Revision control
- //
- // Redistribution and use in source and binary forms, with or without
- // modification, are permitted provided that the following conditions
- // are met:
- // * Redistributions of source code must retain the above copyright
- // notice, this list of conditions and the following disclaimer.
- // * Redistributions in binary form must reproduce the above copyright
- // notice, this list of conditions and the following disclaimer in the
- // documentation and/or other materials provided with the distribution.
- // * Neither the name of NVIDIA CORPORATION nor the names of its
- // contributors may be used to endorse or promote products derived
- // from this software without specific prior written permission.
- //
- // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
- // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- //
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
- // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
- #ifndef PXFOUNDATION_PXMATH_H
- #define PXFOUNDATION_PXMATH_H
-
- /** \addtogroup foundation
- @{
- */
-
- #include "foundation/PxPreprocessor.h"
-
- #if PX_VC
- #pragma warning(push)
- #pragma warning(disable : 4985) // 'symbol name': attributes not present on previous declaration
- #endif
- #include <math.h>
- #if PX_VC
- #pragma warning(pop)
- #endif
-
- #include <float.h>
- #include "foundation/PxIntrinsics.h"
- #include "foundation/PxSharedAssert.h"
-
- #if !PX_DOXYGEN
- namespace physx
- {
- #endif
-
- // constants
- static const float PxPi = float(3.141592653589793);
- static const float PxHalfPi = float(1.57079632679489661923);
- static const float PxTwoPi = float(6.28318530717958647692);
- static const float PxInvPi = float(0.31830988618379067154);
- static const float PxInvTwoPi = float(0.15915494309189533577);
- static const float PxPiDivTwo = float(1.57079632679489661923);
- static const float PxPiDivFour = float(0.78539816339744830962);
-
- /**
- \brief The return value is the greater of the two specified values.
- */
- template <class T>
- PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMax(T a, T b)
- {
- return a < b ? b : a;
- }
-
- //! overload for float to use fsel on xbox
- template <>
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMax(float a, float b)
- {
- return intrinsics::selectMax(a, b);
- }
-
- /**
- \brief The return value is the lesser of the two specified values.
- */
- template <class T>
- PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMin(T a, T b)
- {
- return a < b ? a : b;
- }
-
- template <>
- //! overload for float to use fsel on xbox
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMin(float a, float b)
- {
- return intrinsics::selectMin(a, b);
- }
-
- /*
- Many of these are just implemented as PX_CUDA_CALLABLE PX_FORCE_INLINE calls to the C lib right now,
- but later we could replace some of them with some approximations or more
- clever stuff.
- */
-
- /**
- \brief abs returns the absolute value of its argument.
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)
- {
- return intrinsics::abs(a);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxEquals(float a, float b, float eps)
- {
- return (PxAbs(a - b) < eps);
- }
-
- /**
- \brief abs returns the absolute value of its argument.
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAbs(double a)
- {
- return ::fabs(a);
- }
-
- /**
- \brief abs returns the absolute value of its argument.
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE int32_t PxAbs(int32_t a)
- {
- return ::abs(a);
- }
-
- /**
- \brief Clamps v to the range [hi,lo]
- */
- template <class T>
- PX_CUDA_CALLABLE PX_FORCE_INLINE T PxClamp(T v, T lo, T hi)
- {
- PX_SHARED_ASSERT(lo <= hi);
- return PxMin(hi, PxMax(lo, v));
- }
-
- //! \brief Square root.
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSqrt(float a)
- {
- return intrinsics::sqrt(a);
- }
-
- //! \brief Square root.
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSqrt(double a)
- {
- return ::sqrt(a);
- }
-
- //! \brief reciprocal square root.
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxRecipSqrt(float a)
- {
- return intrinsics::recipSqrt(a);
- }
-
- //! \brief reciprocal square root.
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxRecipSqrt(double a)
- {
- return 1 / ::sqrt(a);
- }
-
- //! trigonometry -- all angles are in radians.
-
- //! \brief Sine of an angle ( <b>Unit:</b> Radians )
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSin(float a)
- {
- return intrinsics::sin(a);
- }
-
- //! \brief Sine of an angle ( <b>Unit:</b> Radians )
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSin(double a)
- {
- return ::sin(a);
- }
-
- //! \brief Cosine of an angle (<b>Unit:</b> Radians)
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCos(float a)
- {
- return intrinsics::cos(a);
- }
-
- //! \brief Cosine of an angle (<b>Unit:</b> Radians)
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxCos(double a)
- {
- return ::cos(a);
- }
-
- /**
- \brief Tangent of an angle.
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxTan(float a)
- {
- return ::tanf(a);
- }
-
- /**
- \brief Tangent of an angle.
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxTan(double a)
- {
- return ::tan(a);
- }
-
- /**
- \brief Arcsine.
- Returns angle between -PI/2 and PI/2 in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAsin(float f)
- {
- return ::asinf(PxClamp(f, -1.0f, 1.0f));
- }
-
- /**
- \brief Arcsine.
- Returns angle between -PI/2 and PI/2 in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAsin(double f)
- {
- return ::asin(PxClamp(f, -1.0, 1.0));
- }
-
- /**
- \brief Arccosine.
- Returns angle between 0 and PI in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAcos(float f)
- {
- return ::acosf(PxClamp(f, -1.0f, 1.0f));
- }
-
- /**
- \brief Arccosine.
- Returns angle between 0 and PI in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAcos(double f)
- {
- return ::acos(PxClamp(f, -1.0, 1.0));
- }
-
- /**
- \brief ArcTangent.
- Returns angle between -PI/2 and PI/2 in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan(float a)
- {
- return ::atanf(a);
- }
-
- /**
- \brief ArcTangent.
- Returns angle between -PI/2 and PI/2 in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan(double a)
- {
- return ::atan(a);
- }
-
- /**
- \brief Arctangent of (x/y) with correct sign.
- Returns angle between -PI and PI in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan2(float x, float y)
- {
- return ::atan2f(x, y);
- }
-
- /**
- \brief Arctangent of (x/y) with correct sign.
- Returns angle between -PI and PI in radians
- <b>Unit:</b> Radians
- */
- PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan2(double x, double y)
- {
- return ::atan2(x, y);
- }
-
- //! \brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
- PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)
- {
- return intrinsics::isFinite(f);
- }
-
- //! \brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
- PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(double f)
- {
- return intrinsics::isFinite(f);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxFloor(float a)
- {
- return ::floorf(a);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxExp(float a)
- {
- return ::expf(a);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCeil(float a)
- {
- return ::ceilf(a);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSign(float a)
- {
- return physx::intrinsics::sign(a);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxPow(float x, float y)
- {
- return ::powf(x, y);
- }
-
- PX_CUDA_CALLABLE PX_FORCE_INLINE float PxLog(float x)
- {
- return ::logf(x);
- }
-
- #if !PX_DOXYGEN
- } // namespace physx
- #endif
-
- /** @} */
- #endif // #ifndef PXFOUNDATION_PXMATH_H