genesis-3d_engine/Engine/ExtIncludes/physX3/windows/foundation/PxMath.h

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// This code contains NVIDIA Confidential Information and is disclosed to you
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_FOUNDATION_PX_MATH_H
#define PX_FOUNDATION_PX_MATH_H
/** \addtogroup foundation
@{
*/
#include <math.h>
#include <float.h>
#include "foundation/PxIntrinsics.h"
#include "foundation/PxAssert.h"
#ifndef PX_DOXYGEN
namespace physx
{
#endif
// constants
static const PxReal PxPi = PxReal(3.141592653589793);
static const PxReal PxHalfPi = PxReal(1.57079632679489661923);
static const PxReal PxTwoPi = PxReal(6.28318530717958647692);
static const PxReal PxInvPi = PxReal(0.31830988618379067154);
/**
\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 PxF32 PxAbs(PxF32 a) { return intrinsics::abs(a); }
PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxEquals(PxF32 a, PxF32 b,PxF32 eps) { return (PxAbs(a - b) < eps); }
/**
\brief abs returns the absolute value of its argument.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAbs(PxF64 a) { return ::fabs(a); }
/**
\brief abs returns the absolute value of its argument.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxI32 PxAbs(PxI32 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_ASSERT(lo<=hi); return PxMin(hi, PxMax(lo, v)); }
//! \brief Square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSqrt(PxF32 a) { return intrinsics::sqrt(a); }
//! \brief Square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSqrt(PxF64 a) { return ::sqrt(a); }
//! \brief reciprocal square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxRecipSqrt(PxF32 a) { return intrinsics::recipSqrt(a); }
//! \brief reciprocal square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxRecipSqrt(PxF64 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 PxF32 PxSin(PxF32 a) { return intrinsics::sin(a); }
//! \brief Sine of an angle ( <b>Unit:</b> Radians )
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSin(PxF64 a) { return ::sin(a); }
//! \brief Cosine of an angle (<b>Unit:</b> Radians)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCos(PxF32 a) { return intrinsics::cos(a); }
//! \brief Cosine of an angle (<b>Unit:</b> Radians)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxCos(PxF64 a) { return ::cos(a); }
/**
\brief Tangent of an angle.
<b>Unit:</b> Radians
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxTan(PxF32 a) { return ::tan(a); }
/**
\brief Tangent of an angle.
<b>Unit:</b> Radians
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxTan(PxF64 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 PxF32 PxAsin(PxF32 f) { return ::asin(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 PxF64 PxAsin(PxF64 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 PxF32 PxAcos(PxF32 f) { return ::acos(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 PxF64 PxAcos(PxF64 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 PxF32 PxAtan(PxF32 a) { return ::atan(a); }
/**
\brief ArcTangent.
Returns angle between -PI/2 and PI/2 in radians
<b>Unit:</b> Radians
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAtan(PxF64 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 PxF32 PxAtan2(PxF32 x, PxF32 y) { return ::atan2(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 PxF64 PxAtan2(PxF64 x, PxF64 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(PxF32 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(PxF64 f) { return intrinsics::isFinite(f); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxFloor(PxF32 a) { return ::floorf(a); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxExp(PxF32 a) { return ::expf(a); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCeil(PxF32 a) { return ::ceilf(a); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSign(PxF32 a) { return physx::intrinsics::sign(a); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxPow(PxF32 x,PxF32 y) { return ::powf(x,y); };
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxLog(PxF32 x) { return ::log(x); };
#ifndef PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif // PX_FOUNDATION_PX_MATH_H