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NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxMath.h Source File

NVIDIA PhysX SDK 3.4

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PxMath.h

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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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

#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/PxAssert.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);

template <class T>
PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMax(T a, T b)
{
    return a < b ? b : a;
}

template <>
PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMax(float a, float b)
{
    return intrinsics::selectMax(a, b);
}

template <class T>
PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMin(T a, T b)
{
    return a < b ? a : b;
}

template <>
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.
*/

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);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAbs(double a)
{
    return ::fabs(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE int32_t PxAbs(int32_t a)
{
    return ::abs(a);
}

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));
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSqrt(float a)
{
    return intrinsics::sqrt(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSqrt(double a)
{
    return ::sqrt(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxRecipSqrt(float a)
{
    return intrinsics::recipSqrt(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxRecipSqrt(double a)
{
    return 1 / ::sqrt(a);
}


PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSin(float a)
{
    return intrinsics::sin(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxSin(double a)
{
    return ::sin(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCos(float a)
{
    return intrinsics::cos(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxCos(double a)
{
    return ::cos(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxTan(float a)
{
    return ::tanf(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxTan(double a)
{
    return ::tan(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAsin(float f)
{
    return ::asinf(PxClamp(f, -1.0f, 1.0f));
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAsin(double f)
{
    return ::asin(PxClamp(f, -1.0, 1.0));
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAcos(float f)
{
    return ::acosf(PxClamp(f, -1.0f, 1.0f));
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAcos(double f)
{
    return ::acos(PxClamp(f, -1.0, 1.0));
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan(float a)
{
    return ::atanf(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan(double a)
{
    return ::atan(a);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan2(float x, float y)
{
    return ::atan2f(x, y);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE double PxAtan2(double x, double y)
{
    return ::atan2(x, y);
}

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)
{
    return intrinsics::isFinite(f);
}

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

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• Px1DConstraint
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• PxArticulationJointDriveType
• PxAssertHandler
• PxBase
• PxActor
• PxCloth
• PxParticleBase

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