Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 153 insertions, 0 deletions

diff --git a/APEX_1.4/shared/general/HACD/src/dgSmallDeterminant.cpp b/APEX_1.4/shared/general/HACD/src/dgSmallDeterminant.cpp
new file mode 100644
index 00000000..e0e9e52b
--- /dev/null
+++ b/APEX_1.4/shared/general/HACD/src/dgSmallDeterminant.cpp
@@ -0,0 +1,153 @@
+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+* 
+* This software is provided 'as-is', without any express or implied
+* warranty. In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* 
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "dgTypes.h"
+#include "dgGoogol.h"
+#include "dgSmallDeterminant.h"
+
+#define Absolute(a)  ((a) >= 0.0 ? (a) : -(a))
+
+double Determinant2x2 (const double matrix[2][2], double* const error)
+{
+	double a00xa11 = matrix[0][0] * matrix[1][1];
+	double a01xa10 = matrix[0][1] * matrix[1][0];
+	*error = Absolute(a00xa11) + Absolute(a01xa10);
+	return a00xa11 - a01xa10;
+}
+
+dgGoogol Determinant2x2 (const dgGoogol matrix[2][2])
+{
+	dgGoogol a00xa11 (matrix[0][0] * matrix[1][1]);
+	dgGoogol a01xa10 (matrix[0][1] * matrix[1][0]);
+	return a00xa11 - a01xa10;
+}
+
+
+
+double Determinant3x3 (const double matrix[3][3], double* const error)
+{
+	double sign = double (-1.0f);
+	double det = double (0.0f);
+	double accError = double (0.0f); 
+	for (int32_t i = 0; i < 3; i ++)  {
+		double cofactor[2][2];
+		for (int32_t j = 0; j < 2; j ++) {
+			int32_t k0 = 0;
+			for (int32_t k = 0; k < 3; k ++) {
+				if (k != i) {
+					cofactor[j][k0] = matrix[j][k];
+					k0 ++;
+				}
+			}
+		}
+
+		double parcialError;
+		double minorDet = Determinant2x2 (cofactor, &parcialError);
+		accError += parcialError * Absolute (matrix[2][i]);
+		det += sign * minorDet * matrix[2][i];
+		sign *= double (-1.0f);
+	}
+
+	*error = accError;
+	return det;
+}
+
+dgGoogol Determinant3x3 (const dgGoogol matrix[3][3])
+{
+	dgGoogol negOne (double (-1.0f));
+	dgGoogol sign (double (-1.0f));
+	dgGoogol det = double (0.0f);
+	for (int32_t i = 0; i < 3; i ++)  {
+		dgGoogol cofactor[2][2];
+
+		for (int32_t j = 0; j < 2; j ++) {
+			int32_t k0 = 0;
+			for (int32_t k = 0; k < 3; k ++) {
+				if (k != i) {
+					cofactor[j][k0] = matrix[j][k];
+					k0 ++;
+				}
+			}
+		}
+
+		dgGoogol minorDet (Determinant2x2 (cofactor));
+		det = det + sign * minorDet * matrix[2][i];
+		sign = sign * negOne;
+	}
+	return det;
+}
+
+
+double Determinant4x4 (const double matrix[4][4], double* const error)
+{
+	double sign = double (1.0f);
+	double det = double (0.0f);
+	double accError = double (0.0f); 
+	for (int32_t i = 0; i < 4; i ++)  {
+		double cofactor[3][3];
+		for (int32_t j = 0; j < 3; j ++) {
+			int32_t k0 = 0;
+			for (int32_t k = 0; k < 4; k ++) {
+				if (k != i) {
+					cofactor[j][k0] = matrix[j][k];
+					k0 ++;
+				}
+			}
+		}
+
+		double parcialError;
+		double minorDet = Determinant3x3 (cofactor, &parcialError);
+		accError +=  parcialError * Absolute (matrix[3][i]);
+		det += sign * minorDet * matrix[3][i];
+		sign *= double (-1.0f);
+	}
+
+	*error = accError;
+	return det;
+}
+
+
+dgGoogol Determinant4x4 (const dgGoogol matrix[4][4])
+{
+	dgGoogol sign = double (1.0f);
+	dgGoogol det = double (0.0f);
+	dgGoogol negOne (double (-1.0f));
+	dgGoogol accError = double (0.0f); 
+	for (int32_t i = 0; i < 4; i ++)  {
+		dgGoogol  cofactor[3][3];
+		for (int32_t j = 0; j < 3; j ++) {
+			int32_t k0 = 0;
+			for (int32_t k = 0; k < 4; k ++) {
+				if (k != i) {
+					cofactor[j][k0] = matrix[j][k];
+					k0 ++;
+				}
+			}
+		}
+
+		dgGoogol minorDet = Determinant3x3 (cofactor);
+		det = det + sign * minorDet * matrix[3][i];
+		sign = sign * negOne;
+	}
+	return det;
+}
+
+