Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 184 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/Common/src/CmSpatialVector.h b/PhysX_3.4/Source/Common/src/CmSpatialVector.h
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 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 PX_PHYSICS_COMMON_VECTOR
+#define PX_PHYSICS_COMMON_VECTOR
+
+#include "foundation/PxVec3.h"
+#include "CmPhysXCommon.h"
+#include "PsVecMath.h"
+
+/*!
+Combination of two R3 vectors.
+*/
+
+namespace physx
+{
+namespace Cm
+{
+PX_ALIGN_PREFIX(16)
+class SpatialVector
+{
+public:
+	//! Default constructor
+	PX_FORCE_INLINE SpatialVector()
+	{}
+
+	//! Construct from two PxcVectors
+	PX_FORCE_INLINE SpatialVector(const PxVec3& lin, const PxVec3& ang)
+		: linear(lin), pad0(0.0f), angular(ang), pad1(0.0f)
+	{
+	}
+
+	PX_FORCE_INLINE ~SpatialVector()
+	{}
+
+
+
+	// PT: this one is very important. Without it, the Xbox compiler generates weird "float-to-int" and "int-to-float" LHS
+	// each time we copy a SpatialVector (see for example PIX on "solveSimpleGroupA" without this operator).
+	PX_FORCE_INLINE	void	operator = (const SpatialVector& v)
+	{
+		linear = v.linear;
+		pad0 = 0.0f;
+		angular = v.angular;
+		pad1 = 0.0f;
+	}
+
+
+	static PX_FORCE_INLINE SpatialVector zero() {	return SpatialVector(PxVec3(0),PxVec3(0)); }
+
+	PX_FORCE_INLINE SpatialVector operator+(const SpatialVector& v) const
+	{
+		return SpatialVector(linear+v.linear,angular+v.angular);
+	}
+
+	PX_FORCE_INLINE SpatialVector operator-(const SpatialVector& v) const
+	{
+		return SpatialVector(linear-v.linear,angular-v.angular);
+	}
+
+	PX_FORCE_INLINE SpatialVector operator-() const
+	{
+		return SpatialVector(-linear,-angular);
+	}
+
+
+	PX_FORCE_INLINE SpatialVector operator *(PxReal s) const
+	{	
+		return SpatialVector(linear*s,angular*s);	
+	}
+		
+	PX_FORCE_INLINE void operator+=(const SpatialVector& v)
+	{
+		linear+=v.linear;
+		angular+=v.angular;
+	}
+
+	PX_FORCE_INLINE void operator-=(const SpatialVector& v)
+	{
+		linear-=v.linear;
+		angular-=v.angular;
+	}
+
+	PX_FORCE_INLINE PxReal magnitude()	const
+	{
+		return angular.magnitude() + linear.magnitude();
+	}
+
+	PX_FORCE_INLINE PxReal dot(const SpatialVector& v) const
+	{
+		return linear.dot(v.linear) + angular.dot(v.angular);
+	}
+		
+	PX_FORCE_INLINE bool isFinite() const
+	{
+		return linear.isFinite() && angular.isFinite();
+	}
+
+	PX_FORCE_INLINE Cm::SpatialVector scale(PxReal l, PxReal a) const
+	{
+		return Cm::SpatialVector(linear*l, angular*a);
+	}
+
+	PxVec3 linear;
+	PxReal pad0;
+	PxVec3 angular;
+	PxReal pad1;
+}
+PX_ALIGN_SUFFIX(16);
+
+
+PX_ALIGN_PREFIX(16)
+struct SpatialVectorV
+{
+	Ps::aos::Vec3V linear;
+	Ps::aos::Vec3V angular;
+
+	PX_FORCE_INLINE SpatialVectorV() {}
+	PX_FORCE_INLINE SpatialVectorV(PxZERO): linear(Ps::aos::V3Zero()), angular(Ps::aos::V3Zero()) {}
+	PX_FORCE_INLINE SpatialVectorV(const Cm::SpatialVector& v): linear(Ps::aos::V3LoadU(v.linear)), angular(Ps::aos::V3LoadU(v.angular)) {}
+	PX_FORCE_INLINE SpatialVectorV(const Ps::aos::Vec3VArg l, const Ps::aos::Vec3VArg a): linear(l), angular(a) {}
+	PX_FORCE_INLINE SpatialVectorV(const SpatialVectorV& other): linear(other.linear), angular(other.angular) {}
+	PX_FORCE_INLINE SpatialVectorV& operator=(const SpatialVectorV& other) { linear = other.linear; angular = other.angular; return *this; }
+
+	PX_FORCE_INLINE SpatialVectorV operator+(const SpatialVectorV& other) const { return SpatialVectorV(Ps::aos::V3Add(linear,other.linear),
+																								  Ps::aos::V3Add(angular, other.angular)); }
+	
+	PX_FORCE_INLINE SpatialVectorV& operator+=(const SpatialVectorV& other) { linear = Ps::aos::V3Add(linear,other.linear); 
+																			  angular = Ps::aos::V3Add(angular, other.angular);
+																			  return *this;
+																			}
+																								    
+	PX_FORCE_INLINE SpatialVectorV operator-(const SpatialVectorV& other) const { return SpatialVectorV(Ps::aos::V3Sub(linear,other.linear),
+																								  Ps::aos::V3Sub(angular, other.angular)); }
+	
+	PX_FORCE_INLINE SpatialVectorV operator-() const { return SpatialVectorV(Ps::aos::V3Neg(linear), Ps::aos::V3Neg(angular)); }
+
+	PX_FORCE_INLINE SpatialVectorV operator*(Ps::aos::FloatVArg r) const { return SpatialVectorV(Ps::aos::V3Scale(linear,r), Ps::aos::V3Scale(angular,r)); }
+
+	PX_FORCE_INLINE SpatialVectorV& operator-=(const SpatialVectorV& other) { linear = Ps::aos::V3Sub(linear,other.linear); 
+																			  angular = Ps::aos::V3Sub(angular, other.angular);
+																			  return *this;
+																			}
+
+	PX_FORCE_INLINE Ps::aos::FloatV dot(const SpatialVectorV& other) const { return Ps::aos::FAdd(Ps::aos::V3Dot(linear, other.linear), Ps::aos::V3Dot(angular, other.angular)); }
+
+	
+}PX_ALIGN_SUFFIX(16);
+
+} // namespace Cm
+
+PX_COMPILE_TIME_ASSERT(sizeof(Cm::SpatialVector) == 32);
+PX_COMPILE_TIME_ASSERT(sizeof(Cm::SpatialVectorV) == 32);
+
+}
+
+#endif