276 lines
6.6 KiB
C++
276 lines
6.6 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_CCT_EXTENDED
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#define PX_PHYSICS_CCT_EXTENDED
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/** \addtogroup character
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@{
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*/
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// This needs to be included in Foundation just for the debug renderer
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#include "PxPhysXConfig.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxAssert.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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// This has to be done here since it also changes the top-level "Px" and "Np" APIs
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#define PX_BIG_WORLDS
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#ifdef PX_BIG_WORLDS
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typedef double PxExtended;
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#define PX_MAX_EXTENDED PX_MAX_F64
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#define PxExtendedAbs(x) fabs(x)
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struct PxExtendedVec3
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{
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PX_INLINE PxExtendedVec3() {}
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PX_INLINE PxExtendedVec3(PxExtended _x, PxExtended _y, PxExtended _z) : x(_x), y(_y), z(_z) {}
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PX_INLINE bool isZero() const
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{
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if(x!=0.0 || y!=0.0 || z!=0.0) return false;
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return true;
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}
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PX_INLINE PxExtended dot(const PxVec3& v) const
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{
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return x * PxExtended(v.x) + y * PxExtended(v.y) + z * PxExtended(v.z);
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}
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PX_INLINE PxExtended distanceSquared(const PxExtendedVec3& v) const
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{
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PxExtended dx = x - v.x;
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PxExtended dy = y - v.y;
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PxExtended dz = z - v.z;
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return dx * dx + dy * dy + dz * dz;
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}
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PX_INLINE PxExtended magnitudeSquared() const
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{
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return x * x + y * y + z * z;
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}
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PX_INLINE PxExtended magnitude() const
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{
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return PxSqrt(x * x + y * y + z * z);
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}
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PX_INLINE PxExtended normalize()
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{
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PxExtended m = magnitude();
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if (m != 0.0)
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{
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const PxExtended il = PxExtended(1.0) / m;
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x *= il;
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y *= il;
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z *= il;
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}
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return m;
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}
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PX_INLINE bool isFinite() const
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{
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return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
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}
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PX_INLINE void maximum(const PxExtendedVec3& v)
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{
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if (x < v.x) x = v.x;
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if (y < v.y) y = v.y;
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if (z < v.z) z = v.z;
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}
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PX_INLINE void minimum(const PxExtendedVec3& v)
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{
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if (x > v.x) x = v.x;
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if (y > v.y) y = v.y;
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if (z > v.z) z = v.z;
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}
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PX_INLINE void set(PxExtended x_, PxExtended y_, PxExtended z_)
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{
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this->x = x_;
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this->y = y_;
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this->z = z_;
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}
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PX_INLINE void setPlusInfinity()
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{
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x = y = z = PX_MAX_EXTENDED;
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}
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PX_INLINE void setMinusInfinity()
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{
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x = y = z = -PX_MAX_EXTENDED;
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}
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PX_INLINE void cross(const PxExtendedVec3& left, const PxVec3& right)
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{
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// temps needed in case left or right is this.
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PxExtended a = (left.y * PxExtended(right.z)) - (left.z * PxExtended(right.y));
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PxExtended b = (left.z * PxExtended(right.x)) - (left.x * PxExtended(right.z));
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PxExtended c = (left.x * PxExtended(right.y)) - (left.y * PxExtended(right.x));
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x = a;
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y = b;
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z = c;
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}
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PX_INLINE void cross(const PxExtendedVec3& left, const PxExtendedVec3& right)
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{
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// temps needed in case left or right is this.
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PxExtended a = (left.y * right.z) - (left.z * right.y);
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PxExtended b = (left.z * right.x) - (left.x * right.z);
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PxExtended c = (left.x * right.y) - (left.y * right.x);
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x = a;
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y = b;
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z = c;
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}
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PX_INLINE PxExtendedVec3 cross(const PxExtendedVec3& v) const
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{
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PxExtendedVec3 temp;
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temp.cross(*this,v);
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return temp;
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}
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PX_INLINE void cross(const PxVec3& left, const PxExtendedVec3& right)
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{
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// temps needed in case left or right is this.
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PxExtended a = (PxExtended(left.y) * right.z) - (PxExtended(left.z) * right.y);
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PxExtended b = (PxExtended(left.z) * right.x) - (PxExtended(left.x) * right.z);
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PxExtended c = (PxExtended(left.x) * right.y) - (PxExtended(left.y) * right.x);
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x = a;
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y = b;
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z = c;
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}
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PX_INLINE PxExtendedVec3 operator-() const
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{
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return PxExtendedVec3(-x, -y, -z);
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}
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PX_INLINE PxExtendedVec3& operator+=(const PxExtendedVec3& v)
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{
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x += v.x;
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y += v.y;
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z += v.z;
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return *this;
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}
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PX_INLINE PxExtendedVec3& operator-=(const PxExtendedVec3& v)
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{
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x -= v.x;
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y -= v.y;
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z -= v.z;
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return *this;
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}
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PX_INLINE PxExtendedVec3& operator+=(const PxVec3& v)
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{
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x += PxExtended(v.x);
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y += PxExtended(v.y);
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z += PxExtended(v.z);
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return *this;
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}
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PX_INLINE PxExtendedVec3& operator-=(const PxVec3& v)
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{
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x -= PxExtended(v.x);
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y -= PxExtended(v.y);
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z -= PxExtended(v.z);
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return *this;
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}
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PX_INLINE PxExtendedVec3& operator*=(const PxReal& s)
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{
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x *= PxExtended(s);
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y *= PxExtended(s);
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z *= PxExtended(s);
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return *this;
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}
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PX_INLINE PxExtendedVec3 operator+(const PxExtendedVec3& v) const
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{
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return PxExtendedVec3(x + v.x, y + v.y, z + v.z);
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}
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PX_INLINE PxVec3 operator-(const PxExtendedVec3& v) const
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{
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return PxVec3(PxReal(x - v.x), PxReal(y - v.y), PxReal(z - v.z));
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}
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PX_INLINE PxExtended& operator[](int index)
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{
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PX_ASSERT(index>=0 && index<=2);
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return reinterpret_cast<PxExtended*>(this)[index];
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}
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PX_INLINE PxExtended operator[](int index) const
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{
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PX_ASSERT(index>=0 && index<=2);
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return reinterpret_cast<const PxExtended*>(this)[index];
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}
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PxExtended x,y,z;
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};
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PX_FORCE_INLINE PxVec3 toVec3(const PxExtendedVec3& v)
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{
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return PxVec3(float(v.x), float(v.y), float(v.z));
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}
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#else
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// Big worlds not defined
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typedef PxVec3 PxExtendedVec3;
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typedef PxReal PxExtended;
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#define PX_MAX_EXTENDED PX_MAX_F32
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#define PxExtendedAbs(x) fabsf(x)
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#endif
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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