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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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
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