223 lines
7.8 KiB
C++
223 lines
7.8 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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 PX_FOUNDATION_PX_MATH_H
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#define PX_FOUNDATION_PX_MATH_H
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/** \addtogroup foundation
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@{
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*/
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#include <math.h>
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#include <float.h>
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#include "foundation/PxIntrinsics.h"
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#include "foundation/PxAssert.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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// constants
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static const PxReal PxPi = PxReal(3.141592653589793);
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static const PxReal PxHalfPi = PxReal(1.57079632679489661923);
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static const PxReal PxTwoPi = PxReal(6.28318530717958647692);
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static const PxReal PxInvPi = PxReal(0.31830988618379067154);
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/**
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\brief The return value is the greater of the two specified values.
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*/
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template<class T>
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PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMax(T a, T b) { return a<b ? b : a; }
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//! overload for float to use fsel on xbox
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template<>
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PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMax(float a, float b) { return intrinsics::selectMax(a, b); }
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/**
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\brief The return value is the lesser of the two specified values.
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*/
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template<class T>
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PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMin(T a, T b) { return a<b ? a : b; }
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template<>
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//! overload for float to use fsel on xbox
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PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMin(float a, float b) { return intrinsics::selectMin(a, b); }
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/*
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Many of these are just implemented as PX_CUDA_CALLABLE PX_FORCE_INLINE calls to the C lib right now,
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but later we could replace some of them with some approximations or more
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clever stuff.
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*/
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/**
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\brief abs returns the absolute value of its argument.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAbs(PxF32 a) { return intrinsics::abs(a); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxEquals(PxF32 a, PxF32 b,PxF32 eps) { return (PxAbs(a - b) < eps); }
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/**
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\brief abs returns the absolute value of its argument.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAbs(PxF64 a) { return ::fabs(a); }
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/**
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\brief abs returns the absolute value of its argument.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxI32 PxAbs(PxI32 a) { return ::abs(a); }
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/**
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\brief Clamps v to the range [hi,lo]
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*/
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template<class T>
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PX_CUDA_CALLABLE PX_FORCE_INLINE T PxClamp(T v, T lo, T hi) { PX_ASSERT(lo<=hi); return PxMin(hi, PxMax(lo, v)); }
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//! \brief Square root.
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSqrt(PxF32 a) { return intrinsics::sqrt(a); }
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//! \brief Square root.
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSqrt(PxF64 a) { return ::sqrt(a); }
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//! \brief reciprocal square root.
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxRecipSqrt(PxF32 a) { return intrinsics::recipSqrt(a); }
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//! \brief reciprocal square root.
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxRecipSqrt(PxF64 a) { return 1/::sqrt(a); }
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//!trigonometry -- all angles are in radians.
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//! \brief Sine of an angle ( <b>Unit:</b> Radians )
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSin(PxF32 a) { return intrinsics::sin(a); }
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//! \brief Sine of an angle ( <b>Unit:</b> Radians )
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSin(PxF64 a) { return ::sin(a); }
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//! \brief Cosine of an angle (<b>Unit:</b> Radians)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCos(PxF32 a) { return intrinsics::cos(a); }
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//! \brief Cosine of an angle (<b>Unit:</b> Radians)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxCos(PxF64 a) { return ::cos(a); }
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/**
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\brief Tangent of an angle.
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxTan(PxF32 a) { return ::tan(a); }
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/**
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\brief Tangent of an angle.
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxTan(PxF64 a) { return ::tan(a); }
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/**
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\brief Arcsine.
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Returns angle between -PI/2 and PI/2 in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAsin(PxF32 f) { return ::asin(PxClamp(f,-1.0f,1.0f)); }
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/**
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\brief Arcsine.
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Returns angle between -PI/2 and PI/2 in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAsin(PxF64 f) { return ::asin(PxClamp(f,-1.0,1.0)); }
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/**
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\brief Arccosine.
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Returns angle between 0 and PI in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAcos(PxF32 f) { return ::acos(PxClamp(f,-1.0f,1.0f)); }
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/**
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\brief Arccosine.
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Returns angle between 0 and PI in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAcos(PxF64 f) { return ::acos(PxClamp(f,-1.0,1.0)); }
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/**
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\brief ArcTangent.
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Returns angle between -PI/2 and PI/2 in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAtan(PxF32 a) { return ::atan(a); }
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/**
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\brief ArcTangent.
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Returns angle between -PI/2 and PI/2 in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAtan(PxF64 a) { return ::atan(a); }
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/**
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\brief Arctangent of (x/y) with correct sign.
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Returns angle between -PI and PI in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAtan2(PxF32 x, PxF32 y) { return ::atan2(x,y); }
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/**
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\brief Arctangent of (x/y) with correct sign.
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Returns angle between -PI and PI in radians
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAtan2(PxF64 x, PxF64 y) { return ::atan2(x,y); }
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//! \brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(PxF32 f) { return intrinsics::isFinite(f); }
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//! \brief returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(PxF64 f) { return intrinsics::isFinite(f); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxFloor(PxF32 a) { return ::floorf(a); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxExp(PxF32 a) { return ::expf(a); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCeil(PxF32 a) { return ::ceilf(a); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSign(PxF32 a) { return physx::intrinsics::sign(a); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxPow(PxF32 x,PxF32 y) { return ::powf(x,y); };
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxLog(PxF32 x) { return ::log(x); };
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif // PX_FOUNDATION_PX_MATH_H
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