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Diffstat (limited to 'PxShared/src/foundation/include/PsVecMathAoSScalarInline.h')
| -rw-r--r-- | PxShared/src/foundation/include/PsVecMathAoSScalarInline.h | 2259 |
1 files changed, 0 insertions, 2259 deletions
diff --git a/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h b/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h deleted file mode 100644 index f5dea7b..0000000 --- a/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h +++ /dev/null @@ -1,2259 +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_PSVECMATHAOSSCALARINLINE_H -#define PSFOUNDATION_PSVECMATHAOSSCALARINLINE_H - -#if COMPILE_VECTOR_INTRINSICS -#error Scalar version should not be included when using vector intrinsics. -#endif - -#define BOOL_TO_U32(b) (PxU32)(- PxI32(b)) -#define TRUE_TO_U32 (PxU32)(-1) -#define FALSE_TO_U32 (PxU32)(0) - -#define BOOL_TO_U16(b) (PxU16)(- PxI32(b)) - -#define PX_VECMATH_ASSERT_ENABLED 0 - -#if PX_VECMATH_ASSERT_ENABLED -#define VECMATHAOS_ASSERT(x) { PX_ASSERT(x); } -#else -#define VECMATHAOS_ASSERT(x) -#endif - -///////////////////////////////////////////////////////////////////// -////INTERNAL USE ONLY AND TESTS -///////////////////////////////////////////////////////////////////// - -namespace internalScalarSimd -{ -PX_FORCE_INLINE PxF32 FStore(const FloatV a) -{ - return a.x; -} - -PX_FORCE_INLINE bool hasZeroElementInFloatV(const FloatV a) -{ - return (0 == a.x); -} - -PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a) -{ - return (0 == a.x || 0 == a.y || 0 == a.z); -} - -PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a) -{ - return (0 == a.x || 0 == a.y || 0 == a.z || 0 == a.w); -} -} - -namespace _VecMathTests -{ -// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V' -PX_FORCE_INLINE Vec3V getInvalidVec3V() -{ - Vec3V tmp; - tmp.x = tmp.y = tmp.z = 0.0f; - tmp.pad = 1.0f; - return tmp; -} - -PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b) -{ - return (a.x == b.x); -} - -PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b) -{ - return (a.x == b.x && a.y == b.y && a.z == b.z); -} - -PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b) -{ - return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w); -} - -PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b) -{ - return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw); -} - -PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b) -{ - return (a.u32[0] == b.u32[0] && a.u32[1] == b.u32[1] && a.u32[2] == b.u32[2] && a.u32[3] == b.u32[3]); -} - -PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b) -{ - return (a.i32[0] == b.i32[0] && a.i32[1] == b.i32[1] && a.i32[2] == b.i32[2] && a.i32[3] == b.i32[3]); -} - -#define VECMATH_AOS_EPSILON (1e-3f) - -PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b) -{ - const PxF32 cx = a.x - b.x; - return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON); -} - -PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b) -{ - const PxF32 cx = a.x - b.x; - const PxF32 cy = a.y - b.y; - const PxF32 cz = a.z - b.z; - return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON && - cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON); -} - -PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b) -{ - const PxF32 cx = a.x - b.x; - const PxF32 cy = a.y - b.y; - const PxF32 cz = a.z - b.z; - const PxF32 cw = a.w - b.w; - return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON && - cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON && - cw > -VECMATH_AOS_EPSILON && cw < VECMATH_AOS_EPSILON); -} -} - -/////////////////////////////////////////////////////// - -PX_FORCE_INLINE bool isValidVec3V(const Vec3V a) -{ - return a.pad == 0.f; -} - -PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a) -{ - return PxIsFinite(a.x); -} - -PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a) -{ - return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z); -} - -PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a) -{ - return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z) && PxIsFinite(a.w); -} - -///////////////////////////////////////////////////////////////////// -////VECTORISED FUNCTION IMPLEMENTATIONS -///////////////////////////////////////////////////////////////////// - -PX_FORCE_INLINE FloatV FLoad(const PxF32 f) -{ - return FloatV(f); -} - -PX_FORCE_INLINE Vec3V V3Load(const PxF32 f) -{ - return Vec3V(f, f, f); -} - -PX_FORCE_INLINE Vec4V V4Load(const PxF32 f) -{ - return Vec4V(f, f, f, f); -} - -PX_FORCE_INLINE BoolV BLoad(const bool f) -{ -#if PX_ARM - // SD: Android ARM builds fail if this is done with a cast. - // Might also fail because of something else but the select - // operator here seems to fix everything that failed in release builds. - return f ? BTTTT() : BFFFF(); -#else - return BoolV(BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f)); -#endif -} - -PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f) -{ - return Vec3V(f.x, f.y, f.z); -} - -PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f) -{ - return Vec3V(f.x, f.y, f.z); -} - -PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f) -{ - return Vec3V(f.x, f.y, f.z); -} - -PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f) -{ - return Vec3V(f[0], f[1], f[2]); -} - -PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const f) -{ - return Vec3V(f[0], f[1], f[2]); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V f) -{ - return Vec3V(f.x, f.y, f.z); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v) -{ - return Vec3V(v.x, v.y, v.z); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f) -{ - return Vec4V(f.x, f.y, f.z, 0.0f); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f) -{ - return Vec4V(f.x, f.x, f.x, f.x); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f) -{ - return Vec3V(f.x, f.x, f.x); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f) -{ - return Vec3V(f.x, f.x, f.x); -} - -PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f) -{ - return Vec4V(f[0], f[1], f[2], f[3]); -} - -PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f) -{ - *reinterpret_cast<Vec4V*>(f) = a; -} - -PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f) -{ - *reinterpret_cast<PxVec4*>(f) = *reinterpret_cast<const PxVec4*>(&a.x); -} - -PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f) -{ - *reinterpret_cast<BoolV*>(f) = a; -} - -PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u) -{ - *reinterpret_cast<VecU32V*>(u) = uv; -} - -PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i) -{ - *reinterpret_cast<VecI32V*>(i) = iv; -} - -PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f) -{ - return Vec4V(f[0], f[1], f[2], f[3]); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f) -{ - return Vec4V(f[0], f[1], f[2], 0.0f); -} - -PX_FORCE_INLINE BoolV BLoad(const bool* const f) -{ - return BoolV(BOOL_TO_U32(f[0]), BOOL_TO_U32(f[1]), BOOL_TO_U32(f[2]), BOOL_TO_U32(f[3])); -} - -PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f) -{ - *f = a.x; -} - -PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f) -{ - f = PxVec3(a.x, a.y, a.z); -} - -PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f) -{ - f = PxVec3(a.x, a.y, a.z); -} - -PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2) -{ - *b2 = b.ux; -} - -////////////////////////// -// FLOATV -////////////////////////// - -PX_FORCE_INLINE FloatV FZero() -{ - return FLoad(0.0f); -} - -PX_FORCE_INLINE FloatV FOne() -{ - return FLoad(1.0f); -} - -PX_FORCE_INLINE FloatV FHalf() -{ - return FLoad(0.5f); -} - -PX_FORCE_INLINE FloatV FEps() -{ - return FLoad(PX_EPS_REAL); -} - -PX_FORCE_INLINE FloatV FEps6() -{ - return FLoad(1e-6f); -} - -PX_FORCE_INLINE FloatV FMax() -{ - return FLoad(PX_MAX_REAL); -} - -PX_FORCE_INLINE FloatV FNegMax() -{ - return FLoad(-PX_MAX_REAL); -} - -PX_FORCE_INLINE FloatV FNeg(const FloatV f) -{ - return FloatV(-f.x); -} - -PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b) -{ - return FloatV(a.x + b.x); -} - -PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b) -{ - return FloatV(a.x - b.x); -} - -PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b) -{ - return FloatV(a.x * b.x); -} - -PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b) -{ - VECMATHAOS_ASSERT(b.x != 0.0f); - return FloatV(a.x / b.x); -} - -PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b) -{ - VECMATHAOS_ASSERT(b.x != 0.0f); - return FloatV(a.x / b.x); -} - -PX_FORCE_INLINE FloatV FRecip(const FloatV a) -{ - VECMATHAOS_ASSERT(a.x != 0.0f); - return 1.0f / a.x; -} - -PX_FORCE_INLINE FloatV FRecipFast(const FloatV a) -{ - VECMATHAOS_ASSERT(a.x != 0.0f); - return 1.0f / a.x; -} - -PX_FORCE_INLINE FloatV FRsqrt(const FloatV a) -{ - VECMATHAOS_ASSERT(a.x != 0.0f); - return PxRecipSqrt(a.x); -} - -PX_FORCE_INLINE FloatV FSqrt(const FloatV a) -{ - return PxSqrt(a.x); -} - -PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a) -{ - VECMATHAOS_ASSERT(a.x != 0.0f); - return PxRecipSqrt(a.x); -} - -PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c) -{ - return FAdd(FMul(a, b), c); -} - -PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c) -{ - return FSub(c, FMul(a, b)); -} - -PX_FORCE_INLINE FloatV FAbs(const FloatV a) -{ - return FloatV(PxAbs(a.x)); -} - -PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b) -{ - return FloatV(c.ux ? a.x : b.x); -} - -PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b) -{ - return BLoad(a.x > b.x); -} - -PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b) -{ - return BLoad(a.x >= b.x); -} - -PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b) -{ - return BLoad(a.x == b.x); -} - -PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b) -{ - return (a.x > b.x ? FloatV(a.x) : FloatV(b.x)); -} - -PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b) -{ - return (a.x > b.x ? FloatV(b.x) : FloatV(a.x)); -} - -PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV) -{ - return FMax(FMin(a, maxV), minV); -} - -PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b) -{ - return BOOL_TO_U32(a.x > b.x); -} - -PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b) -{ - return BOOL_TO_U32(a.x >= b.x); -} -PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b) -{ - return BOOL_TO_U32(a.x == b.x); -} - -PX_FORCE_INLINE FloatV FRound(const FloatV a) -{ - return floorf(a.x + 0.5f); -} - -PX_FORCE_INLINE FloatV FSin(const FloatV a) -{ - return sinf(a.x); -} - -PX_FORCE_INLINE FloatV FCos(const FloatV a) -{ - return cosf(a.x); -} - -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max) -{ - return BOOL_TO_U32(a.x > max.x || a.x < min.x); -} - -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max) -{ - return BOOL_TO_U32(a.x >= min.x && a.x <= max.x); -} - -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds) -{ - return FOutOfBounds(a, FNeg(bounds), bounds); -} - -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds) -{ - return FInBounds(a, FNeg(bounds), bounds); -} - -///////////////////// -// VEC3V -///////////////////// - -PX_FORCE_INLINE Vec3V V3Splat(const FloatV f) -{ - return Vec3V(f.x, f.x, f.x); -} - -PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z) -{ - return Vec3V(x.x, y.x, z.x); -} - -PX_FORCE_INLINE Vec3V V3UnitX() -{ - return Vec3V(1.0f, 0.0f, 0.0f); -} - -PX_FORCE_INLINE Vec3V V3UnitY() -{ - return Vec3V(0.0f, 1.0f, 0.0f); -} - -PX_FORCE_INLINE Vec3V V3UnitZ() -{ - return Vec3V(0.0f, 0.0f, 1.0f); -} - -PX_FORCE_INLINE FloatV V3GetX(const Vec3V f) -{ - return FloatV(f.x); -} - -PX_FORCE_INLINE FloatV V3GetY(const Vec3V f) -{ - return FloatV(f.y); -} - -PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f) -{ - return FloatV(f.z); -} - -PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f) -{ - return Vec3V(f.x, v.y, v.z); -} - -PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f) -{ - return Vec3V(v.x, f.x, v.z); -} - -PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f) -{ - return Vec3V(v.x, v.y, f.x); -} - -PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c) -{ - return Vec3V(a.x, b.x, c.x); -} - -PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c) -{ - return Vec3V(a.y, b.y, c.y); -} - -PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c) -{ - return Vec3V(a.z, b.z, c.z); -} - -PX_FORCE_INLINE Vec3V V3Zero() -{ - return V3Load(0.0f); -} - -PX_FORCE_INLINE Vec3V V3One() -{ - return V3Load(1.0f); -} - -PX_FORCE_INLINE Vec3V V3Eps() -{ - return V3Load(PX_EPS_REAL); -} - -PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c) -{ - return Vec3V(-c.x, -c.y, -c.z); -} - -PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x + b.x, a.y + b.y, a.z + b.z); -} - -PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x - b.x, a.y - b.y, a.z - b.z); -} - -PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b) -{ - return Vec3V(a.x * b.x, a.y * b.x, a.z * b.x); -} - -PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x * b.x, a.y * b.y, a.z * b.z); -} - -PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b) -{ - const PxF32 bInv = 1.0f / b.x; - return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv); -} - -PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z); -} - -PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b) -{ - const PxF32 bInv = 1.0f / b.x; - return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv); -} - -PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z); -} - -PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a) -{ - return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z); -} - -PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a) -{ - return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z); -} - -PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a) -{ - return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z)); -} - -PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a) -{ - return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z)); -} - -PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c) -{ - return V3Add(V3Scale(a, b), c); -} - -PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c) -{ - return V3Sub(c, V3Scale(a, b)); -} - -PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c) -{ - return V3Add(V3Mul(a, b), c); -} - -PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c) -{ - return V3Sub(c, V3Mul(a, b)); -} - -PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b) -{ - return FloatV(a.x * b.x + a.y * b.y + a.z * b.z); -} - -PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3VArg normal) -{ - return normal; -} - -PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x); -} - -PX_FORCE_INLINE FloatV V3Length(const Vec3V a) -{ - return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z)); -} - -PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a) -{ - return FloatV(a.x * a.x + a.y * a.y + a.z * a.z); -} - -PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a) -{ - VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0); - const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z); - return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv); -} - -PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue) -{ - const PxF32 length = PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z); - if(PX_EPS_REAL >= length) - { - return unsafeReturnValue; - } - else - { - const PxF32 lengthInv = 1.0f / length; - return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv); - } -} - -PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a) -{ - VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0); - const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z); - return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv); -} - -PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b) -{ - return Vec3V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z); -} - -PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b) -{ - return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), FALSE_TO_U32); -} - -PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b) -{ - return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), TRUE_TO_U32); -} - -PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b) -{ - return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), TRUE_TO_U32); -} - -PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z); -} - -PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b) -{ - return Vec3V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z); -} - -PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a) -{ - const PxF32 t0 = (a.x >= a.y) ? a.x : a.y; - return t0 >= a.z ? t0 : a.z; -} - -PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a) -{ - const PxF32 t0 = (a.x <= a.y) ? a.x : a.y; - return t0 <= a.z ? t0 : a.z; -} - -// return (a >= 0.0f) ? 1.0f : -1.0f; -PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a) -{ - return Vec3V((a.x >= 0.f ? 1.f : -1.f), (a.y >= 0.f ? 1.f : -1.f), (a.z >= 0.f ? 1.f : -1.f)); -} - -PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV) -{ - return V3Max(V3Min(a, maxV), minV); -} - -PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a) -{ - return V3Max(a, V3Neg(a)); -} - -PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b) -{ - return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z)); -} - -PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b) -{ - return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z)); -} - -PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b) -{ - return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z)); -} - -PX_FORCE_INLINE Vec3V V3Round(const Vec3V a) -{ - return Vec3V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f)); -} - -PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a) -{ - return Vec3V(sinf(a.x), sinf(a.y), sinf(a.z)); -} - -PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a) -{ - return Vec3V(cosf(a.x), cosf(a.y), cosf(a.z)); -} - -PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a) -{ - return Vec3V(a.y, a.z, a.z); -} - -PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a) -{ - return Vec3V(a.x, a.y, a.x); -} - -PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a) -{ - return Vec3V(a.y, a.z, a.x); -} - -PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a) -{ - return Vec3V(a.z, a.x, a.y); -} - -PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a) -{ - return Vec3V(a.z, a.z, a.y); -} - -PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a) -{ - return Vec3V(a.y, a.x, a.x); -} - -PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1) -{ - return Vec3V(0.0f, v1.z, v0.y); -} - -PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1) -{ - return Vec3V(v0.z, 0.0f, v1.x); -} - -PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1) -{ - return Vec3V(v1.y, v0.x, 0.0f); -} - -PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a) -{ - return FloatV(a.x + a.y + a.z); -} - -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max) -{ - return BOOL_TO_U32(a.x > max.x || a.y > max.y || a.z > max.z || a.x < min.x || a.y < min.y || a.z < min.z); -} - -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max) -{ - return BOOL_TO_U32(a.x <= max.x && a.y <= max.y && a.z <= max.z && a.x >= min.x && a.y >= min.y && a.z >= min.z); -} - -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds) -{ - return V3OutOfBounds(a, V3Neg(bounds), bounds); -} - -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds) -{ - return V3InBounds(a, V3Neg(bounds), bounds); -} - -PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2) -{ - const PxF32 t01 = col0.y, t02 = col0.z, t12 = col1.z; - col0.y = col1.x; - col0.z = col2.x; - col1.z = col2.y; - col1.x = t01; - col2.x = t02; - col2.y = t12; -} - -///////////////////////// -// VEC4V -///////////////////////// - -PX_FORCE_INLINE Vec4V V4Splat(const FloatV f) -{ - return Vec4V(f.x, f.x, f.x, f.x); -} - -PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray) -{ - return Vec4V(floatVArray[0].x, floatVArray[1].x, floatVArray[2].x, floatVArray[3].x); -} - -PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w) -{ - return Vec4V(x.x, y.x, z.x, w.x); -} - -PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - return Vec4V(x.w, y.w, z.w, w.w); -} - -PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - return Vec4V(x.z, y.z, z.z, w.z); -} - -PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - return Vec4V(x.y, y.y, z.y, w.y); -} - -PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - return Vec4V(x.x, y.x, z.x, w.x); -} - -PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b) -{ - return Vec4V(a.x, b.x, a.y, b.y); -} - -PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b) -{ - return Vec4V(a.z, b.z, a.w, b.w); -} - -PX_FORCE_INLINE Vec4V V4UnitX() -{ - return Vec4V(1.0f, 0.0f, 0.0f, 0.0f); -} - -PX_FORCE_INLINE Vec4V V4UnitY() -{ - return Vec4V(0.0f, 1.0f, 0.0f, 0.0f); -} - -PX_FORCE_INLINE Vec4V V4UnitZ() -{ - return Vec4V(0.0f, 0.0f, 1.0f, 0.0f); -} - -PX_FORCE_INLINE Vec4V V4UnitW() -{ - return Vec4V(0.0f, 0.0f, 0.0f, 1.0f); -} - -PX_FORCE_INLINE FloatV V4GetX(const Vec4V f) -{ - return FloatV(f.x); -} - -PX_FORCE_INLINE FloatV V4GetY(const Vec4V f) -{ - return FloatV(f.y); -} - -PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f) -{ - return FloatV(f.z); -} - -PX_FORCE_INLINE FloatV V4GetW(const Vec4V f) -{ - return FloatV(f.w); -} - -PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f) -{ - return Vec4V(f.x, v.y, v.z, v.w); -} - -PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f) -{ - return Vec4V(v.x, f.x, v.z, v.w); -} - -PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f) -{ - return Vec4V(v.x, v.y, f.x, v.w); -} - -PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f) -{ - return Vec4V(v.x, v.y, v.z, f.x); -} - -PX_FORCE_INLINE Vec4V V4SetW(const Vec3V v, const FloatV f) -{ - return Vec4V(v.x, v.y, v.z, f.x); -} - -PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v) -{ - return Vec4V(v.x, v.y, v.z, 0.0f); -} - -PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v) -{ - return Vec4V(v.y, v.x, v.w, v.z); -} - -PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v) -{ - return Vec4V(v.x, v.z, v.x, v.z); -} - -PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v) -{ - return Vec4V(v.y, v.w, v.y, v.w); -} - -PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v) -{ - return Vec4V(v.y, v.z, v.x, v.w); -} - -template <PxU8 _x, PxU8 _y, PxU8 _z, PxU8 _w> -PX_FORCE_INLINE Vec4V V4Perm(const Vec4V v) -{ - const PxF32 f[4] = { v.x, v.y, v.z, v.w }; - return Vec4V(f[_x], f[_y], f[_z], f[_w]); -} - -PX_FORCE_INLINE Vec4V V4Zero() -{ - return V4Load(0.0f); -} - -PX_FORCE_INLINE Vec4V V4One() -{ - return V4Load(1.0f); -} - -PX_FORCE_INLINE Vec4V V4Eps() -{ - return V4Load(PX_EPS_REAL); -} - -PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c) -{ - return Vec4V(-c.x, -c.y, -c.z, -c.w); -} - -PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); -} - -PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); -} - -PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b) -{ - return Vec4V(a.x * b.x, a.y * b.x, a.z * b.x, a.w * b.x); -} - -PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); -} - -PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b) -{ - const PxF32 bInv = 1.0f / b.x; - return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv); -} - -PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b) -{ - VECMATHAOS_ASSERT(b.x != 0 && b.y != 0 && b.z != 0 && b.w != 0); - return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); -} - -PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b) -{ - const PxF32 bInv = 1.0f / b.x; - return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv); -} - -PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); -} - -PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a) -{ - return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w); -} - -PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a) -{ - return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w); -} - -PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a) -{ - return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w)); -} - -PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a) -{ - return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w)); -} - -PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a) -{ - return Vec4V(PxSqrt(a.x), PxSqrt(a.y), PxSqrt(a.z), PxSqrt(a.w)); -} - -PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c) -{ - return V4Add(V4Scale(a, b), c); -} - -PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c) -{ - return V4Sub(c, V4Scale(a, b)); -} - -PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c) -{ - return V4Add(V4Mul(a, b), c); -} - -PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c) -{ - return V4Sub(c, V4Mul(a, b)); -} - -PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a) -{ - return FloatV(a.x + a.y + a.z + a.w); -} - -PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b) -{ - return FloatV(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w); -} - -PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b) -{ - return FloatV(a.x * b.x + a.y * b.y + a.z * b.z); -} - -PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x, 0.0f); -} - -PX_FORCE_INLINE FloatV V4Length(const Vec4V a) -{ - return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w)); -} - -PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a) -{ - return V4Dot(a, a); -} - -PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a) -{ - VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w); - const FloatV length = FloatV(V4Length(a)); - return V4ScaleInv(a, length); -} - -PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue) -{ - const FloatV length = FloatV(V4Length(a)); - if(PX_EPS_REAL >= length.x) - { - return unsafeReturnValue; - } - else - { - return V4ScaleInv(a, length); - } -} -PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a) -{ - VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w); - const FloatV length = FloatV(V4Length(a)); - return V4ScaleInv(a, length); -} - -PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b) -{ - return Vec4V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z, c.uw ? a.w : b.w); -} - -PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b) -{ - return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), BOOL_TO_U32(a.w > b.w)); -} - -PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b) -{ - return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), BOOL_TO_U32(a.w >= b.w)); -} - -PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b) -{ - return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), BOOL_TO_U32(a.w == b.w)); -} - -PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z, a.w > b.w ? a.w : b.w); -} - -PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b) -{ - return Vec4V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z, a.w < b.w ? a.w : b.w); -} - -PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a) -{ - const PxF32 t0 = (a.x >= a.y) ? a.x : a.y; - const PxF32 t1 = (a.z >= a.w) ? a.x : a.w; - return t0 >= t1 ? t0 : t1; -} - -PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a) -{ - const PxF32 t0 = (a.x <= a.y) ? a.x : a.y; - const PxF32 t1 = (a.z <= a.w) ? a.x : a.w; - return t0 <= t1 ? t0 : t1; -} - -PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV) -{ - return V4Max(V4Min(a, maxV), minV); -} - -PX_FORCE_INLINE Vec4V V4Round(const Vec4V a) -{ - return Vec4V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f), floorf(a.w + 0.5f)); -} - -PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a) -{ - return Vec4V(sinf(a.x), sinf(a.y), sinf(a.z), sinf(a.w)); -} - -PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a) -{ - return Vec4V(cosf(a.x), cosf(a.y), cosf(a.z), cosf(a.w)); -} - -PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b) -{ - return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z) & (a.w > b.w)); -} - -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b) -{ - return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z) & (a.w >= b.w)); -} - -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b) -{ - return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z)); -} - -PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b) -{ - return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z) & (a.w == b.w)); -} - -PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b) -{ - return BOOL_TO_U32((a.x > b.x) | (a.y > b.y) | (a.z > b.z)); -} - -PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3) -{ - const PxF32 t01 = col0.y, t02 = col0.z, t03 = col0.w; - const PxF32 t12 = col1.z, t13 = col1.w; - const PxF32 t23 = col2.w; - col0.y = col1.x; - col0.z = col2.x; - col0.w = col3.x; - col1.z = col2.y; - col1.w = col3.y; - col2.w = col3.z; - col1.x = t01; - col2.x = t02; - col3.x = t03; - col2.y = t12; - col3.y = t13; - col3.z = t23; -} - -PX_FORCE_INLINE BoolV BFFFF() -{ - return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BFFFT() -{ - return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BFFTF() -{ - return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BFFTT() -{ - return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BFTFF() -{ - return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BFTFT() -{ - return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BFTTF() -{ - return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BFTTT() -{ - return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BTFFF() -{ - return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BTFFT() -{ - return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BTFTF() -{ - return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BTFTT() -{ - return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BTTFF() -{ - return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BTTFT() -{ - return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32); -} -PX_FORCE_INLINE BoolV BTTTF() -{ - return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32); -} -PX_FORCE_INLINE BoolV BTTTT() -{ - return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32); -} - -PX_FORCE_INLINE BoolV BXMask() -{ - return BTFFF(); -} -PX_FORCE_INLINE BoolV BYMask() -{ - return BFTFF(); -} -PX_FORCE_INLINE BoolV BZMask() -{ - return BFFTF(); -} -PX_FORCE_INLINE BoolV BWMask() -{ - return BFFFT(); -} - -PX_FORCE_INLINE BoolV BGetX(const BoolV a) -{ - return BoolV(a.ux, a.ux, a.ux, a.ux); -} - -PX_FORCE_INLINE BoolV BGetY(const BoolV a) -{ - return BoolV(a.uy, a.uy, a.uy, a.uy); -} - -PX_FORCE_INLINE BoolV BGetZ(const BoolV a) -{ - return BoolV(a.uz, a.uz, a.uz, a.uz); -} - -PX_FORCE_INLINE BoolV BGetW(const BoolV a) -{ - return BoolV(a.uw, a.uw, a.uw, a.uw); -} - -PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f) -{ - return BoolV(f.ux, v.uy, v.uz, v.uw); -} - -PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f) -{ - return BoolV(v.ux, f.uy, v.uz, v.uw); -} - -PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f) -{ - return BoolV(v.ux, v.uy, f.uz, v.uw); -} - -PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f) -{ - return BoolV(v.ux, v.uy, v.uz, f.uw); -} - -template <int index> -BoolV BSplatElement(BoolV a) -{ - PxU32* b = (PxU32*)&a; - return BoolV(b[index], b[index], b[index], b[index]); -} - -PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b) -{ - return BoolV(BOOL_TO_U32(a.ux && b.ux), BOOL_TO_U32(a.uy && b.uy), BOOL_TO_U32(a.uz && b.uz), BOOL_TO_U32(a.uw && b.uw)); -} - -PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b) -{ - return BoolV(a.ux & ~b.ux, a.uy & ~b.uy, a.uz & ~b.uz, a.uw & ~b.uw); -} - -PX_FORCE_INLINE BoolV BNot(const BoolV a) -{ - return BoolV(~a.ux, ~a.uy, ~a.uz, ~a.uw); -} - -PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b) -{ - return BoolV(BOOL_TO_U32(a.ux || b.ux), BOOL_TO_U32(a.uy || b.uy), BOOL_TO_U32(a.uz || b.uz), BOOL_TO_U32(a.uw || b.uw)); -} - -PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b) -{ - return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw ? 1 : 0); -} - -PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a) -{ - return BAllEq(a, BTTTT()); -} - -PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a) -{ - return BAllEq(a, BFFFF()); -} - -PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a) -{ - return (a.ux & a.uy & a.uz & a.uw) ? BTTTT() : BFFFF(); -} - -PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a) -{ - return (a.ux | a.uy | a.uz | a.uw) ? BTTTT() : BFFFF(); -} - -PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a) -{ - return (a.ux & a.uy & a.uz) ? BTTTT() : BFFFF(); -} - -PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a) -{ - return (a.ux | a.uy | a.uz) ? BTTTT() : BFFFF(); -} - -PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a) -{ - return (a.ux & 1) | (a.uy & 2) | (a.uz & 4) | (a.uw & 8); -} - -////////////////////////////////// -// MAT33V -////////////////////////////////// - -PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b) -{ - return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z, - a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z); -} - -PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b) -{ - return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z, - a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z); -} - -PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c) -{ - const FloatV x = V3GetX(b); - const FloatV y = V3GetY(b); - const FloatV z = V3GetZ(b); - Vec3V result = V3ScaleAdd(A.col0, x, c); - result = V3ScaleAdd(A.col1, y, result); - return V3ScaleAdd(A.col2, z, result); -} - -PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b) -{ - return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b)); -} - -PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a) -{ - return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2)); -} - -PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a) -{ - return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2)); -} - -PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d) -{ - const Vec3V x = V3Mul(V3UnitX(), d); - const Vec3V y = V3Mul(V3UnitY(), d); - const Vec3V z = V3Mul(V3UnitZ(), d); - return Mat33V(x, y, z); -} - -PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a) -{ - const PxF32 det = a.col0.x * (a.col1.y * a.col2.z - a.col1.z * a.col2.y) - - a.col1.x * (a.col0.y * a.col2.z - a.col2.y * a.col0.z) + - a.col2.x * (a.col0.y * a.col1.z - a.col1.y * a.col0.z); - - const PxF32 invDet = 1.0f / det; - - Mat33V ret; - ret.col0.x = invDet * (a.col1.y * a.col2.z - a.col2.y * a.col1.z); - ret.col0.y = invDet * (a.col2.y * a.col0.z - a.col0.y * a.col2.z); - ret.col0.z = invDet * (a.col0.y * a.col1.z - a.col1.y * a.col0.z); - - ret.col1.x = invDet * (a.col2.x * a.col1.z - a.col1.x * a.col2.z); - ret.col1.y = invDet * (a.col0.x * a.col2.z - a.col2.x * a.col0.z); - ret.col1.z = invDet * (a.col1.x * a.col0.z - a.col0.x * a.col1.z); - - ret.col2.x = invDet * (a.col1.x * a.col2.y - a.col2.x * a.col1.y); - ret.col2.y = invDet * (a.col2.x * a.col0.y - a.col0.x * a.col2.y); - ret.col2.z = invDet * (a.col0.x * a.col1.y - a.col1.x * a.col0.y); - - return ret; -} - -PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m) -{ - return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2)); -} - -PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out) -{ - PX_ASSERT((size_t(&out) & 15) == 0); - V3StoreU(m.col0, out.column0); - V3StoreU(m.col1, out.column1); - V3StoreU(m.col2, out.column2); -} - -PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a) -{ - return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y), - Vec3V(a.col0.z, a.col1.z, a.col2.z)); -} - -PX_FORCE_INLINE Mat33V M33Identity() -{ - return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ()); -} - -////////////////////////////////// -// MAT34V -////////////////////////////////// - -PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b) -{ - return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x, - a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y, - a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z); -} - -PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b) -{ - return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z, - a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z); -} - -PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b) -{ - return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z, - a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z); -} - -PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b) -{ - return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3)); -} - -PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b) -{ - return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2)); -} - -PX_FORCE_INLINE Mat33V M34Mul33V3(const Mat34V& a, const Mat33V& b) -{ - return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2)); -} - -PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b) -{ - return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2)); -} - -PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b) -{ - return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3)); -} - -PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a) -{ - return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y), - Vec3V(a.col0.z, a.col1.z, a.col2.z)); -} - -////////////////////////////////// -// MAT44V -////////////////////////////////// - -PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b) -{ - return Vec4V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x * b.w, - a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y * b.w, - a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z * b.w, - a.col0.w * b.x + a.col1.w * b.y + a.col2.w * b.z + a.col3.w * b.w); -} - -PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b) -{ - return Vec4V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z + a.col0.w * b.w, - a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z + a.col1.w * b.w, - a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z + a.col2.w * b.w, - a.col3.x * b.x + a.col3.y * b.y + a.col3.z * b.z + a.col3.w * b.w); -} - -PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b) -{ - return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3)); -} - -PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b) -{ - return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3)); -} - -PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a) -{ - PxF32 tmp[12]; - PxF32 dst[16]; - PxF32 det; - - const PxF32 src[16] = { a.col0.x, a.col0.y, a.col0.z, a.col0.w, a.col1.x, a.col1.y, a.col1.z, a.col1.w, - a.col2.x, a.col2.y, a.col2.z, a.col2.w, a.col3.x, a.col3.y, a.col3.z, a.col3.w }; - - tmp[0] = src[10] * src[15]; - tmp[1] = src[11] * src[14]; - tmp[2] = src[9] * src[15]; - tmp[3] = src[11] * src[13]; - tmp[4] = src[9] * src[14]; - tmp[5] = src[10] * src[13]; - tmp[6] = src[8] * src[15]; - tmp[7] = src[11] * src[12]; - tmp[8] = src[8] * src[14]; - tmp[9] = src[10] * src[12]; - tmp[10] = src[8] * src[13]; - tmp[11] = src[9] * src[12]; - - dst[0] = tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]; - dst[0] -= tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]; - dst[1] = tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]; - dst[1] -= tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]; - dst[2] = tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]; - dst[2] -= tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]; - dst[3] = tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]; - dst[3] -= tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]; - dst[4] = tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]; - dst[4] -= tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]; - dst[5] = tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]; - dst[5] -= tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]; - dst[6] = tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]; - dst[6] -= tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]; - dst[7] = tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]; - dst[7] -= tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]; - - tmp[0] = src[2] * src[7]; - tmp[1] = src[3] * src[6]; - tmp[2] = src[1] * src[7]; - tmp[3] = src[3] * src[5]; - tmp[4] = src[1] * src[6]; - tmp[5] = src[2] * src[5]; - tmp[6] = src[0] * src[7]; - tmp[7] = src[3] * src[4]; - tmp[8] = src[0] * src[6]; - tmp[9] = src[2] * src[4]; - tmp[10] = src[0] * src[5]; - tmp[11] = src[1] * src[4]; - - dst[8] = tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]; - dst[8] -= tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]; - dst[9] = tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]; - dst[9] -= tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]; - dst[10] = tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]; - dst[10] -= tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]; - dst[11] = tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]; - dst[11] -= tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]; - dst[12] = tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]; - dst[12] -= tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]; - dst[13] = tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]; - dst[13] -= tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]; - dst[14] = tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]; - dst[14] -= tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]; - dst[15] = tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]; - dst[15] -= tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]; - - det = src[0] * dst[0] + src[1] * dst[1] + src[2] * dst[2] + src[3] * dst[3]; - - det = 1.0f / det; - for(PxU32 j = 0; j < 16; j++) - { - dst[j] *= det; - } - - return Mat44V(Vec4V(dst[0], dst[4], dst[8], dst[12]), Vec4V(dst[1], dst[5], dst[9], dst[13]), - Vec4V(dst[2], dst[6], dst[10], dst[14]), Vec4V(dst[3], dst[7], dst[11], dst[15])); -} - -PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a) -{ - return Mat44V(Vec4V(a.col0.x, a.col1.x, a.col2.x, a.col3.x), Vec4V(a.col0.y, a.col1.y, a.col2.y, a.col3.y), - Vec4V(a.col0.z, a.col1.z, a.col2.z, a.col3.z), Vec4V(a.col0.w, a.col1.w, a.col2.w, a.col3.w)); -} - -PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w) -{ - return Vec4V(x, y, z, w); -} - -/* -PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b) -{ - return VecU16V( - PxU16(PxClamp<PxU32>((a).u32[0], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((a).u32[1], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((a).u32[2], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((a).u32[3], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((b).u32[0], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((b).u32[1], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((b).u32[2], 0, 0xFFFF)), - PxU16(PxClamp<PxU32>((b).u32[3], 0, 0xFFFF))); -} -*/ - -PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b) -{ - return VecU32V(c.ux ? a.u32[0] : b.u32[0], c.uy ? a.u32[1] : b.u32[1], c.uz ? a.u32[2] : b.u32[2], - c.uw ? a.u32[3] : b.u32[3]); -} - -PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b) -{ - return VecU32V((a).u32[0] | (b).u32[0], (a).u32[1] | (b).u32[1], (a).u32[2] | (b).u32[2], (a).u32[3] | (b).u32[3]); -} - -PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b) -{ - return VecU32V((a).u32[0] ^ (b).u32[0], (a).u32[1] ^ (b).u32[1], (a).u32[2] ^ (b).u32[2], (a).u32[3] ^ (b).u32[3]); -} - -PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b) -{ - return VecU32V((a).u32[0] & (b).u32[0], (a).u32[1] & (b).u32[1], (a).u32[2] & (b).u32[2], (a).u32[3] & (b).u32[3]); -} - -PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b) -{ - return VecU32V((a).u32[0] & ~(b).u32[0], (a).u32[1] & ~(b).u32[1], (a).u32[2] & ~(b).u32[2], - (a).u32[3] & ~(b).u32[3]); -} - -/* -PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b) -{ - return VecU16V( - (a).u16[0]|(b).u16[0], (a).u16[1]|(b).u16[1], (a).u16[2]|(b).u16[2], (a).u16[3]|(b).u16[3], - (a).u16[4]|(b).u16[4], (a).u16[5]|(b).u16[5], (a).u16[6]|(b).u16[6], (a).u16[7]|(b).u16[7]); -} -*/ - -/* -PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b) -{ - return VecU16V( - (a).u16[0]&(b).u16[0], (a).u16[1]&(b).u16[1], (a).u16[2]&(b).u16[2], (a).u16[3]&(b).u16[3], - (a).u16[4]&(b).u16[4], (a).u16[5]&(b).u16[5], (a).u16[6]&(b).u16[6], (a).u16[7]&(b).u16[7]); -} -*/ - -/* -PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b) -{ - return VecU16V( - (a).u16[0]&~(b).u16[0], (a).u16[1]&~(b).u16[1], (a).u16[2]&~(b).u16[2], (a).u16[3]&~(b).u16[3], - (a).u16[4]&~(b).u16[4], (a).u16[5]&~(b).u16[5], (a).u16[6]&~(b).u16[6], (a).u16[7]&~(b).u16[7]); -} -*/ - -/* -template<int a> PX_FORCE_INLINE VecI32V V4ISplat() -{ - return VecI32V(a, a, a, a); -} - -template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat() -{ - return VecU32V(a, a, a, a); -} -*/ - -/* -PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address) -{ - *address = val; -} -*/ - -PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address) -{ - *address = val; -} - -PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b) -{ - VecU32V r = V4U32Andc(*reinterpret_cast<const VecU32V*>(&a), b); - return (*reinterpret_cast<const Vec4V*>(&r)); -} - -PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b) -{ - return VecU32V(a.x > b.x ? 0xFFFFffff : 0, a.y > b.y ? 0xFFFFffff : 0, a.z > b.z ? 0xFFFFffff : 0, - a.w > b.w ? 0xFFFFffff : 0); -} - -PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr) -{ - return *addr; -} - -PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr) -{ - return *addr; -} - -PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b) -{ - return VecU16V - ( - BOOL_TO_U16(a.u16[0] > b.u16[0]), BOOL_TO_U16(a.u16[1] > b.u16[1]), BOOL_TO_U16(a.u16[2] > b.u16[2]), BOOL_TO_U16(a.u16[3] > b.u16[3]), - BOOL_TO_U16(a.u16[4] > b.u16[4]), BOOL_TO_U16(a.u16[5] > b.u16[5]), BOOL_TO_U16(a.u16[6] > b.u16[6]), BOOL_TO_U16(a.u16[7] > b.u16[7]) - ); -} - -PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b) -{ - return VecU16V - ( - BOOL_TO_U16(a.i16[0] > b.i16[0]), BOOL_TO_U16(a.i16[1] > b.i16[1]), BOOL_TO_U16(a.i16[2] > b.i16[2]), BOOL_TO_U16(a.i16[3] > b.i16[3]), - BOOL_TO_U16(a.i16[4] > b.i16[4]), BOOL_TO_U16(a.i16[5] > b.i16[5]), BOOL_TO_U16(a.i16[6] > b.i16[6]), BOOL_TO_U16(a.i16[7] > b.i16[7]) - ); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a) -{ - return Vec4V(PxF32((a).u32[0]), PxF32((a).u32[1]), PxF32((a).u32[2]), PxF32((a).u32[3])); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a) -{ - return Vec4V(PxF32((a).i32[0]), PxF32((a).i32[1]), PxF32((a).i32[2]), PxF32((a).i32[3])); -} - -PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a) -{ - float* data = (float*)&a; - return VecI32V(PxI32(data[0]), PxI32(data[1]), PxI32(data[2]), PxI32(data[3])); -} - -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a) -{ - Vec4V b = *reinterpret_cast<Vec4V*>(&a); - return b; -} - -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a) -{ - Vec4V b = *reinterpret_cast<Vec4V*>(&a); - return b; -} - -PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a) -{ - VecU32V b = *reinterpret_cast<VecU32V*>(&a); - return b; -} - -PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a) -{ - VecI32V b = *reinterpret_cast<VecI32V*>(&a); - return b; -} - -template <int index> -PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a) -{ - return VecU32V((a).u32[index], (a).u32[index], (a).u32[index], (a).u32[index]); -} - -template <int index> -PX_FORCE_INLINE VecU32V V4U32SplatElement(BoolV a) -{ - const PxU32 u = (&a.ux)[index]; - return VecU32V(u, u, u, u); -} - -template <int index> -PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a) -{ - float* data = (float*)&a; - return Vec4V(data[index], data[index], data[index], data[index]); -} - -PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w) -{ - return VecU32V(x, y, z, w); -} - -PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a) -{ - return V4Max(a, V4Neg(a)); -} - -PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b) -{ - return BoolV(BOOL_TO_U32(a.u32[0] == b.u32[0]), BOOL_TO_U32(a.u32[1] == b.u32[1]), BOOL_TO_U32(a.u32[2] == b.u32[2]), BOOL_TO_U32(a.u32[3] == b.u32[3])); -} - -PX_FORCE_INLINE VecU32V U4Load(const PxU32 i) -{ - return VecU32V(i, i, i, i); -} - -PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i) -{ - return VecU32V(i[0], i[1], i[2], i[3]); -} - -PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i) -{ - return VecU32V(i[0], i[1], i[2], i[3]); -} - -PX_FORCE_INLINE VecI32V I4Load(const PxI32 i) -{ - return VecI32V(i, i, i, i); -} - -PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i) -{ - return VecI32V(i[0], i[1], i[2], i[3]); -} - -PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i) -{ - return VecI32V(i[0], i[1], i[2], i[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b) -{ - return VecI32V(a.i32[0] + b.i32[0], a.i32[1] + b.i32[1], a.i32[2] + b.i32[2], a.i32[3] + b.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b) -{ - return VecI32V(a.i32[0] - b.i32[0], a.i32[1] - b.i32[1], a.i32[2] - b.i32[2], a.i32[3] - b.i32[3]); -} - -PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b) -{ - return BoolV(BOOL_TO_U32(a.i32[0] > b.i32[0]), BOOL_TO_U32(a.i32[1] > b.i32[1]), BOOL_TO_U32(a.i32[2] > b.i32[2]), BOOL_TO_U32(a.i32[3] > b.i32[3])); -} - -PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b) -{ - return BoolV(BOOL_TO_U32(a.i32[0] == b.i32[0]), BOOL_TO_U32(a.i32[1] == b.i32[1]), BOOL_TO_U32(a.i32[2] == b.i32[2]), BOOL_TO_U32(a.i32[3] == b.i32[3])); -} - -PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b) -{ - return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2], - c.uw ? a.i32[3] : b.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Zero() -{ - return VecI32V(0, 0, 0, 0); -} - -PX_FORCE_INLINE VecI32V VecI32V_One() -{ - return VecI32V(1, 1, 1, 1); -} - -PX_FORCE_INLINE VecI32V VecI32V_Two() -{ - return VecI32V(2, 2, 2, 2); -} - -PX_FORCE_INLINE VecI32V VecI32V_MinusOne() -{ - return VecI32V(-1, -1, -1, -1); -} - -PX_FORCE_INLINE VecU32V U4Zero() -{ - return VecU32V(0, 0, 0, 0); -} - -PX_FORCE_INLINE VecU32V U4One() -{ - return VecU32V(1, 1, 1, 1); -} - -PX_FORCE_INLINE VecU32V U4Two() -{ - return VecU32V(2, 2, 2, 2); -} - -PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift) -{ - return shift; -} - -PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count) -{ - return VecI32V(a.i32[0] << count.i32[0], a.i32[1] << count.i32[1], a.i32[2] << count.i32[2], a.i32[3] - << count.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count) -{ - return VecI32V(a.i32[0] >> count.i32[0], a.i32[1] >> count.i32[1], a.i32[2] >> count.i32[2], - a.i32[3] >> count.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b) -{ - return VecI32V(a.i32[0] & b.i32[0], a.i32[1] & b.i32[1], a.i32[2] & b.i32[2], a.i32[3] & b.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b) -{ - return VecI32V(a.i32[0] | b.i32[0], a.i32[1] | b.i32[1], a.i32[2] | b.i32[2], a.i32[3] | b.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a) -{ - return VecI32V(a.i32[0], a.i32[0], a.i32[0], a.i32[0]); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a) -{ - return VecI32V(a.i32[1], a.i32[1], a.i32[1], a.i32[1]); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a) -{ - return VecI32V(a.i32[2], a.i32[2], a.i32[2], a.i32[2]); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a) -{ - return VecI32V(a.i32[3], a.i32[3], a.i32[3], a.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b) -{ - return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2], - c.uw ? a.i32[3] : b.i32[3]); -} - -PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c, const VecI32VArg d) -{ - return VecI32V(a.i32[0], b.i32[0], c.i32[0], d.i32[0]); -} - -PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i) -{ - *i = a.i32[0]; -} - -PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b) -{ - return VecI32V(PxI32(b.ux), PxI32(b.uy), PxI32(b.uz), PxI32(b.uw)); -} - -PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b) -{ - return VecU32V(b.ux, b.uy, b.uz, b.uw); -} - -PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2) -{ - const FloatV one = FOne(); - const FloatV x = V4GetX(q); - const FloatV y = V4GetY(q); - const FloatV z = V4GetZ(q); - const FloatV w = V4GetW(q); - - const FloatV x2 = FAdd(x, x); - const FloatV y2 = FAdd(y, y); - const FloatV z2 = FAdd(z, z); - - const FloatV xx = FMul(x2, x); - const FloatV yy = FMul(y2, y); - const FloatV zz = FMul(z2, z); - - const FloatV xy = FMul(x2, y); - const FloatV xz = FMul(x2, z); - const FloatV xw = FMul(x2, w); - - const FloatV yz = FMul(y2, z); - const FloatV yw = FMul(y2, w); - const FloatV zw = FMul(z2, w); - - const FloatV v = FSub(one, xx); - - column0 = V3Merge(FSub(FSub(one, yy), zz), FAdd(xy, zw), FSub(xz, yw)); - column1 = V3Merge(FSub(xy, zw), FSub(v, zz), FAdd(yz, xw)); - column2 = V3Merge(FAdd(xz, yw), FSub(yz, xw), FSub(v, yy)); -} - - -// not used - -/* -PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr) -{ - return *addr; -} -*/ - -/* -PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr) -{ - return *addr; -} -*/ - -/* -PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V a) -{ - return Vec4V(PxCeil(a.x), PxCeil(a.y), PxCeil(a.z), PxCeil(a.w)); -} - -PX_FORCE_INLINE Vec4V V4Floor(const Vec4V a) -{ - return Vec4V(PxFloor(a.x), PxFloor(a.y), PxFloor(a.z), PxFloor(a.w)); -} -*/ - -/* -PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power) -{ - PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate"); - PX_UNUSED(power); // prevent warning in release builds - PxF32 ffffFFFFasFloat = PxF32(0xFFFF0000); - return VecU32V( - PxU32(PxClamp<PxF32>((a).x, 0.0f, ffffFFFFasFloat)), - PxU32(PxClamp<PxF32>((a).y, 0.0f, ffffFFFFasFloat)), - PxU32(PxClamp<PxF32>((a).z, 0.0f, ffffFFFFasFloat)), - PxU32(PxClamp<PxF32>((a).w, 0.0f, ffffFFFFasFloat))); -} -*/ - -#endif // PSFOUNDATION_PSVECMATHAOSSCALARINLINE_H |