75 lines
2.7 KiB
C
75 lines
2.7 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) 2008-2025 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 MATHS_EXTENSIONS_H
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#define MATHS_EXTENSIONS_H
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#include "cutil_math.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxVec3.h"
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namespace physx
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{
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot3(const float4& x, const float4& y)
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{
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return x.x * y.x + x.y * y.y + x.z * y.z;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 rotate(const PxQuat& r, const float4& v)
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = r.w*r.w-0.5f;
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const PxF32 dot2 = (r.x*vx + r.y*vy +r.z*vz);
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return make_float4
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(
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(vx*w2 + (r.y * vz - r.z * vy)*r.w + r.x*dot2),
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(vy*w2 + (r.z * vx - r.x * vz)*r.w + r.y*dot2),
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(vz*w2 + (r.x * vy - r.y * vx)*r.w + r.z*dot2),
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0.f
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);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 cross3(const float4& v0, const float4& v2)
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{
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return make_float4(v0.y * v2.z - v0.z * v2.y,
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v0.z * v2.x - v0.x * v2.z,
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v0.x * v2.y - v0.y * v2.x,
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0.f);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 operator - (const float4& v)
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{
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return make_float4(-v.x, -v.y, -v.z, -v.w);
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}
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}
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#endif
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