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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_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
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