1 files changed, 0 insertions, 283 deletions
diff --git a/PxShared/src/foundation/include/PsVecTransform.h b/PxShared/src/foundation/include/PsVecTransform.h
deleted file mode 100644
index 5c16339..0000000
--- a/PxShared/src/foundation/include/PsVecTransform.h
+++ /dev/null
@@ -1,283 +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_PSVECTRANSFORM_H
-#define PSFOUNDATION_PSVECTRANSFORM_H
-
-#include "PsVecMath.h"
-#include "foundation/PxTransform.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-namespace aos
-{
-
-class PsTransformV
-{
-  public:
-	QuatV q;
-	Vec3V p;
-
-	PX_FORCE_INLINE PsTransformV(const PxTransform& orientation)
-	{
-		// const PxQuat oq = orientation.q;
-		// const PxF32 f[4] = {oq.x, oq.y, oq.z, oq.w};
-		q = QuatVLoadXYZW(orientation.q.x, orientation.q.y, orientation.q.z, orientation.q.w);
-		// q = QuatV_From_F32Array(&oq.x);
-		p = V3LoadU(orientation.p);
-	}
-
-	PX_FORCE_INLINE PsTransformV(const Vec3VArg p0 = V3Zero(), const QuatVArg q0 = QuatIdentity()) : q(q0), p(p0)
-	{
-		PX_ASSERT(isSaneQuatV(q0));
-	}
-
-	PX_FORCE_INLINE PsTransformV operator*(const PsTransformV& x) const
-	{
-		PX_ASSERT(x.isSane());
-		return transform(x);
-	}
-
-	PX_FORCE_INLINE PsTransformV getInverse() const
-	{
-		PX_ASSERT(isFinite());
-		// return PxTransform(q.rotateInv(-p),q.getConjugate());
-		return PsTransformV(QuatRotateInv(q, V3Neg(p)), QuatConjugate(q));
-	}
-
-	PX_FORCE_INLINE void normalize()
-	{
-		p = V3Zero();
-		q = QuatIdentity();
-	}
-
-	PX_FORCE_INLINE void Invalidate()
-	{
-		p = V3Splat(FMax());
-		q = QuatIdentity();
-	}
-
-	PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotate(input) + p;
-		return QuatTransform(q, p, input);
-	}
-
-	PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotateInv(input-p);
-		return QuatRotateInv(q, V3Sub(input, p));
-	}
-
-	PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotate(input);
-		return QuatRotate(q, input);
-	}
-
-	PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotateInv(input);
-		return QuatRotateInv(q, input);
-	}
-
-	//! Transform transform to parent (returns compound transform: first src, then *this)
-	PX_FORCE_INLINE PsTransformV transform(const PsTransformV& src) const
-	{
-		PX_ASSERT(src.isSane());
-		PX_ASSERT(isSane());
-		// src = [srct, srcr] -> [r*srct + t, r*srcr]
-		// return PxTransform(q.rotate(src.p) + p, q*src.q);
-		return PsTransformV(V3Add(QuatRotate(q, src.p), p), QuatMul(q, src.q));
-	}
-
-	/**
-	\brief returns true if finite and q is a unit quaternion
-	*/
-
-	PX_FORCE_INLINE bool isValid() const
-	{
-		// return p.isFinite() && q.isFinite() && q.isValid();
-		return isFiniteVec3V(p) & isFiniteQuatV(q) & isValidQuatV(q);
-	}
-
-	/**
-	\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
-	vs isValid
-	*/
-
-	PX_FORCE_INLINE bool isSane() const
-	{
-		// return isFinite() && q.isSane();
-		return isFinite() & isSaneQuatV(q);
-	}
-
-	/**
-	\brief returns true if all elems are finite (not NAN or INF, etc.)
-	*/
-	PX_FORCE_INLINE bool isFinite() const
-	{
-		// return p.isFinite() && q.isFinite();
-		return isFiniteVec3V(p) & isFiniteQuatV(q);
-	}
-
-	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
-	PX_FORCE_INLINE PsTransformV transformInv(const PsTransformV& src) const
-	{
-		PX_ASSERT(src.isSane());
-		PX_ASSERT(isFinite());
-		// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
-		/*PxQuat qinv = q.getConjugate();
-		return PxTransform(qinv.rotate(src.p - p), qinv*src.q);*/
-		const QuatV qinv = QuatConjugate(q);
-		const Vec3V v = QuatRotate(qinv, V3Sub(src.p, p));
-		const QuatV rot = QuatMul(qinv, src.q);
-		return PsTransformV(v, rot);
-	}
-
-	static PX_FORCE_INLINE PsTransformV createIdentity()
-	{
-		return PsTransformV(V3Zero());
-	}
-};
-
-PX_FORCE_INLINE PsTransformV loadTransformA(const PxTransform& transform)
-{
-	const QuatV q0 = QuatVLoadA(&transform.q.x);
-	const Vec3V p0 = V3LoadA(&transform.p.x);
-
-	return PsTransformV(p0, q0);
-}
-
-PX_FORCE_INLINE PsTransformV loadTransformU(const PxTransform& transform)
-{
-	const QuatV q0 = QuatVLoadU(&transform.q.x);
-	const Vec3V p0 = V3LoadU(&transform.p.x);
-
-	return PsTransformV(p0, q0);
-}
-
-class PsMatTransformV
-{
-  public:
-	Mat33V rot;
-	Vec3V p;
-
-	PX_FORCE_INLINE PsMatTransformV()
-	{
-		p = V3Zero();
-		rot = M33Identity();
-	}
-	PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const Mat33V& _rot)
-	{
-		p = _p;
-		rot = _rot;
-	}
-
-	PX_FORCE_INLINE PsMatTransformV(const PsTransformV& other)
-	{
-		p = other.p;
-		QuatGetMat33V(other.q, rot.col0, rot.col1, rot.col2);
-	}
-
-	PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const QuatV& quat)
-	{
-		p = _p;
-		QuatGetMat33V(quat, rot.col0, rot.col1, rot.col2);
-	}
-
-	PX_FORCE_INLINE Vec3V getCol0() const
-	{
-		return rot.col0;
-	}
-
-	PX_FORCE_INLINE Vec3V getCol1() const
-	{
-		return rot.col1;
-	}
-
-	PX_FORCE_INLINE Vec3V getCol2() const
-	{
-		return rot.col2;
-	}
-
-	PX_FORCE_INLINE void setCol0(const Vec3VArg col0)
-	{
-		rot.col0 = col0;
-	}
-
-	PX_FORCE_INLINE void setCol1(const Vec3VArg col1)
-	{
-		rot.col1 = col1;
-	}
-
-	PX_FORCE_INLINE void setCol2(const Vec3VArg col2)
-	{
-		rot.col2 = col2;
-	}
-
-	PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
-	{
-		return V3Add(p, M33MulV3(rot, input));
-	}
-
-	PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
-	{
-		return M33TrnspsMulV3(rot, V3Sub(input, p)); // QuatRotateInv(q, V3Sub(input, p));
-	}
-
-	PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
-	{
-		return M33MulV3(rot, input);
-	}
-
-	PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
-	{
-		return M33TrnspsMulV3(rot, input);
-	}
-
-	PX_FORCE_INLINE PsMatTransformV transformInv(const PsMatTransformV& src) const
-	{
-
-		const Vec3V v = M33TrnspsMulV3(rot, V3Sub(src.p, p));
-		const Mat33V mat = M33MulM33(M33Trnsps(rot), src.rot);
-		return PsMatTransformV(v, mat);
-	}
-};
-}
-}
-}
-
-#endif