Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 145 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/Common/src/CmTransformUtils.h b/PhysX_3.4/Source/Common/src/CmTransformUtils.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_TRANSFORMUTILS
+#define PX_PHYSICS_COMMON_TRANSFORMUTILS
+
+#include "PsVecMath.h"
+
+namespace
+{
+
+using namespace physx::shdfnd::aos;
+
+// V3PrepareCross would help here, but it's not on all platforms yet...
+
+PX_FORCE_INLINE void transformFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
+							   const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb, 
+							   FloatV& wo, Vec3V& vo, Vec3V& po)
+{
+	wo = FSub(FMul(wa, wb), V3Dot(va, vb));
+	vo = V3ScaleAdd(va, wb, V3ScaleAdd(vb, wa, V3Cross(va, vb)));
+
+	const Vec3V t1 = V3Scale(pb, FScaleAdd(wa, wa, FLoad(-0.5f)));
+	const Vec3V t2 = V3ScaleAdd(V3Cross(va, pb), wa, t1);
+	const Vec3V t3 = V3ScaleAdd(va, V3Dot(va, pb), t2);
+
+	po = V3ScaleAdd(t3, FLoad(2.f), pa);
+}
+
+PX_FORCE_INLINE void transformInvFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
+								      const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb, 
+								      FloatV& wo, Vec3V& vo, Vec3V& po)
+{
+	wo = FScaleAdd(wa, wb, V3Dot(va, vb));
+	vo = V3NegScaleSub(va, wb, V3ScaleAdd(vb, wa, V3Cross(vb, va)));
+
+	const Vec3V pt = V3Sub(pb, pa);
+	const Vec3V t1 = V3Scale(pt, FScaleAdd(wa, wa, FLoad(-0.5f)));
+	const Vec3V t2 = V3ScaleAdd(V3Cross(pt, va), wa, t1);
+	const Vec3V t3 = V3ScaleAdd(va, V3Dot(va, pt), t2);
+	po = V3Add(t3,t3);
+}
+
+}
+
+
+
+
+
+namespace physx
+{
+namespace Cm
+{
+
+PX_FORCE_INLINE void getStaticGlobalPoseAligned(const PxTransform& actor2World, const PxTransform& shape2Actor, PxTransform& outTransform)
+{
+	using namespace shdfnd::aos;
+
+	PX_ASSERT((size_t(&actor2World)&15) == 0);
+	PX_ASSERT((size_t(&shape2Actor)&15) == 0);
+	PX_ASSERT((size_t(&outTransform)&15) == 0);
+
+	const Vec3V actor2WorldPos = V3LoadA(actor2World.p);
+	const QuatV actor2WorldRot = QuatVLoadA(&actor2World.q.x);
+
+	const Vec3V shape2ActorPos = V3LoadA(shape2Actor.p);
+	const QuatV shape2ActorRot = QuatVLoadA(&shape2Actor.q.x);
+	
+	Vec3V v,p;
+	FloatV w; 
+
+	transformFast(V4GetW(actor2WorldRot), Vec3V_From_Vec4V(actor2WorldRot), actor2WorldPos,
+				  V4GetW(shape2ActorRot), Vec3V_From_Vec4V(shape2ActorRot), shape2ActorPos,
+				  w, v, p);
+
+	V3StoreA(p, outTransform.p);
+	V4StoreA(V4SetW(v,w), &outTransform.q.x);
+}
+
+
+PX_FORCE_INLINE void getDynamicGlobalPoseAligned(const PxTransform& body2World, const PxTransform& shape2Actor, const PxTransform& body2Actor, PxTransform& outTransform)
+{
+	PX_ASSERT((size_t(&body2World)&15) == 0);
+	PX_ASSERT((size_t(&shape2Actor)&15) == 0);
+	PX_ASSERT((size_t(&body2Actor)&15) == 0);
+	PX_ASSERT((size_t(&outTransform)&15) == 0);
+
+	using namespace shdfnd::aos;
+
+	const Vec3V shape2ActorPos = V3LoadA(shape2Actor.p);
+	const QuatV shape2ActorRot = QuatVLoadA(&shape2Actor.q.x);
+
+	const Vec3V body2ActorPos = V3LoadA(body2Actor.p);
+	const QuatV body2ActorRot = QuatVLoadA(&body2Actor.q.x);
+
+	const Vec3V body2WorldPos = V3LoadA(body2World.p);
+	const QuatV body2WorldRot = QuatVLoadA(&body2World.q.x);
+
+	Vec3V v1, p1, v2, p2;
+	FloatV w1, w2; 
+
+	transformInvFast(V4GetW(body2ActorRot), Vec3V_From_Vec4V(body2ActorRot), body2ActorPos,
+					 V4GetW(shape2ActorRot), Vec3V_From_Vec4V(shape2ActorRot), shape2ActorPos,
+					 w1, v1, p1);
+
+	transformFast(V4GetW(body2WorldRot), Vec3V_From_Vec4V(body2WorldRot), body2WorldPos,
+			      w1, v1, p1,
+			      w2, v2, p2);
+
+	V3StoreA(p2, outTransform.p);
+	V4StoreA(V4SetW(v2, w2), &outTransform.q.x);
+}
+
+
+}
+}
+
+#endif