1345 lines
50 KiB
C++
1345 lines
50 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 PSFOUNDATION_PSVECMATH_H
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#define PSFOUNDATION_PSVECMATH_H
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#include "Ps.h"
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#include "PsIntrinsics.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxVec4.h"
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#include "foundation/PxMat33.h"
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#include "foundation/PxUnionCast.h"
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// We can opt to use the scalar version of vectorised functions.
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// This can catch type safety issues and might even work out more optimal on pc.
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// It will also be useful for benchmarking and testing.
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// NEVER submit with vector intrinsics deactivated without good reason.
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// AM: deactivating SIMD for debug win64 just so autobuild will also exercise
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// non-SIMD path, until a dedicated non-SIMD platform sich as Arm comes online.
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// TODO: dima: reference all platforms with SIMD support here,
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// all unknown/experimental cases should better default to NO SIMD.
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// enable/disable SIMD
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#if !defined(PX_SIMD_DISABLED)
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#if PX_INTEL_FAMILY && (!defined(__EMSCRIPTEN__) || defined(__SSE2__))
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#define COMPILE_VECTOR_INTRINSICS 1
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#elif PX_ANDROID && PX_NEON
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#define COMPILE_VECTOR_INTRINSICS 1
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#elif PX_UWP && PX_NEON
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#define COMPILE_VECTOR_INTRINSICS 1
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#elif PX_IOS && PX_NEON
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#define COMPILE_VECTOR_INTRINSICS 1
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#elif PX_SWITCH
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#define COMPILE_VECTOR_INTRINSICS 1
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#else
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#define COMPILE_VECTOR_INTRINSICS 0
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#endif
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#else
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#define COMPILE_VECTOR_INTRINSICS 0
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#endif
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#if COMPILE_VECTOR_INTRINSICS && PX_INTEL_FAMILY&&(PX_UNIX_FAMILY || PX_PS4)
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// only SSE2 compatible platforms should reach this
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#if PX_EMSCRIPTEN
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#include <emmintrin.h>
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#endif
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#include <xmmintrin.h>
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#endif
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#if COMPILE_VECTOR_INTRINSICS
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#include "PsAoS.h"
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#else
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#include "PsVecMathAoSScalar.h"
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#endif
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namespace physx
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{
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namespace shdfnd
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{
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namespace aos
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{
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// Basic AoS types are
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// FloatV - 16-byte aligned representation of float.
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// Vec3V - 16-byte aligned representation of PxVec3 stored as (x y z 0).
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// Vec4V - 16-byte aligned representation of vector of 4 floats stored as (x y z w).
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// BoolV - 16-byte aligned representation of vector of 4 bools stored as (x y z w).
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// VecU32V - 16-byte aligned representation of 4 unsigned ints stored as (x y z w).
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// VecI32V - 16-byte aligned representation of 4 signed ints stored as (x y z w).
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// Mat33V - 16-byte aligned representation of any 3x3 matrix.
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// Mat34V - 16-byte aligned representation of transformation matrix (rotation in col1,col2,col3 and translation in
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// col4).
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// Mat44V - 16-byte aligned representation of any 4x4 matrix.
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//////////////////////////////////////////
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// Construct a simd type from a scalar type
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//////////////////////////////////////////
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// FloatV
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//(f,f,f,f)
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PX_FORCE_INLINE FloatV FLoad(const PxF32 f);
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// Vec3V
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//(f,f,f,0)
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PX_FORCE_INLINE Vec3V V3Load(const PxF32 f);
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//(f.x,f.y,f.z,0)
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PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f);
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//(f.x,f.y,f.z,0), f must be 16-byte aligned
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PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f);
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//(f.x,f.y,f.z,w_undefined), f must be 16-byte aligned
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PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f);
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//(f.x,f.y,f.z,0)
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PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* f);
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//(f.x,f.y,f.z,0), f must be 16-byte aligned
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PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* f);
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// Vec4V
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//(f,f,f,f)
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PX_FORCE_INLINE Vec4V V4Load(const PxF32 f);
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//(f[0],f[1],f[2],f[3])
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PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f);
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//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned
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PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f);
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//(x,y,z,w)
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PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w);
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// BoolV
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//(f,f,f,f)
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PX_FORCE_INLINE BoolV BLoad(const bool f);
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//(f[0],f[1],f[2],f[3])
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PX_FORCE_INLINE BoolV BLoad(const bool* const f);
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// VecU32V
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//(f,f,f,f)
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PX_FORCE_INLINE VecU32V U4Load(const PxU32 f);
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//(f[0],f[1],f[2],f[3])
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PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* f);
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//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned
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PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* f);
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//((U32)x, (U32)y, (U32)z, (U32)w)
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PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w);
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// VecI32V
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//(i,i,i,i)
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PX_FORCE_INLINE VecI32V I4Load(const PxI32 i);
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//(i,i,i,i)
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PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i);
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//(i,i,i,i)
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PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i);
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// QuatV
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//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array don't need to aligned
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PX_FORCE_INLINE QuatV QuatVLoadU(const PxF32* v);
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//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array need to aligned, fast load
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PX_FORCE_INLINE QuatV QuatVLoadA(const PxF32* v);
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//(x, y, z, w)
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PX_FORCE_INLINE QuatV QuatVLoadXYZW(const PxF32 x, const PxF32 y, const PxF32 z, const PxF32 w);
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// not added to public api
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Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& v);
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///////////////////////////////////////////////////
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// Construct a simd type from a different simd type
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///////////////////////////////////////////////////
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// Vec3V
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//(v.x,v.y,v.z,0)
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PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v);
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//(v.x,v.y,v.z,undefined) - be very careful with w!=0 because many functions require w==0 for correct operation eg V3Dot, V3Length, V3Cross etc etc.
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PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v);
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// Vec4V
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//(f.x,f.y,f.z,f.w)
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PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f);
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//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w)
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PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a);
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//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w)
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PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a);
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//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z),
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//(reinterpret_cast<PxF32*>(&f.w))
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PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a);
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//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z),
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//(reinterpret_cast<PxF32*>(&f.w))
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PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a);
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// VecU32V
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//(*(reinterpret_cast<PxU32*>(&f.x), (reinterpret_cast<PxU32*>(&f.y), (reinterpret_cast<PxU32*>(&f.z),
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//(reinterpret_cast<PxU32*>(&f.w))
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PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a);
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//(b[0], b[1], b[2], b[3])
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PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b);
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// VecI32V
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//(*(reinterpret_cast<PxI32*>(&f.x), (reinterpret_cast<PxI32*>(&f.y), (reinterpret_cast<PxI32*>(&f.z),
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//(reinterpret_cast<PxI32*>(&f.w))
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PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a);
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//((I32)a.x, (I32)a.y, (I32)a.z, (I32)a.w)
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PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a);
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//((I32)b.x, (I32)b.y, (I32)b.z, (I32)b.w)
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PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b);
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///////////////////////////////////////////////////
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// Convert from a simd type back to a scalar type
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///////////////////////////////////////////////////
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// FloatV
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// a.x
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PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f);
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// Vec3V
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//(a.x,a.y,a.z)
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PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f);
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//(a.x,a.y,a.z)
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PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f);
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// Vec4V
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PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f);
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PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f);
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// BoolV
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PX_FORCE_INLINE void BStoreA(const BoolV b, PxU32* f);
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// VecU32V
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PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u);
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// VecI32V
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PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i);
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//////////////////////////////////////////////////////////////////
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// Test that simd types have elements in the floating point range
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//////////////////////////////////////////////////////////////////
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// check for each component is valid ie in floating point range
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PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a);
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// check for each component is valid ie in floating point range
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PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a);
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// check for each component is valid ie in floating point range
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PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a);
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// Check that w-component is zero.
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PX_FORCE_INLINE bool isValidVec3V(const Vec3V a);
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//////////////////////////////////////////////////////////////////
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// Tests that all elements of two 16-byte types are completely equivalent.
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// Use these tests for unit testing and asserts only.
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//////////////////////////////////////////////////////////////////
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namespace _VecMathTests
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{
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PX_FORCE_INLINE Vec3V getInvalidVec3V();
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PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b);
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PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b);
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PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b);
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PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b);
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PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b);
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PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b);
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PX_FORCE_INLINE bool allElementsEqualMat33V(const Mat33V& a, const Mat33V& b)
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{
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return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) &&
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allElementsEqualVec3V(a.col2, b.col2));
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}
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PX_FORCE_INLINE bool allElementsEqualMat34V(const Mat34V& a, const Mat34V& b)
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{
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return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) &&
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allElementsEqualVec3V(a.col2, b.col2) && allElementsEqualVec3V(a.col3, b.col3));
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}
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PX_FORCE_INLINE bool allElementsEqualMat44V(const Mat44V& a, const Mat44V& b)
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{
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return (allElementsEqualVec4V(a.col0, b.col0) && allElementsEqualVec4V(a.col1, b.col1) &&
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allElementsEqualVec4V(a.col2, b.col2) && allElementsEqualVec4V(a.col3, b.col3));
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}
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PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b);
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PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b);
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PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b);
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PX_FORCE_INLINE bool allElementsNearEqualMat33V(const Mat33V& a, const Mat33V& b)
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{
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return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) &&
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allElementsNearEqualVec3V(a.col2, b.col2));
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}
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PX_FORCE_INLINE bool allElementsNearEqualMat34V(const Mat34V& a, const Mat34V& b)
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{
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return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) &&
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allElementsNearEqualVec3V(a.col2, b.col2) && allElementsNearEqualVec3V(a.col3, b.col3));
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}
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PX_FORCE_INLINE bool allElementsNearEqualMat44V(const Mat44V& a, const Mat44V& b)
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{
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return (allElementsNearEqualVec4V(a.col0, b.col0) && allElementsNearEqualVec4V(a.col1, b.col1) &&
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allElementsNearEqualVec4V(a.col2, b.col2) && allElementsNearEqualVec4V(a.col3, b.col3));
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}
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}
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//////////////////////////////////////////////////////////////////
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// Math operations on FloatV
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//////////////////////////////////////////////////////////////////
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//(0,0,0,0)
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PX_FORCE_INLINE FloatV FZero();
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//(1,1,1,1)
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PX_FORCE_INLINE FloatV FOne();
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//(0.5,0.5,0.5,0.5)
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PX_FORCE_INLINE FloatV FHalf();
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//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
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PX_FORCE_INLINE FloatV FEps();
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//(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL PX_MAX_REAL)
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PX_FORCE_INLINE FloatV FMax();
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//(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL -PX_MAX_REAL)
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PX_FORCE_INLINE FloatV FNegMax();
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//(1e-6f, 1e-6f, 1e-6f, 1e-6f)
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PX_FORCE_INLINE FloatV FEps6();
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//((PxF32*)&1, (PxF32*)&1, (PxF32*)&1, (PxF32*)&1)
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//-f (per component)
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PX_FORCE_INLINE FloatV FNeg(const FloatV f);
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// a+b (per component)
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PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b);
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// a-b (per component)
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PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b);
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// a*b (per component)
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PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b);
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// a/b (per component)
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PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b);
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// a/b (per component)
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PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b);
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// 1.0f/a
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PX_FORCE_INLINE FloatV FRecip(const FloatV a);
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// 1.0f/a
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PX_FORCE_INLINE FloatV FRecipFast(const FloatV a);
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// 1.0f/sqrt(a)
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PX_FORCE_INLINE FloatV FRsqrt(const FloatV a);
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// 1.0f/sqrt(a)
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PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a);
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// sqrt(a)
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PX_FORCE_INLINE FloatV FSqrt(const FloatV a);
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// a*b+c
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PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c);
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// c-a*b
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PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c);
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// fabs(a)
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PX_FORCE_INLINE FloatV FAbs(const FloatV a);
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// c ? a : b (per component)
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PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b);
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// a>b (per component)
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PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b);
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// a>=b (per component)
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PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b);
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// a==b (per component)
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PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b);
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// Max(a,b) (per component)
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PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b);
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// Min(a,b) (per component)
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PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b);
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// Clamp(a,b) (per component)
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PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV);
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// a.x>b.x
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PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b);
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// a.x>=b.x
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PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b);
|
|
// a.x==b.x
|
|
PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b);
|
|
// a<min || a>max
|
|
PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max);
|
|
// a>=min && a<=max
|
|
PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max);
|
|
// a<-bounds || a>bounds
|
|
PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds);
|
|
// a>=-bounds && a<=bounds
|
|
PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds);
|
|
|
|
// round float a to the near int
|
|
PX_FORCE_INLINE FloatV FRound(const FloatV a);
|
|
// calculate the sin of float a
|
|
PX_FORCE_INLINE FloatV FSin(const FloatV a);
|
|
// calculate the cos of float b
|
|
PX_FORCE_INLINE FloatV FCos(const FloatV a);
|
|
|
|
//////////////////////////////////////////////////////////////////
|
|
// Math operations on Vec3V
|
|
//////////////////////////////////////////////////////////////////
|
|
|
|
//(f,f,f,f)
|
|
PX_FORCE_INLINE Vec3V V3Splat(const FloatV f);
|
|
|
|
//(x,y,z)
|
|
PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z);
|
|
|
|
//(1,0,0,0)
|
|
PX_FORCE_INLINE Vec3V V3UnitX();
|
|
//(0,1,0,0)
|
|
PX_FORCE_INLINE Vec3V V3UnitY();
|
|
//(0,0,1,0)
|
|
PX_FORCE_INLINE Vec3V V3UnitZ();
|
|
|
|
//(f.x,f.x,f.x,f.x)
|
|
PX_FORCE_INLINE FloatV V3GetX(const Vec3V f);
|
|
//(f.y,f.y,f.y,f.y)
|
|
PX_FORCE_INLINE FloatV V3GetY(const Vec3V f);
|
|
//(f.z,f.z,f.z,f.z)
|
|
PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f);
|
|
|
|
//(f,v.y,v.z,v.w)
|
|
PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f);
|
|
//(v.x,f,v.z,v.w)
|
|
PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f);
|
|
//(v.x,v.y,f,v.w)
|
|
PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f);
|
|
|
|
// v.x=f
|
|
PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f);
|
|
// v.y=f
|
|
PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f);
|
|
// v.z=f
|
|
PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f);
|
|
// v.x=f.x, v.y=f.y, v.z=f.z
|
|
PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f);
|
|
// return v.x
|
|
PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v);
|
|
// return v.y
|
|
PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v);
|
|
// return v.y
|
|
PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v);
|
|
// return (v.x,v.y,v.z)
|
|
PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v);
|
|
|
|
//(a.x, b.x, c.x)
|
|
PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c);
|
|
//(a.y, b.y, c.y)
|
|
PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c);
|
|
//(a.z, b.z, c.z)
|
|
PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c);
|
|
|
|
//(0,0,0,0)
|
|
PX_FORCE_INLINE Vec3V V3Zero();
|
|
//(1,1,1,1)
|
|
PX_FORCE_INLINE Vec3V V3One();
|
|
//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
|
|
PX_FORCE_INLINE Vec3V V3Eps();
|
|
//-c (per component)
|
|
PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c);
|
|
// a+b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b);
|
|
// a-b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b);
|
|
// a*b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b);
|
|
// a*b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b);
|
|
// 1.0f/a
|
|
PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a);
|
|
// 1.0f/a
|
|
PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a);
|
|
// 1.0f/sqrt(a)
|
|
PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a);
|
|
// 1.0f/sqrt(a)
|
|
PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a);
|
|
// a*b+c
|
|
PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c);
|
|
// c-a*b
|
|
PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c);
|
|
// a*b+c
|
|
PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c);
|
|
// c-a*b
|
|
PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c);
|
|
// fabs(a)
|
|
PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a);
|
|
|
|
// a.b
|
|
// Note: a.w and b.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b);
|
|
// aXb
|
|
// Note: a.w and b.w must have value zero
|
|
PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b);
|
|
// |a.a|^1/2
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3Length(const Vec3V a);
|
|
// a.a
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a);
|
|
// a*|a.a|^-1/2
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a);
|
|
// a.a>0 ? a*|a.a|^-1/2 : (0,0,0,0)
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3Length(const Vec3V a);
|
|
// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue);
|
|
// a.x + a.y + a.z
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a);
|
|
|
|
// c ? a : b (per component)
|
|
PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b);
|
|
// a>b (per component)
|
|
PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b);
|
|
// a>=b (per component)
|
|
PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b);
|
|
// a==b (per component)
|
|
PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b);
|
|
// Max(a,b) (per component)
|
|
PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b);
|
|
// Min(a,b) (per component)
|
|
PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b);
|
|
|
|
// Extract the maximum value from a
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a);
|
|
|
|
// Extract the minimum value from a
|
|
// Note: a.w must have value zero
|
|
PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a);
|
|
|
|
// Clamp(a,b) (per component)
|
|
PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV);
|
|
|
|
// Extract the sign for each component
|
|
PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a);
|
|
|
|
// Test all components.
|
|
// (a.x>b.x && a.y>b.y && a.z>b.z)
|
|
// Note: a.w and b.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b);
|
|
// (a.x>=b.x && a.y>=b.y && a.z>=b.z)
|
|
// Note: a.w and b.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b);
|
|
// (a.x==b.x && a.y==b.y && a.z==b.z)
|
|
// Note: a.w and b.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b);
|
|
// a.x<min.x || a.y<min.y || a.z<min.z || a.x>max.x || a.y>max.y || a.z>max.z
|
|
// Note: a.w and min.w and max.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max);
|
|
// a.x>=min.x && a.y>=min.y && a.z>=min.z && a.x<=max.x && a.y<=max.y && a.z<=max.z
|
|
// Note: a.w and min.w and max.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max);
|
|
// a.x<-bounds.x || a.y<=-bounds.y || a.z<bounds.z || a.x>bounds.x || a.y>bounds.y || a.z>bounds.z
|
|
// Note: a.w and bounds.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds);
|
|
// a.x>=-bounds.x && a.y>=-bounds.y && a.z>=-bounds.z && a.x<=bounds.x && a.y<=bounds.y && a.z<=bounds.z
|
|
// Note: a.w and bounds.w must have value zero
|
|
PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds);
|
|
|
|
//(floor(a.x + 0.5f), floor(a.y + 0.5f), floor(a.z + 0.5f))
|
|
PX_FORCE_INLINE Vec3V V3Round(const Vec3V a);
|
|
|
|
//(sinf(a.x), sinf(a.y), sinf(a.z))
|
|
PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a);
|
|
//(cosf(a.x), cosf(a.y), cosf(a.z))
|
|
PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a);
|
|
|
|
//(a.y,a.z,a.z)
|
|
PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a);
|
|
//(a.x,a.y,a.x)
|
|
PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a);
|
|
//(a.y,a.z,a.x)
|
|
PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a);
|
|
//(a.z, a.x, a.y)
|
|
PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a);
|
|
//(a.z,a.z,a.y)
|
|
PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a);
|
|
//(a.y,a.x,a.x)
|
|
PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a);
|
|
//(0, v1.z, v0.y)
|
|
PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1);
|
|
//(v0.z, 0, v1.x)
|
|
PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1);
|
|
//(v1.y, v0.x, 0)
|
|
PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1);
|
|
|
|
// Transpose 3 Vec3Vs inplace. Sets the w component to zero
|
|
// [ x0, y0, z0, w0] [ x1, y1, z1, w1] [ x2, y2, z2, w2] -> [x0 x1 x2 0] [y0 y1 y2 0] [z0 z1 z2 0]
|
|
PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2);
|
|
|
|
//////////////////////////////////////////////////////////////////
|
|
// Math operations on Vec4V
|
|
//////////////////////////////////////////////////////////////////
|
|
|
|
//(f,f,f,f)
|
|
PX_FORCE_INLINE Vec4V V4Splat(const FloatV f);
|
|
|
|
//(f[0],f[1],f[2],f[3])
|
|
PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const f);
|
|
//(x,y,z,w)
|
|
PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w);
|
|
//(x.w, y.w, z.w, w.w)
|
|
PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
|
|
//(x.z, y.z, z.z, w.z)
|
|
PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
|
|
//(x.y, y.y, z.y, w.y)
|
|
PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
|
|
//(x.x, y.x, z.x, w.x)
|
|
PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
|
|
|
|
//(a.x, b.x, a.y, b.y)
|
|
PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b);
|
|
//(a.z, b.z, a.w, b.w)
|
|
PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b);
|
|
|
|
//(1,0,0,0)
|
|
PX_FORCE_INLINE Vec4V V4UnitW();
|
|
//(0,1,0,0)
|
|
PX_FORCE_INLINE Vec4V V4UnitY();
|
|
//(0,0,1,0)
|
|
PX_FORCE_INLINE Vec4V V4UnitZ();
|
|
//(0,0,0,1)
|
|
PX_FORCE_INLINE Vec4V V4UnitW();
|
|
|
|
//(f.x,f.x,f.x,f.x)
|
|
PX_FORCE_INLINE FloatV V4GetX(const Vec4V f);
|
|
//(f.y,f.y,f.y,f.y)
|
|
PX_FORCE_INLINE FloatV V4GetY(const Vec4V f);
|
|
//(f.z,f.z,f.z,f.z)
|
|
PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f);
|
|
//(f.w,f.w,f.w,f.w)
|
|
PX_FORCE_INLINE FloatV V4GetW(const Vec4V f);
|
|
|
|
//(f,v.y,v.z,v.w)
|
|
PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f);
|
|
//(v.x,f,v.z,v.w)
|
|
PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f);
|
|
//(v.x,v.y,f,v.w)
|
|
PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f);
|
|
//(v.x,v.y,v.z,f)
|
|
PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f);
|
|
|
|
//(v.x,v.y,v.z,0)
|
|
PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v);
|
|
|
|
//(a[elementIndex], a[elementIndex], a[elementIndex], a[elementIndex])
|
|
template <int elementIndex>
|
|
PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a);
|
|
|
|
// v.x=f
|
|
PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f);
|
|
// v.y=f
|
|
PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f);
|
|
// v.z=f
|
|
PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f);
|
|
// v.w=f
|
|
PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f);
|
|
// v.x=f.x, v.y=f.y, v.z=f.z
|
|
PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f);
|
|
// return v.x
|
|
PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v);
|
|
// return v.y
|
|
PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v);
|
|
// return v.z
|
|
PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v);
|
|
// return v.w
|
|
PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v);
|
|
// return (v.x,v.y,v.z)
|
|
PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v);
|
|
|
|
//(0,0,0,0)
|
|
PX_FORCE_INLINE Vec4V V4Zero();
|
|
//(1,1,1,1)
|
|
PX_FORCE_INLINE Vec4V V4One();
|
|
//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
|
|
PX_FORCE_INLINE Vec4V V4Eps();
|
|
|
|
//-c (per component)
|
|
PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c);
|
|
// a+b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b);
|
|
// a-b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b);
|
|
// a*b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b);
|
|
// a*b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b);
|
|
// a/b (per component)
|
|
PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b);
|
|
// 1.0f/a
|
|
PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a);
|
|
// 1.0f/a
|
|
PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a);
|
|
// 1.0f/sqrt(a)
|
|
PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a);
|
|
// 1.0f/sqrt(a)
|
|
PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a);
|
|
// a*b+c
|
|
PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c);
|
|
// c-a*b
|
|
PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c);
|
|
// a*b+c
|
|
PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c);
|
|
// c-a*b
|
|
PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c);
|
|
|
|
// fabs(a)
|
|
PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a);
|
|
// bitwise a & ~b
|
|
PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b);
|
|
|
|
// a.b (W is taken into account)
|
|
PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b);
|
|
// a.b (same computation as V3Dot. W is ignored in input)
|
|
PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b);
|
|
// aXb (same computation as V3Cross. W is ignored in input and undefined in output)
|
|
PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b);
|
|
|
|
//|a.a|^1/2
|
|
PX_FORCE_INLINE FloatV V4Length(const Vec4V a);
|
|
// a.a
|
|
PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a);
|
|
|
|
// a*|a.a|^-1/2
|
|
PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a);
|
|
// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue
|
|
PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue);
|
|
// a*|a.a|^-1/2
|
|
PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a);
|
|
|
|
// c ? a : b (per component)
|
|
PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b);
|
|
// a>b (per component)
|
|
PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b);
|
|
// a>=b (per component)
|
|
PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b);
|
|
// a==b (per component)
|
|
PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b);
|
|
// Max(a,b) (per component)
|
|
PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b);
|
|
// Min(a,b) (per component)
|
|
PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b);
|
|
// Get the maximum component from a
|
|
PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a);
|
|
// Get the minimum component from a
|
|
PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a);
|
|
|
|
// Clamp(a,b) (per component)
|
|
PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV);
|
|
|
|
// return 1 if all components of a are greater than all components of b.
|
|
PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b);
|
|
// return 1 if all components of a are greater than or equal to all components of b
|
|
PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b);
|
|
// return 1 if XYZ components of a are greater than or equal to XYZ components of b. W is ignored.
|
|
PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b);
|
|
// return 1 if all components of a are equal to all components of b
|
|
PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b);
|
|
// return 1 if any XYZ component of a is greater than the corresponding component of b. W is ignored.
|
|
PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b);
|
|
|
|
// round(a)(per component)
|
|
PX_FORCE_INLINE Vec4V V4Round(const Vec4V a);
|
|
// sin(a) (per component)
|
|
PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a);
|
|
// cos(a) (per component)
|
|
PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a);
|
|
|
|
// Permute v into a new vec4v with YXWZ format
|
|
PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v);
|
|
// Permute v into a new vec4v with XZXZ format
|
|
PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v);
|
|
// Permute v into a new vec4v with YWYW format
|
|
PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v);
|
|
// Permute v into a new vec4v with YZXW format
|
|
PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v);
|
|
// Permute v into a new vec4v with ZWXY format - equivalent to a swap of the two 64bit parts of the vector
|
|
PX_FORCE_INLINE Vec4V V4PermZWXY(const Vec4V a);
|
|
|
|
// Permute v into a new vec4v with format {a[x], a[y], a[z], a[w]}
|
|
// V4Perm<1,3,1,3> is equal to V4PermYWYW
|
|
// V4Perm<0,2,0,2> is equal to V4PermXZXZ
|
|
// V3Perm<1,0,3,2> is equal to V4PermYXWZ
|
|
template <PxU8 x, PxU8 y, PxU8 z, PxU8 w>
|
|
PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a);
|
|
|
|
// Transpose 4 Vec4Vs inplace.
|
|
// [ x0, y0, z0, w0] [ x1, y1, z1, w1] [ x2, y2, z2, w2] [ x3, y3, z3, w3] ->
|
|
// [ x0, x1, x2, x3] [ y0, y1, y2, y3] [ z0, z1, z2, z3] [ w0, w1, w2, w3]
|
|
PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2);
|
|
|
|
// q = cos(a/2) + u*sin(a/2)
|
|
PX_FORCE_INLINE QuatV QuatV_From_RotationAxisAngle(const Vec3V u, const FloatV a);
|
|
// convert q to a unit quaternion
|
|
PX_FORCE_INLINE QuatV QuatNormalize(const QuatV q);
|
|
//|q.q|^1/2
|
|
PX_FORCE_INLINE FloatV QuatLength(const QuatV q);
|
|
// q.q
|
|
PX_FORCE_INLINE FloatV QuatLengthSq(const QuatV q);
|
|
// a.b
|
|
PX_FORCE_INLINE FloatV QuatDot(const QuatV a, const QuatV b);
|
|
//(-q.x, -q.y, -q.z, q.w)
|
|
PX_FORCE_INLINE QuatV QuatConjugate(const QuatV q);
|
|
//(q.x, q.y, q.z)
|
|
PX_FORCE_INLINE Vec3V QuatGetImaginaryPart(const QuatV q);
|
|
// convert quaternion to matrix 33
|
|
PX_FORCE_INLINE Mat33V QuatGetMat33V(const QuatVArg q);
|
|
// convert quaternion to matrix 33
|
|
PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2);
|
|
// convert matrix 33 to quaternion
|
|
PX_FORCE_INLINE QuatV Mat33GetQuatV(const Mat33V& a);
|
|
// brief computes rotation of x-axis
|
|
PX_FORCE_INLINE Vec3V QuatGetBasisVector0(const QuatV q);
|
|
// brief computes rotation of y-axis
|
|
PX_FORCE_INLINE Vec3V QuatGetBasisVector1(const QuatV q);
|
|
// brief computes rotation of z-axis
|
|
PX_FORCE_INLINE Vec3V QuatGetBasisVector2(const QuatV q);
|
|
// calculate the rotation vector from q and v
|
|
PX_FORCE_INLINE Vec3V QuatRotate(const QuatV q, const Vec3V v);
|
|
// calculate the rotation vector from the conjugate quaternion and v
|
|
PX_FORCE_INLINE Vec3V QuatRotateInv(const QuatV q, const Vec3V v);
|
|
// quaternion multiplication
|
|
PX_FORCE_INLINE QuatV QuatMul(const QuatV a, const QuatV b);
|
|
// quaternion add
|
|
PX_FORCE_INLINE QuatV QuatAdd(const QuatV a, const QuatV b);
|
|
// (-q.x, -q.y, -q.z, -q.w)
|
|
PX_FORCE_INLINE QuatV QuatNeg(const QuatV q);
|
|
// (a.x - b.x, a.y-b.y, a.z-b.z, a.w-b.w )
|
|
PX_FORCE_INLINE QuatV QuatSub(const QuatV a, const QuatV b);
|
|
// (a.x*b, a.y*b, a.z*b, a.w*b)
|
|
PX_FORCE_INLINE QuatV QuatScale(const QuatV a, const FloatV b);
|
|
// (x = v[0], y = v[1], z = v[2], w =v[3])
|
|
PX_FORCE_INLINE QuatV QuatMerge(const FloatV* const v);
|
|
// (x = v[0], y = v[1], z = v[2], w =v[3])
|
|
PX_FORCE_INLINE QuatV QuatMerge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w);
|
|
// (x = 0.f, y = 0.f, z = 0.f, w = 1.f)
|
|
PX_FORCE_INLINE QuatV QuatIdentity();
|
|
// check for each component is valid
|
|
PX_FORCE_INLINE bool isFiniteQuatV(const QuatV q);
|
|
// check for each component is valid
|
|
PX_FORCE_INLINE bool isValidQuatV(const QuatV q);
|
|
// check for each component is valid
|
|
PX_FORCE_INLINE bool isSaneQuatV(const QuatV q);
|
|
|
|
// Math operations on 16-byte aligned booleans.
|
|
// x=false y=false z=false w=false
|
|
PX_FORCE_INLINE BoolV BFFFF();
|
|
// x=false y=false z=false w=true
|
|
PX_FORCE_INLINE BoolV BFFFT();
|
|
// x=false y=false z=true w=false
|
|
PX_FORCE_INLINE BoolV BFFTF();
|
|
// x=false y=false z=true w=true
|
|
PX_FORCE_INLINE BoolV BFFTT();
|
|
// x=false y=true z=false w=false
|
|
PX_FORCE_INLINE BoolV BFTFF();
|
|
// x=false y=true z=false w=true
|
|
PX_FORCE_INLINE BoolV BFTFT();
|
|
// x=false y=true z=true w=false
|
|
PX_FORCE_INLINE BoolV BFTTF();
|
|
// x=false y=true z=true w=true
|
|
PX_FORCE_INLINE BoolV BFTTT();
|
|
// x=true y=false z=false w=false
|
|
PX_FORCE_INLINE BoolV BTFFF();
|
|
// x=true y=false z=false w=true
|
|
PX_FORCE_INLINE BoolV BTFFT();
|
|
// x=true y=false z=true w=false
|
|
PX_FORCE_INLINE BoolV BTFTF();
|
|
// x=true y=false z=true w=true
|
|
PX_FORCE_INLINE BoolV BTFTT();
|
|
// x=true y=true z=false w=false
|
|
PX_FORCE_INLINE BoolV BTTFF();
|
|
// x=true y=true z=false w=true
|
|
PX_FORCE_INLINE BoolV BTTFT();
|
|
// x=true y=true z=true w=false
|
|
PX_FORCE_INLINE BoolV BTTTF();
|
|
// x=true y=true z=true w=true
|
|
PX_FORCE_INLINE BoolV BTTTT();
|
|
|
|
// x=false y=false z=false w=true
|
|
PX_FORCE_INLINE BoolV BWMask();
|
|
// x=true y=false z=false w=false
|
|
PX_FORCE_INLINE BoolV BXMask();
|
|
// x=false y=true z=false w=false
|
|
PX_FORCE_INLINE BoolV BYMask();
|
|
// x=false y=false z=true w=false
|
|
PX_FORCE_INLINE BoolV BZMask();
|
|
|
|
// get x component
|
|
PX_FORCE_INLINE BoolV BGetX(const BoolV f);
|
|
// get y component
|
|
PX_FORCE_INLINE BoolV BGetY(const BoolV f);
|
|
// get z component
|
|
PX_FORCE_INLINE BoolV BGetZ(const BoolV f);
|
|
// get w component
|
|
PX_FORCE_INLINE BoolV BGetW(const BoolV f);
|
|
|
|
// Use elementIndex to splat xxxx or yyyy or zzzz or wwww
|
|
template <int elementIndex>
|
|
PX_FORCE_INLINE BoolV BSplatElement(Vec4V a);
|
|
|
|
// component-wise && (AND)
|
|
PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b);
|
|
// component-wise || (OR)
|
|
PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b);
|
|
// component-wise not
|
|
PX_FORCE_INLINE BoolV BNot(const BoolV a);
|
|
|
|
// if all four components are true, return true, otherwise return false
|
|
PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a);
|
|
|
|
// if any four components is true, return true, otherwise return false
|
|
PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a);
|
|
|
|
// if all three(0, 1, 2) components are true, return true, otherwise return false
|
|
PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a);
|
|
|
|
// if any three (0, 1, 2) components is true, return true, otherwise return false
|
|
PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a);
|
|
|
|
// Return 1 if all components equal, zero otherwise.
|
|
PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b);
|
|
|
|
// Specialized/faster BAllEq function for b==TTTT
|
|
PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a);
|
|
// Specialized/faster BAllEq function for b==FFFF
|
|
PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a);
|
|
|
|
/// Get BoolV as bits set in an PxU32. A bit in the output is set if the element is 'true' in the input.
|
|
/// There is a bit for each element in a, with element 0s value held in bit0, element 1 in bit 1s and so forth.
|
|
/// If nothing is true in the input it will return 0, and if all are true if will return 0xf.
|
|
/// NOTE! That performance of the function varies considerably by platform, thus it is recommended to use
|
|
/// where your algorithm really needs a BoolV in an integer variable.
|
|
PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a);
|
|
|
|
// VecI32V stuff
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_Zero();
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_One();
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_Two();
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_MinusOne();
|
|
|
|
// Compute a shift parameter for VecI32V_LeftShift and VecI32V_RightShift
|
|
// Each element of shift must be identical ie the vector must have form {count, count, count, count} with count>=0
|
|
PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift);
|
|
|
|
// Shift each element of a leftwards by the same amount
|
|
// Compute shift with VecI32V_PrepareShift
|
|
//{a.x<<shift[0], a.y<<shift[0], a.z<<shift[0], a.w<<shift[0]}
|
|
PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg shift);
|
|
|
|
// Shift each element of a rightwards by the same amount
|
|
// Compute shift with VecI32V_PrepareShift
|
|
//{a.x>>shift[0], a.y>>shift[0], a.z>>shift[0], a.w>>shift[0]}
|
|
PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg shift);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a);
|
|
|
|
PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b);
|
|
|
|
PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b);
|
|
|
|
PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b);
|
|
|
|
PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b);
|
|
|
|
// VecU32V stuff
|
|
|
|
PX_FORCE_INLINE VecU32V U4Zero();
|
|
|
|
PX_FORCE_INLINE VecU32V U4One();
|
|
|
|
PX_FORCE_INLINE VecU32V U4Two();
|
|
|
|
PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b);
|
|
|
|
PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b);
|
|
|
|
PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b);
|
|
|
|
PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b);
|
|
|
|
PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b);
|
|
|
|
PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b);
|
|
|
|
// VecU32 - why does this not return a bool?
|
|
PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b);
|
|
|
|
// Math operations on 16-byte aligned Mat33s (represents any 3x3 matrix)
|
|
PX_FORCE_INLINE Mat33V M33Load(const PxMat33& m)
|
|
{
|
|
return Mat33V(Vec3V_From_Vec4V(V4LoadU(&m.column0.x)),
|
|
Vec3V_From_Vec4V(V4LoadU(&m.column1.x)), V3LoadU(m.column2));
|
|
}
|
|
// a*b
|
|
PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b);
|
|
// A*x + b
|
|
PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c);
|
|
// transpose(a) * b
|
|
PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b);
|
|
// a*b
|
|
PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b);
|
|
// a+b
|
|
PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b);
|
|
// a+b
|
|
PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b);
|
|
//-a
|
|
PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a);
|
|
// absolute value of the matrix
|
|
PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a);
|
|
// inverse mat
|
|
PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a);
|
|
// transpose(a)
|
|
PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a);
|
|
// create an identity matrix
|
|
PX_FORCE_INLINE Mat33V M33Identity();
|
|
|
|
// create a vec3 to store the diagonal element of the M33
|
|
PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg);
|
|
|
|
// Not implemented
|
|
// return 1 if all components of a are equal to all components of b
|
|
// PX_FORCE_INLINE PxU32 V4U32AllEq(const VecU32V a, const VecU32V b);
|
|
// v.w=f
|
|
// PX_FORCE_INLINE void V3WriteW(Vec3V& v, const PxF32 f);
|
|
// PX_FORCE_INLINE PxF32 V3ReadW(const Vec3V& v);
|
|
|
|
// Not used
|
|
// PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr);
|
|
// PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr);
|
|
// floor(a)(per component)
|
|
// PX_FORCE_INLINE Vec4V V4Floor(Vec4V a);
|
|
// ceil(a) (per component)
|
|
// PX_FORCE_INLINE Vec4V V4Ceil(Vec4V a);
|
|
// PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power);
|
|
|
|
// Math operations on 16-byte aligned Mat34s (represents transformation matrix - rotation and translation).
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// namespace _Mat34V
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//{
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// //a*b
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// PX_FORCE_INLINE Vec3V multiplyV(const Mat34V& a, const Vec3V b);
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// //a_rotation * b
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// PX_FORCE_INLINE Vec3V multiply3X3V(const Mat34V& a, const Vec3V b);
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// //transpose(a_rotation)*b
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// PX_FORCE_INLINE Vec3V multiplyTranspose3X3V(const Mat34V& a, const Vec3V b);
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// //a*b
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// PX_FORCE_INLINE Mat34V multiplyV(const Mat34V& a, const Mat34V& b);
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// //a_rotation*b
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// PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat33V& b);
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// //a_rotation*b_rotation
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// PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat34V& b);
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// //a+b
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// PX_FORCE_INLINE Mat34V addV(const Mat34V& a, const Mat34V& b);
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// //a^-1
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// PX_FORCE_INLINE Mat34V getInverseV(const Mat34V& a);
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// //transpose(a_rotation)
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// PX_FORCE_INLINE Mat33V getTranspose3X3(const Mat34V& a);
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//}; //namespace _Mat34V
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|
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// a*b
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//#define M34MulV3(a,b) (M34MulV3(a,b))
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////a_rotation * b
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//#define M34Mul33V3(a,b) (M34Mul33V3(a,b))
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////transpose(a_rotation)*b
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//#define M34TrnspsMul33V3(a,b) (M34TrnspsMul33V3(a,b))
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////a*b
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//#define M34MulM34(a,b) (_Mat34V::multiplyV(a,b))
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// a_rotation*b
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//#define M34MulM33(a,b) (M34MulM33(a,b))
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// a_rotation*b_rotation
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//#define M34Mul33MM34(a,b) (M34MulM33(a,b))
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// a+b
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//#define M34Add(a,b) (M34Add(a,b))
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////a^-1
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//#define M34Inverse(a,b) (M34Inverse(a))
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// transpose(a_rotation)
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//#define M34Trnsps33(a) (M33Trnsps3X3(a))
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|
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// Math operations on 16-byte aligned Mat44s (represents any 4x4 matrix)
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// namespace _Mat44V
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//{
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// //a*b
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// PX_FORCE_INLINE Vec4V multiplyV(const Mat44V& a, const Vec4V b);
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|
// //transpose(a)*b
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// PX_FORCE_INLINE Vec4V multiplyTransposeV(const Mat44V& a, const Vec4V b);
|
|
// //a*b
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|
// PX_FORCE_INLINE Mat44V multiplyV(const Mat44V& a, const Mat44V& b);
|
|
// //a+b
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|
// PX_FORCE_INLINE Mat44V addV(const Mat44V& a, const Mat44V& b);
|
|
// //a&-1
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|
// PX_FORCE_INLINE Mat44V getInverseV(const Mat44V& a);
|
|
// //transpose(a)
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|
// PX_FORCE_INLINE Mat44V getTransposeV(const Mat44V& a);
|
|
//}; //namespace _Mat44V
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|
|
|
// namespace _VecU32V
|
|
//{
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|
// // pack 8 U32s to 8 U16s with saturation
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|
// PX_FORCE_INLINE VecU16V pack2U32VToU16VSaturate(VecU32V a, VecU32V b);
|
|
// PX_FORCE_INLINE VecU32V orV(VecU32V a, VecU32V b);
|
|
// PX_FORCE_INLINE VecU32V andV(VecU32V a, VecU32V b);
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|
// PX_FORCE_INLINE VecU32V andcV(VecU32V a, VecU32V b);
|
|
// // conversion from integer to float
|
|
// PX_FORCE_INLINE Vec4V convertToVec4V(VecU32V a);
|
|
// // splat a[elementIndex] into all fields of a
|
|
// template<int elementIndex>
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|
// PX_FORCE_INLINE VecU32V splatElement(VecU32V a);
|
|
// PX_FORCE_INLINE void storeAligned(VecU32V a, VecU32V* address);
|
|
//};
|
|
|
|
// namespace _VecI32V
|
|
//{
|
|
// template<int a> PX_FORCE_INLINE VecI32V splatI32();
|
|
//};
|
|
//
|
|
// namespace _VecU16V
|
|
//{
|
|
// PX_FORCE_INLINE VecU16V orV(VecU16V a, VecU16V b);
|
|
// PX_FORCE_INLINE VecU16V andV(VecU16V a, VecU16V b);
|
|
// PX_FORCE_INLINE VecU16V andcV(VecU16V a, VecU16V b);
|
|
// PX_FORCE_INLINE void storeAligned(VecU16V val, VecU16V *address);
|
|
// PX_FORCE_INLINE VecU16V loadAligned(VecU16V* addr);
|
|
// PX_FORCE_INLINE VecU16V loadUnaligned(VecU16V* addr);
|
|
// PX_FORCE_INLINE VecU16V compareGt(VecU16V a, VecU16V b);
|
|
// template<int elementIndex>
|
|
// PX_FORCE_INLINE VecU16V splatElement(VecU16V a);
|
|
// PX_FORCE_INLINE VecU16V subtractModulo(VecU16V a, VecU16V b);
|
|
// PX_FORCE_INLINE VecU16V addModulo(VecU16V a, VecU16V b);
|
|
// PX_FORCE_INLINE VecU32V getLo16(VecU16V a); // [0,2,4,6] 16-bit values to [0,1,2,3] 32-bit vector
|
|
// PX_FORCE_INLINE VecU32V getHi16(VecU16V a); // [1,3,5,7] 16-bit values to [0,1,2,3] 32-bit vector
|
|
//};
|
|
//
|
|
// namespace _VecI16V
|
|
//{
|
|
// template <int val> PX_FORCE_INLINE VecI16V splatImmediate();
|
|
//};
|
|
//
|
|
// namespace _VecU8V
|
|
//{
|
|
//};
|
|
|
|
// a*b
|
|
//#define M44MulV4(a,b) (M44MulV4(a,b))
|
|
////transpose(a)*b
|
|
//#define M44TrnspsMulV4(a,b) (M44TrnspsMulV4(a,b))
|
|
////a*b
|
|
//#define M44MulM44(a,b) (M44MulM44(a,b))
|
|
////a+b
|
|
//#define M44Add(a,b) (M44Add(a,b))
|
|
////a&-1
|
|
//#define M44Inverse(a) (M44Inverse(a))
|
|
////transpose(a)
|
|
//#define M44Trnsps(a) (M44Trnsps(a))
|
|
|
|
// dsequeira: these used to be assert'd out in SIMD builds, but they're necessary if
|
|
// we want to be able to write some scalar functions which run using SIMD data structures
|
|
|
|
PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec3&>(v).x = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec3&>(v).y = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec3&>(v).z = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f)
|
|
{
|
|
reinterpret_cast<PxVec3&>(v) = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec3&>(v).x;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec3&>(v).y;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec3&>(v).z;
|
|
}
|
|
|
|
PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec3&>(v);
|
|
}
|
|
|
|
PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec4&>(v).x = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec4&>(v).y = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec4&>(v).z = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f)
|
|
{
|
|
reinterpret_cast<PxVec4&>(v).w = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f)
|
|
{
|
|
reinterpret_cast<PxVec3&>(v) = f;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec4&>(v).x;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec4&>(v).y;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec4&>(v).z;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec4&>(v).w;
|
|
}
|
|
|
|
PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v)
|
|
{
|
|
return reinterpret_cast<const PxVec3&>(v);
|
|
}
|
|
|
|
// this macro transposes 4 Vec4V into 3 Vec4V (assuming that the W component can be ignored
|
|
#define PX_TRANSPOSE_44_34(inA, inB, inC, inD, outA, outB, outC) \
|
|
\
|
|
outA = V4UnpackXY(inA, inC); \
|
|
\
|
|
inA = V4UnpackZW(inA, inC); \
|
|
\
|
|
inC = V4UnpackXY(inB, inD); \
|
|
\
|
|
inB = V4UnpackZW(inB, inD); \
|
|
\
|
|
outB = V4UnpackZW(outA, inC); \
|
|
\
|
|
outA = V4UnpackXY(outA, inC); \
|
|
\
|
|
outC = V4UnpackXY(inA, inB);
|
|
|
|
// this macro transposes 3 Vec4V into 4 Vec4V (with W components as garbage!)
|
|
#define PX_TRANSPOSE_34_44(inA, inB, inC, outA, outB, outC, outD) \
|
|
outA = V4UnpackXY(inA, inC); \
|
|
inA = V4UnpackZW(inA, inC); \
|
|
outC = V4UnpackXY(inB, inB); \
|
|
inC = V4UnpackZW(inB, inB); \
|
|
outB = V4UnpackZW(outA, outC); \
|
|
outA = V4UnpackXY(outA, outC); \
|
|
outC = V4UnpackXY(inA, inC); \
|
|
outD = V4UnpackZW(inA, inC);
|
|
|
|
#define PX_TRANSPOSE_44(inA, inB, inC, inD, outA, outB, outC, outD) \
|
|
outA = V4UnpackXY(inA, inC); \
|
|
inA = V4UnpackZW(inA, inC); \
|
|
inC = V4UnpackXY(inB, inD); \
|
|
inB = V4UnpackZW(inB, inD); \
|
|
outB = V4UnpackZW(outA, inC); \
|
|
outA = V4UnpackXY(outA, inC); \
|
|
outC = V4UnpackXY(inA, inB); \
|
|
outD = V4UnpackZW(inA, inB);
|
|
|
|
// This function returns a Vec4V, where each element is the dot product of one pair of Vec3Vs. On PC, each element in
|
|
// the result should be identical to the results if V3Dot was performed
|
|
// for each pair of Vec3V.
|
|
// However, on other platforms, the result might diverge by some small margin due to differences in FP rounding, e.g. if
|
|
// _mm_dp_ps was used or some other approximate dot product or fused madd operations
|
|
// were used.
|
|
// Where there does not exist a hw-accelerated dot-product operation, this approach should be the fastest way to compute
|
|
// the dot product of 4 vectors.
|
|
PX_FORCE_INLINE Vec4V V3Dot4(const Vec3VArg a0, const Vec3VArg b0, const Vec3VArg a1, const Vec3VArg b1,
|
|
const Vec3VArg a2, const Vec3VArg b2, const Vec3VArg a3, const Vec3VArg b3)
|
|
{
|
|
Vec4V a0b0 = Vec4V_From_Vec3V(V3Mul(a0, b0));
|
|
Vec4V a1b1 = Vec4V_From_Vec3V(V3Mul(a1, b1));
|
|
Vec4V a2b2 = Vec4V_From_Vec3V(V3Mul(a2, b2));
|
|
Vec4V a3b3 = Vec4V_From_Vec3V(V3Mul(a3, b3));
|
|
|
|
Vec4V aTrnsps, bTrnsps, cTrnsps;
|
|
|
|
PX_TRANSPOSE_44_34(a0b0, a1b1, a2b2, a3b3, aTrnsps, bTrnsps, cTrnsps);
|
|
|
|
return V4Add(V4Add(aTrnsps, bTrnsps), cTrnsps);
|
|
}
|
|
|
|
//(f.x,f.y,f.z,0) - Alternative/faster V3LoadU implementation when it is safe to read "W", i.e. the 32bits after the PxVec3.
|
|
PX_FORCE_INLINE Vec3V V3LoadU_SafeReadW(const PxVec3& f)
|
|
{
|
|
return Vec3V_From_Vec4V(V4LoadU(&f.x));
|
|
}
|
|
|
|
} // namespace aos
|
|
} // namespace shdfnd
|
|
} // namespace physx
|
|
|
|
// Now for the cross-platform implementations of the 16-byte aligned maths functions (win32/360/ppu/spu etc).
|
|
#if COMPILE_VECTOR_INTRINSICS
|
|
#include "PsInlineAoS.h"
|
|
#else // #if COMPILE_VECTOR_INTRINSICS
|
|
#include "PsVecMathAoSScalarInline.h"
|
|
#endif // #if !COMPILE_VECTOR_INTRINSICS
|
|
#include "PsVecQuat.h"
|
|
|
|
#endif // PSFOUNDATION_PSVECMATH_H
|