Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 283 insertions, 0 deletions

diff --git a/PxShared/src/foundation/include/PsVecTransform.h b/PxShared/src/foundation/include/PsVecTransform.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 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