w*b) -PX_FORCE_INLINE QuatV QuatScale(const QuatV a, const FloatV b); -// (x = v[0], y = v[1], z = v[2], w =v[3]) -PX_FORCE_INLINE QuatV QuatMerge(const FloatV* const v); -// (x = v[0], y = v[1], z = v[2], w =v[3]) -PX_FORCE_INLINE QuatV QuatMerge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w); -// (x = 0.f, y = 0.f, z = 0.f, w = 1.f) -PX_FORCE_INLINE QuatV QuatIdentity(); -// check for each component is valid -PX_FORCE_INLINE bool isFiniteQuatV(const QuatV q); -// check for each component is valid -PX_FORCE_INLINE bool isValidQuatV(const QuatV q); -// check for each component is valid -PX_FORCE_INLINE bool isSaneQuatV(const QuatV q); - -// Math operations on 16-byte aligned booleans. -// x=false y=false z=false w=false -PX_FORCE_INLINE BoolV BFFFF(); -// x=false y=false z=false w=true -PX_FORCE_INLINE BoolV BFFFT(); -// x=false y=false z=true w=false -PX_FORCE_INLINE BoolV BFFTF(); -// x=false y=false z=true w=true -PX_FORCE_INLINE BoolV BFFTT(); -// x=false y=true z=false w=false -PX_FORCE_INLINE BoolV BFTFF(); -// x=false y=true z=false w=true -PX_FORCE_INLINE BoolV BFTFT(); -// x=false y=true z=true w=false -PX_FORCE_INLINE BoolV BFTTF(); -// x=false y=true z=true w=true -PX_FORCE_INLINE BoolV BFTTT(); -// x=true y=false z=false w=false -PX_FORCE_INLINE BoolV BTFFF(); -// x=true y=false z=false w=true -PX_FORCE_INLINE BoolV BTFFT(); -// x=true y=false z=true w=false -PX_FORCE_INLINE BoolV BTFTF(); -// x=true y=false z=true w=true -PX_FORCE_INLINE BoolV BTFTT(); -// x=true y=true z=false w=false -PX_FORCE_INLINE BoolV BTTFF(); -// x=true y=true z=false w=true -PX_FORCE_INLINE BoolV BTTFT(); -// x=true y=true z=true w=false -PX_FORCE_INLINE BoolV BTTTF(); -// x=true y=true z=true w=true -PX_FORCE_INLINE BoolV BTTTT(); - -// x=false y=false z=false w=true -PX_FORCE_INLINE BoolV BWMask(); -// x=true y=false z=false w=false -PX_FORCE_INLINE BoolV BXMask(); -// x=false y=true z=false w=false -PX_FORCE_INLINE BoolV BYMask(); -// x=false y=false z=true w=false -PX_FORCE_INLINE BoolV BZMask(); - -// get x component -PX_FORCE_INLINE BoolV BGetX(const BoolV f); -// get y component -PX_FORCE_INLINE BoolV BGetY(const BoolV f); -// get z component -PX_FORCE_INLINE BoolV BGetZ(const BoolV f); -// get w component -PX_FORCE_INLINE BoolV BGetW(const BoolV f); - -// Use elementIndex to splat xxxx or yyyy or zzzz or wwww -template <int elementIndex> -PX_FORCE_INLINE BoolV BSplatElement(Vec4V a); - -// component-wise && (AND) -PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b); -// component-wise || (OR) -PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b); -// component-wise not -PX_FORCE_INLINE BoolV BNot(const BoolV a); - -// if all four components are true, return true, otherwise return false -PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a); - -// if any four components is true, return true, otherwise return false -PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a); - -// if all three(0, 1, 2) components are true, return true, otherwise return false -PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a); - -// if any three (0, 1, 2) components is true, return true, otherwise return false -PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a); - -// Return 1 if all components equal, zero otherwise. -PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b); - -// Specialized/faster BAllEq function for b==TTTT -PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a); -// Specialized/faster BAllEq function for b==FFFF -PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a); - -/// Get BoolV as bits set in an PxU32. A bit in the output is set if the element is 'true' in the input. -/// There is a bit for each element in a, with element 0s value held in bit0, element 1 in bit 1s and so forth. -/// If nothing is true in the input it will return 0, and if all are true if will return 0xf. -/// NOTE! That performance of the function varies considerably by platform, thus it is recommended to use -/// where your algorithm really needs a BoolV in an integer variable. -PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a); - -// VecI32V stuff - -PX_FORCE_INLINE VecI32V VecI32V_Zero(); - -PX_FORCE_INLINE VecI32V VecI32V_One(); - -PX_FORCE_INLINE VecI32V VecI32V_Two(); - -PX_FORCE_INLINE VecI32V VecI32V_MinusOne(); - -// Compute a shift parameter for VecI32V_LeftShift and VecI32V_RightShift -// Each element of shift must be identical ie the vector must have form {count, count, count, count} with count>=0 -PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift); - -// Shift each element of a leftwards by the same amount -// Compute shift with VecI32V_PrepareShift -//{a.x<<shift[0], a.y<<shift[0], a.z<<shift[0], a.w<<shift[0]} -PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg shift); - -// Shift each element of a rightwards by the same amount -// Compute shift with VecI32V_PrepareShift -//{a.x>>shift[0], a.y>>shift[0], a.z>>shift[0], a.w>>shift[0]} -PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg shift); - -PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b); - -PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b); - -PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a); - -PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a); - -PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a); - -PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a); - -PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b); - -PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b); - -PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b); - -PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b); - -// VecU32V stuff - -PX_FORCE_INLINE VecU32V U4Zero(); - -PX_FORCE_INLINE VecU32V U4One(); - -PX_FORCE_INLINE VecU32V U4Two(); - -PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b); - -PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b); - -PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b); - -PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b); - -PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b); - -PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b); - -// VecU32 - why does this not return a bool? -PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b); - -// Math operations on 16-byte aligned Mat33s (represents any 3x3 matrix) -// a*b -PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b); -// A*x + b -PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c); -// transpose(a) * b -PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b); -// a*b -PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b); -// a+b -PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b); -// a+b -PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b); -//-a -PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a); -// absolute value of the matrix -PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a); -// inverse mat -PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a); -// transpose(a) -PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a); -// create an identity matrix -PX_FORCE_INLINE Mat33V M33Identity(); - -// create a vec3 to store the diagonal element of the M33 -PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg); - -// Not implemented -// return 1 if all components of a are equal to all components of b -// PX_FORCE_INLINE PxU32 V4U32AllEq(const VecU32V a, const VecU32V b); -// v.w=f -// PX_FORCE_INLINE void V3WriteW(Vec3V& v, const PxF32 f); -// PX_FORCE_INLINE PxF32 V3ReadW(const Vec3V& v); - -// Not used -// PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr); -// PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr); -// floor(a)(per component) -// PX_FORCE_INLINE Vec4V V4Floor(Vec4V a); -// ceil(a) (per component) -// PX_FORCE_INLINE Vec4V V4Ceil(Vec4V a); -// PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power); - -// Math operations on 16-byte aligned Mat34s (represents transformation matrix - rotation and translation). -// namespace _Mat34V -//{ -// //a*b -// PX_FORCE_INLINE Vec3V multiplyV(const Mat34V& a, const Vec3V b); -// //a_rotation * b -// PX_FORCE_INLINE Vec3V multiply3X3V(const Mat34V& a, const Vec3V b); -// //transpose(a_rotation)*b -// PX_FORCE_INLINE Vec3V multiplyTranspose3X3V(const Mat34V& a, const Vec3V b); -// //a*b -// PX_FORCE_INLINE Mat34V multiplyV(const Mat34V& a, const Mat34V& b); -// //a_rotation*b -// PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat33V& b); -// //a_rotation*b_rotation -// PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat34V& b); -// //a+b -// PX_FORCE_INLINE Mat34V addV(const Mat34V& a, const Mat34V& b); -// //a^-1 -// PX_FORCE_INLINE Mat34V getInverseV(const Mat34V& a); -// //transpose(a_rotation) -// PX_FORCE_INLINE Mat33V getTranspose3X3(const Mat34V& a); -//}; //namespace _Mat34V - -// a*b -//#define M34MulV3(a,b) (M34MulV3(a,b)) -////a_rotation * b -//#define M34Mul33V3(a,b) (M34Mul33V3(a,b)) -////transpose(a_rotation)*b -//#define M34TrnspsMul33V3(a,b) (M34TrnspsMul33V3(a,b)) -////a*b -//#define M34MulM34(a,b) (_Mat34V::multiplyV(a,b)) -// a_rotation*b -//#define M34MulM33(a,b) (M34MulM33(a,b)) -// a_rotation*b_rotation -//#define M34Mul33MM34(a,b) (M34MulM33(a,b)) -// a+b -//#define M34Add(a,b) (M34Add(a,b)) -////a^-1 -//#define M34Inverse(a,b) (M34Inverse(a)) -// transpose(a_rotation) -//#define M34Trnsps33(a) (M33Trnsps3X3(a)) - -// Math operations on 16-byte aligned Mat44s (represents any 4x4 matrix) -// namespace _Mat44V -//{ -// //a*b -// PX_FORCE_INLINE Vec4V multiplyV(const Mat44V& a, const Vec4V b); -// //transpose(a)*b -// PX_FORCE_INLINE Vec4V multiplyTransposeV(const Mat44V& a, const Vec4V b); -// //a*b -// PX_FORCE_INLINE Mat44V multiplyV(const Mat44V& a, const Mat44V& b); -// //a+b -// PX_FORCE_INLINE Mat44V addV(const Mat44V& a, const Mat44V& b); -// //a&-1 -// PX_FORCE_INLINE Mat44V getInverseV(const Mat44V& a); -// //transpose(a) -// PX_FORCE_INLINE Mat44V getTransposeV(const Mat44V& a); -//}; //namespace _Mat44V - -// namespace _VecU32V -//{ -// // pack 8 U32s to 8 U16s with saturation -// PX_FORCE_INLINE VecU16V pack2U32VToU16VSaturate(VecU32V a, VecU32V b); -// PX_FORCE_INLINE VecU32V orV(VecU32V a, VecU32V b); -// PX_FORCE_INLINE VecU32V andV(VecU32V a, VecU32V b); -// PX_FORCE_INLINE VecU32V andcV(VecU32V a, VecU32V b); -// // conversion from integer to float -// PX_FORCE_INLINE Vec4V convertToVec4V(VecU32V a); -// // splat a[elementIndex] into all fields of a -// template<int elementIndex> -// PX_FORCE_INLINE VecU32V splatElement(VecU32V a); -// PX_FORCE_INLINE void storeAligned(VecU32V a, VecU32V* address); -//}; - -// namespace _VecI32V -//{ -// template<int a> PX_FORCE_INLINE VecI32V splatI32(); -//}; -// -// namespace _VecU16V -//{ -// PX_FORCE_INLINE VecU16V orV(VecU16V a, VecU16V b); -// PX_FORCE_INLINE VecU16V andV(VecU16V a, VecU16V b); -// PX_FORCE_INLINE VecU16V andcV(VecU16V a, VecU16V b); -// PX_FORCE_INLINE void storeAligned(VecU16V val, VecU16V *address); -// PX_FORCE_INLINE VecU16V loadAligned(VecU16V* addr); -// PX_FORCE_INLINE VecU16V loadUnaligned(VecU16V* addr); -// PX_FORCE_INLINE VecU16V compareGt(VecU16V a, VecU16V b); -// template<int elementIndex> -// PX_FORCE_INLINE VecU16V splatElement(VecU16V a); -// PX_FORCE_INLINE VecU16V subtractModulo(VecU16V a, VecU16V b); -// PX_FORCE_INLINE VecU16V addModulo(VecU16V a, VecU16V b); -// PX_FORCE_INLINE VecU32V getLo16(VecU16V a); // [0,2,4,6] 16-bit values to [0,1,2,3] 32-bit vector -// PX_FORCE_INLINE VecU32V getHi16(VecU16V a); // [1,3,5,7] 16-bit values to [0,1,2,3] 32-bit vector -//}; -// -// namespace _VecI16V -//{ -// template <int val> PX_FORCE_INLINE VecI16V splatImmediate(); -//}; -// -// namespace _VecU8V -//{ -//}; - -// a*b -//#define M44MulV4(a,b) (M44MulV4(a,b)) -////transpose(a)*b -//#define M44TrnspsMulV4(a,b) (M44TrnspsMulV4(a,b)) -////a*b -//#define M44MulM44(a,b) (M44MulM44(a,b)) -////a+b -//#define M44Add(a,b) (M44Add(a,b)) -////a&-1 -//#define M44Inverse(a) (M44Inverse(a)) -////transpose(a) -//#define M44Trnsps(a) (M44Trnsps(a)) - -// dsequeira: these used to be assert'd out in SIMD builds, but they're necessary if -// we want to be able to write some scalar functions which run using SIMD data structures - -PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f) -{ - reinterpret_cast<PxVec3&>(v).x = f; -} - -PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f) -{ - reinterpret_cast<PxVec3&>(v).y = f; -} - -PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f) -{ - reinterpret_cast<PxVec3&>(v).z = f; -} - -PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f) -{ - reinterpret_cast<PxVec3&>(v) = f; -} - -PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v) -{ - return reinterpret_cast<const PxVec3&>(v).x; -} - -PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v) -{ - return reinterpret_cast<const PxVec3&>(v).y; -} - -PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v) -{ - return reinterpret_cast<const PxVec3&>(v).z; -} - -PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v) -{ - return reinterpret_cast<const PxVec3&>(v); -} - -PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f) -{ - reinterpret_cast<PxVec4&>(v).x = f; -} - -PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f) -{ - reinterpret_cast<PxVec4&>(v).y = f; -} - -PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f) -{ - reinterpret_cast<PxVec4&>(v).z = f; -} - -PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f) -{ - reinterpret_cast<PxVec4&>(v).w = f; -} - -PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f) -{ - reinterpret_cast<PxVec3&>(v) = f; -} - -PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v) -{ - return reinterpret_cast<const PxVec4&>(v).x; -} - -PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v) -{ - return reinterpret_cast<const PxVec4&>(v).y; -} - -PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v) -{ - return reinterpret_cast<const PxVec4&>(v).z; -} - -PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v) -{ - return reinterpret_cast<const PxVec4&>(v).w; -} - -PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v) -{ - return reinterpret_cast<const PxVec3&>(v); -} - -// this macro transposes 4 Vec4V into 3 Vec4V (assuming that the W component can be ignored -#define PX_TRANSPOSE_44_34(inA, inB, inC, inD, outA, outB, outC) \ - \ -outA = V4UnpackXY(inA, inC); \ - \ -inA = V4UnpackZW(inA, inC); \ - \ -inC = V4UnpackXY(inB, inD); \ - \ -inB = V4UnpackZW(inB, inD); \ - \ -outB = V4UnpackZW(outA, inC); \ - \ -outA = V4UnpackXY(outA, inC); \ - \ -outC = V4UnpackXY(inA, inB); - -// this macro transposes 3 Vec4V into 4 Vec4V (with W components as garbage!) -#define PX_TRANSPOSE_34_44(inA, inB, inC, outA, outB, outC, outD) \ - outA = V4UnpackXY(inA, inC); \ - inA = V4UnpackZW(inA, inC); \ - outC = V4UnpackXY(inB, inB); \ - inC = V4UnpackZW(inB, inB); \ - outB = V4UnpackZW(outA, outC); \ - outA = V4UnpackXY(outA, outC); \ - outC = V4UnpackXY(inA, inC); \ - outD = V4UnpackZW(inA, inC); - -#define PX_TRANSPOSE_44(inA, inB, inC, inD, outA, outB, outC, outD) \ - outA = V4UnpackXY(inA, inC); \ - inA = V4UnpackZW(inA, inC); \ - inC = V4UnpackXY(inB, inD); \ - inB = V4UnpackZW(inB, inD); \ - outB = V4UnpackZW(outA, inC); \ - outA = V4UnpackXY(outA, inC); \ - outC = V4UnpackXY(inA, inB); \ - outD = V4UnpackZW(inA, inB); - -// This function returns a Vec4V, where each element is the dot product of one pair of Vec3Vs. On PC, each element in -// the result should be identical to the results if V3Dot was performed -// for each pair of Vec3V. -// However, on other platforms, the result might diverge by some small margin due to differences in FP rounding, e.g. if -// _mm_dp_ps was used or some other approximate dot product or fused madd operations -// were used. -// Where there does not exist a hw-accelerated dot-product operation, this approach should be the fastest way to compute -// the dot product of 4 vectors. -PX_FORCE_INLINE Vec4V V3Dot4(const Vec3VArg a0, const Vec3VArg b0, const Vec3VArg a1, const Vec3VArg b1, - const Vec3VArg a2, const Vec3VArg b2, const Vec3VArg a3, const Vec3VArg b3) -{ - Vec4V a0b0 = Vec4V_From_Vec3V(V3Mul(a0, b0)); - Vec4V a1b1 = Vec4V_From_Vec3V(V3Mul(a1, b1)); - Vec4V a2b2 = Vec4V_From_Vec3V(V3Mul(a2, b2)); - Vec4V a3b3 = Vec4V_From_Vec3V(V3Mul(a3, b3)); - - Vec4V aTrnsps, bTrnsps, cTrnsps; - - PX_TRANSPOSE_44_34(a0b0, a1b1, a2b2, a3b3, aTrnsps, bTrnsps, cTrnsps); - - return V4Add(V4Add(aTrnsps, bTrnsps), cTrnsps); -} - -//(f.x,f.y,f.z,0) - Alternative/faster V3LoadU implementation when it is safe to read "W", i.e. the 32bits after the PxVec3. -PX_FORCE_INLINE Vec3V V3LoadU_SafeReadW(const PxVec3& f) -{ - return Vec3V_From_Vec4V(V4LoadU(&f.x)); -} - -// Now for the cross-platform implementations of the 16-byte aligned maths functions (win32/360/ppu/spu etc). -#if COMPILE_VECTOR_INTRINSICS -#include "PsInlineAoS.h" -#else // #if COMPILE_VECTOR_INTRINSICS -#include "PsVecMathAoSScalarInline.h" -#endif // #if !COMPILE_VECTOR_INTRINSICS -#include "PsVecQuat.h" - -} // namespace aos -} // namespace shdfnd -} // namespace physx - -#endif // PSFOUNDATION_PSVECMATH_H |