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All rights reserved. #ifndef PX_VEC_MATH_H #define PX_VEC_MATH_H #include "foundation/Px.h" #include "foundation/PxIntrinsics.h" #include "foundation/PxVec3.h" #include "foundation/PxVec4.h" #include "foundation/PxMat33.h" #include "foundation/PxUnionCast.h" // We can opt to use the scalar version of vectorised functions. // This can catch type safety issues and might even work out more optimal on pc. // It will also be useful for benchmarking and testing. // NEVER submit with vector intrinsics deactivated without good reason. // AM: deactivating SIMD for debug win64 just so autobuild will also exercise // non-SIMD path, until a dedicated non-SIMD platform sich as Arm comes online. // TODO: dima: reference all platforms with SIMD support here, // all unknown/experimental cases should better default to NO SIMD. // enable/disable SIMD #if !defined(PX_SIMD_DISABLED) #if PX_INTEL_FAMILY && (!defined(__EMSCRIPTEN__) || defined(__SSE2__)) #define COMPILE_VECTOR_INTRINSICS 1 #elif PX_SWITCH #define COMPILE_VECTOR_INTRINSICS 1 #else #define COMPILE_VECTOR_INTRINSICS 0 #endif #else #define COMPILE_VECTOR_INTRINSICS 0 #endif #if COMPILE_VECTOR_INTRINSICS && PX_INTEL_FAMILY && PX_UNIX_FAMILY // only SSE2 compatible platforms should reach this #if PX_EMSCRIPTEN #include #endif #include #endif #if COMPILE_VECTOR_INTRINSICS #include "PxAoS.h" #else #include "PxVecMathAoSScalar.h" #endif #if !PX_DOXYGEN namespace physx { #endif namespace aos { // Basic AoS types are // FloatV - 16-byte aligned representation of float. // Vec3V - 16-byte aligned representation of PxVec3 stored as (x y z 0). // Vec4V - 16-byte aligned representation of vector of 4 floats stored as (x y z w). // BoolV - 16-byte aligned representation of vector of 4 bools stored as (x y z w). // VecU32V - 16-byte aligned representation of 4 unsigned ints stored as (x y z w). // VecI32V - 16-byte aligned representation of 4 signed ints stored as (x y z w). // Mat33V - 16-byte aligned representation of any 3x3 matrix. // Mat34V - 16-byte aligned representation of transformation matrix (rotation in col1,col2,col3 and translation in // col4). // Mat44V - 16-byte aligned representation of any 4x4 matrix. ////////////////////////////////////////// // Construct a simd type from a scalar type ////////////////////////////////////////// // FloatV //(f,f,f,f) PX_FORCE_INLINE FloatV FLoad(const PxF32 f); // Vec3V //(f,f,f,0) PX_FORCE_INLINE Vec3V V3Load(const PxF32 f); //(f.x,f.y,f.z,0) PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f); //(f.x,f.y,f.z,0), f must be 16-byte aligned PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f); //(f.x,f.y,f.z,w_undefined), f must be 16-byte aligned PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f); //(f.x,f.y,f.z,0) PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* f); //(f.x,f.y,f.z,0), f must be 16-byte aligned PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* f); // Vec4V //(f,f,f,f) PX_FORCE_INLINE Vec4V V4Load(const PxF32 f); //(f[0],f[1],f[2],f[3]) PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f); //(f[0],f[1],f[2],f[3]), f must be 16-byte aligned PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f); //(x,y,z,w) PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w); // BoolV //(f,f,f,f) PX_FORCE_INLINE BoolV BLoad(const bool f); //(f[0],f[1],f[2],f[3]) PX_FORCE_INLINE BoolV BLoad(const bool* const f); // VecU32V //(f,f,f,f) PX_FORCE_INLINE VecU32V U4Load(const PxU32 f); //(f[0],f[1],f[2],f[3]) PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* f); //(f[0],f[1],f[2],f[3]), f must be 16-byte aligned PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* f); //((U32)x, (U32)y, (U32)z, (U32)w) PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w); // VecI32V //(i,i,i,i) PX_FORCE_INLINE VecI32V I4Load(const PxI32 i); //(i,i,i,i) PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i); //(i,i,i,i) PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i); // QuatV //(x = v[0], y=v[1], z=v[2], w=v3[3]) and array don't need to aligned PX_FORCE_INLINE QuatV QuatVLoadU(const PxF32* v); //(x = v[0], y=v[1], z=v[2], w=v3[3]) and array need to aligned, fast load PX_FORCE_INLINE QuatV QuatVLoadA(const PxF32* v); //(x, y, z, w) PX_FORCE_INLINE QuatV QuatVLoadXYZW(const PxF32 x, const PxF32 y, const PxF32 z, const PxF32 w); // not added to public api Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& v); /////////////////////////////////////////////////// // Construct a simd type from a different simd type /////////////////////////////////////////////////// // Vec3V //(v.x,v.y,v.z,0) PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v); //(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. PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v); // Vec4V //(f.x,f.y,f.z,f.w) PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f); //((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w) PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a); //((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w) PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a); //(*(reinterpret_cast(&f.x), (reinterpret_cast(&f.y), (reinterpret_cast(&f.z), //(reinterpret_cast(&f.w)) PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a); //(*(reinterpret_cast(&f.x), (reinterpret_cast(&f.y), (reinterpret_cast(&f.z), //(reinterpret_cast(&f.w)) PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a); // VecU32V //(*(reinterpret_cast(&f.x), (reinterpret_cast(&f.y), (reinterpret_cast(&f.z), //(reinterpret_cast(&f.w)) PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a); //(b[0], b[1], b[2], b[3]) PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b); // VecI32V //(*(reinterpret_cast(&f.x), (reinterpret_cast(&f.y), (reinterpret_cast(&f.z), //(reinterpret_cast(&f.w)) PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a); //((I32)a.x, (I32)a.y, (I32)a.z, (I32)a.w) PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a); //((I32)b.x, (I32)b.y, (I32)b.z, (I32)b.w) PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b); /////////////////////////////////////////////////// // Convert from a simd type back to a scalar type /////////////////////////////////////////////////// // FloatV // a.x PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f); // Vec3V //(a.x,a.y,a.z) PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f); //(a.x,a.y,a.z) PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f); // Vec4V PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f); PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f); // BoolV PX_FORCE_INLINE void BStoreA(const BoolV b, PxU32* f); // VecU32V PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u); // VecI32V PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i); ////////////////////////////////////////////////////////////////// // Test that simd types have elements in the floating point range ////////////////////////////////////////////////////////////////// // check for each component is valid ie in floating point range PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a); // check for each component is valid ie in floating point range PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a); // check for each component is valid ie in floating point range PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a); // Check that w-component is zero. PX_FORCE_INLINE bool isValidVec3V(const Vec3V a); ////////////////////////////////////////////////////////////////// // Tests that all elements of two 16-byte types are completely equivalent. // Use these tests for unit testing and asserts only. ////////////////////////////////////////////////////////////////// namespace vecMathTests { PX_FORCE_INLINE Vec3V getInvalidVec3V(); PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b); PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b); PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b); PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b); PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b); PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b); PX_FORCE_INLINE bool allElementsEqualMat33V(const Mat33V& a, const Mat33V& b) { return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) && allElementsEqualVec3V(a.col2, b.col2)); } PX_FORCE_INLINE bool allElementsEqualMat34V(const Mat34V& a, const Mat34V& b) { return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) && allElementsEqualVec3V(a.col2, b.col2) && allElementsEqualVec3V(a.col3, b.col3)); } PX_FORCE_INLINE bool allElementsEqualMat44V(const Mat44V& a, const Mat44V& b) { return (allElementsEqualVec4V(a.col0, b.col0) && allElementsEqualVec4V(a.col1, b.col1) && allElementsEqualVec4V(a.col2, b.col2) && allElementsEqualVec4V(a.col3, b.col3)); } PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b); PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b); PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b); PX_FORCE_INLINE bool allElementsNearEqualMat33V(const Mat33V& a, const Mat33V& b) { return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) && allElementsNearEqualVec3V(a.col2, b.col2)); } PX_FORCE_INLINE bool allElementsNearEqualMat34V(const Mat34V& a, const Mat34V& b) { return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) && allElementsNearEqualVec3V(a.col2, b.col2) && allElementsNearEqualVec3V(a.col3, b.col3)); } PX_FORCE_INLINE bool allElementsNearEqualMat44V(const Mat44V& a, const Mat44V& b) { return (allElementsNearEqualVec4V(a.col0, b.col0) && allElementsNearEqualVec4V(a.col1, b.col1) && allElementsNearEqualVec4V(a.col2, b.col2) && allElementsNearEqualVec4V(a.col3, b.col3)); } } ////////////////////////////////////////////////////////////////// // Math operations on FloatV ////////////////////////////////////////////////////////////////// //(0,0,0,0) PX_FORCE_INLINE FloatV FZero(); //(1,1,1,1) PX_FORCE_INLINE FloatV FOne(); //(0.5,0.5,0.5,0.5) PX_FORCE_INLINE FloatV FHalf(); //(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL) PX_FORCE_INLINE FloatV FEps(); //! @cond //(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL PX_MAX_REAL) PX_FORCE_INLINE FloatV FMax(); //! @endcond //(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL -PX_MAX_REAL) PX_FORCE_INLINE FloatV FNegMax(); //(1e-6f, 1e-6f, 1e-6f, 1e-6f) PX_FORCE_INLINE FloatV FEps6(); //((PxF32*)&1, (PxF32*)&1, (PxF32*)&1, (PxF32*)&1) //-f (per component) PX_FORCE_INLINE FloatV FNeg(const FloatV f); // a+b (per component) PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b); // a-b (per component) PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b); // a*b (per component) PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b); // a/b (per component) PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b); // a/b (per component) PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b); // 1.0f/a PX_FORCE_INLINE FloatV FRecip(const FloatV a); // 1.0f/a PX_FORCE_INLINE FloatV FRecipFast(const FloatV a); // 1.0f/sqrt(a) PX_FORCE_INLINE FloatV FRsqrt(const FloatV a); // 1.0f/sqrt(a) PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a); // sqrt(a) PX_FORCE_INLINE FloatV FSqrt(const FloatV a); // a*b+c PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c); // c-a*b PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c); // fabs(a) PX_FORCE_INLINE FloatV FAbs(const FloatV a); // c ? a : b (per component) PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b); // a>b (per component) PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b); // a>=b (per component) PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b); // a==b (per component) PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b); // Max(a,b) (per component) PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b); // Min(a,b) (per component) PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b); // Clamp(a,b) (per component) PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV); // a.x>b.x PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b); // a.x>=b.x 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); // amax 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.xmax.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.zbounds.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 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 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 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_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). // namespace _Mat34V //{ // //a*b // PX_FORCE_INLINE Vec3V multiplyV(const Mat34V& a, const Vec3V b); // //a_rotation * b // PX_FORCE_INLINE Vec3V multiply3X3V(const Mat34V& a, const Vec3V b); // //transpose(a_rotation)*b // PX_FORCE_INLINE Vec3V multiplyTranspose3X3V(const Mat34V& a, const Vec3V b); // //a*b // PX_FORCE_INLINE Mat34V multiplyV(const Mat34V& a, const Mat34V& b); // //a_rotation*b // PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat33V& b); // //a_rotation*b_rotation // PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat34V& b); // //a+b // PX_FORCE_INLINE Mat34V addV(const Mat34V& a, const Mat34V& b); // //a^-1 // PX_FORCE_INLINE Mat34V getInverseV(const Mat34V& a); // //transpose(a_rotation) // PX_FORCE_INLINE Mat33V getTranspose3X3(const Mat34V& a); //}; //namespace _Mat34V // a*b //#define M34MulV3(a,b) (M34MulV3(a,b)) ////a_rotation * b //#define M34Mul33V3(a,b) (M34Mul33V3(a,b)) ////transpose(a_rotation)*b //#define M34TrnspsMul33V3(a,b) (M34TrnspsMul33V3(a,b)) ////a*b //#define M34MulM34(a,b) (_Mat34V::multiplyV(a,b)) // a_rotation*b //#define M34MulM33(a,b) (M34MulM33(a,b)) // a_rotation*b_rotation //#define M34Mul33MM34(a,b) (M34MulM33(a,b)) // a+b //#define M34Add(a,b) (M34Add(a,b)) ////a^-1 //#define M34Inverse(a,b) (M34Inverse(a)) // transpose(a_rotation) //#define M34Trnsps33(a) (M33Trnsps3X3(a)) // Math operations on 16-byte aligned Mat44s (represents any 4x4 matrix) // namespace _Mat44V //{ // //a*b // PX_FORCE_INLINE Vec4V multiplyV(const Mat44V& a, const Vec4V b); // //transpose(a)*b // PX_FORCE_INLINE Vec4V multiplyTransposeV(const Mat44V& a, const Vec4V b); // //a*b // PX_FORCE_INLINE Mat44V multiplyV(const Mat44V& a, const Mat44V& b); // //a+b // PX_FORCE_INLINE Mat44V addV(const Mat44V& a, const Mat44V& b); // //a&-1 // PX_FORCE_INLINE Mat44V getInverseV(const Mat44V& a); // //transpose(a) // PX_FORCE_INLINE Mat44V getTransposeV(const Mat44V& a); //}; //namespace _Mat44V // namespace _VecU32V //{ // // pack 8 U32s to 8 U16s with saturation // 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); // 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 // PX_FORCE_INLINE VecU32V splatElement(VecU32V a); // PX_FORCE_INLINE void storeAligned(VecU32V a, VecU32V* address); //}; // namespace _VecI32V //{ // template 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 // 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 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(v).x = f; } PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f) { reinterpret_cast(v).y = f; } PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f) { reinterpret_cast(v).z = f; } PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f) { reinterpret_cast(v) = f; } PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v) { return reinterpret_cast(v).x; } PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v) { return reinterpret_cast(v).y; } PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v) { return reinterpret_cast(v).z; } PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v) { return reinterpret_cast(v); } PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f) { reinterpret_cast(v).x = f; } PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f) { reinterpret_cast(v).y = f; } PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f) { reinterpret_cast(v).z = f; } PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f) { reinterpret_cast(v).w = f; } PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f) { reinterpret_cast(v) = f; } PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v) { return reinterpret_cast(v).x; } PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v) { return reinterpret_cast(v).y; } PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v) { return reinterpret_cast(v).z; } PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v) { return reinterpret_cast(v).w; } PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v) { return reinterpret_cast(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 #if !PX_DOXYGEN } // namespace physx #endif // Now for the cross-platform implementations of the 16-byte aligned maths functions (win32/360/ppu/spu etc). #if COMPILE_VECTOR_INTRINSICS #include "PxInlineAoS.h" #else // #if COMPILE_VECTOR_INTRINSICS #include "PxVecMathAoSScalarInline.h" #endif // #if !COMPILE_VECTOR_INTRINSICS #include "PxVecQuat.h" #endif