Space-Project/dependencies/physx-4.1/include/characterkinematic/PxExtended.h

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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) 2008-2019 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_CCT_EXTENDED
#define PX_PHYSICS_CCT_EXTENDED
/** \addtogroup character
@{
*/
// This needs to be included in Foundation just for the debug renderer
#include "PxPhysXConfig.h"
#include "foundation/PxTransform.h"
#include "foundation/PxAssert.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
// This has to be done here since it also changes the top-level "Px" and "Np" APIs
#define PX_BIG_WORLDS
#ifdef PX_BIG_WORLDS
typedef double PxExtended;
#define PX_MAX_EXTENDED PX_MAX_F64
#define PxExtendedAbs(x) fabs(x)
struct PxExtendedVec3
{
PX_INLINE PxExtendedVec3() {}
PX_INLINE PxExtendedVec3(PxExtended _x, PxExtended _y, PxExtended _z) : x(_x), y(_y), z(_z) {}
PX_INLINE bool isZero() const
{
if(x!=0.0 || y!=0.0 || z!=0.0) return false;
return true;
}
PX_INLINE PxExtended dot(const PxVec3& v) const
{
return x * PxExtended(v.x) + y * PxExtended(v.y) + z * PxExtended(v.z);
}
PX_INLINE PxExtended distanceSquared(const PxExtendedVec3& v) const
{
PxExtended dx = x - v.x;
PxExtended dy = y - v.y;
PxExtended dz = z - v.z;
return dx * dx + dy * dy + dz * dz;
}
PX_INLINE PxExtended magnitudeSquared() const
{
return x * x + y * y + z * z;
}
PX_INLINE PxExtended magnitude() const
{
return PxSqrt(x * x + y * y + z * z);
}
PX_INLINE PxExtended normalize()
{
PxExtended m = magnitude();
if (m != 0.0)
{
const PxExtended il = PxExtended(1.0) / m;
x *= il;
y *= il;
z *= il;
}
return m;
}
PX_INLINE bool isFinite() const
{
return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
}
PX_INLINE void maximum(const PxExtendedVec3& v)
{
if (x < v.x) x = v.x;
if (y < v.y) y = v.y;
if (z < v.z) z = v.z;
}
PX_INLINE void minimum(const PxExtendedVec3& v)
{
if (x > v.x) x = v.x;
if (y > v.y) y = v.y;
if (z > v.z) z = v.z;
}
PX_INLINE void set(PxExtended x_, PxExtended y_, PxExtended z_)
{
this->x = x_;
this->y = y_;
this->z = z_;
}
PX_INLINE void setPlusInfinity()
{
x = y = z = PX_MAX_EXTENDED;
}
PX_INLINE void setMinusInfinity()
{
x = y = z = -PX_MAX_EXTENDED;
}
PX_INLINE void cross(const PxExtendedVec3& left, const PxVec3& right)
{
// temps needed in case left or right is this.
PxExtended a = (left.y * PxExtended(right.z)) - (left.z * PxExtended(right.y));
PxExtended b = (left.z * PxExtended(right.x)) - (left.x * PxExtended(right.z));
PxExtended c = (left.x * PxExtended(right.y)) - (left.y * PxExtended(right.x));
x = a;
y = b;
z = c;
}
PX_INLINE void cross(const PxExtendedVec3& left, const PxExtendedVec3& right)
{
// temps needed in case left or right is this.
PxExtended a = (left.y * right.z) - (left.z * right.y);
PxExtended b = (left.z * right.x) - (left.x * right.z);
PxExtended c = (left.x * right.y) - (left.y * right.x);
x = a;
y = b;
z = c;
}
PX_INLINE PxExtendedVec3 cross(const PxExtendedVec3& v) const
{
PxExtendedVec3 temp;
temp.cross(*this,v);
return temp;
}
PX_INLINE void cross(const PxVec3& left, const PxExtendedVec3& right)
{
// temps needed in case left or right is this.
PxExtended a = (PxExtended(left.y) * right.z) - (PxExtended(left.z) * right.y);
PxExtended b = (PxExtended(left.z) * right.x) - (PxExtended(left.x) * right.z);
PxExtended c = (PxExtended(left.x) * right.y) - (PxExtended(left.y) * right.x);
x = a;
y = b;
z = c;
}
PX_INLINE PxExtendedVec3 operator-() const
{
return PxExtendedVec3(-x, -y, -z);
}
PX_INLINE PxExtendedVec3& operator+=(const PxExtendedVec3& v)
{
x += v.x;
y += v.y;
z += v.z;
return *this;
}
PX_INLINE PxExtendedVec3& operator-=(const PxExtendedVec3& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
return *this;
}
PX_INLINE PxExtendedVec3& operator+=(const PxVec3& v)
{
x += PxExtended(v.x);
y += PxExtended(v.y);
z += PxExtended(v.z);
return *this;
}
PX_INLINE PxExtendedVec3& operator-=(const PxVec3& v)
{
x -= PxExtended(v.x);
y -= PxExtended(v.y);
z -= PxExtended(v.z);
return *this;
}
PX_INLINE PxExtendedVec3& operator*=(const PxReal& s)
{
x *= PxExtended(s);
y *= PxExtended(s);
z *= PxExtended(s);
return *this;
}
PX_INLINE PxExtendedVec3 operator+(const PxExtendedVec3& v) const
{
return PxExtendedVec3(x + v.x, y + v.y, z + v.z);
}
PX_INLINE PxVec3 operator-(const PxExtendedVec3& v) const
{
return PxVec3(PxReal(x - v.x), PxReal(y - v.y), PxReal(z - v.z));
}
PX_INLINE PxExtended& operator[](int index)
{
PX_ASSERT(index>=0 && index<=2);
return reinterpret_cast<PxExtended*>(this)[index];
}
PX_INLINE PxExtended operator[](int index) const
{
PX_ASSERT(index>=0 && index<=2);
return reinterpret_cast<const PxExtended*>(this)[index];
}
PxExtended x,y,z;
};
PX_FORCE_INLINE PxVec3 toVec3(const PxExtendedVec3& v)
{
return PxVec3(float(v.x), float(v.y), float(v.z));
}
#else
// Big worlds not defined
typedef PxVec3 PxExtendedVec3;
typedef PxReal PxExtended;
#define PX_MAX_EXTENDED PX_MAX_F32
#define PxExtendedAbs(x) fabsf(x)
#endif
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif