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00021 // This code supersedes and replaces all information previously supplied.
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00026 // Copyright (c) 2008-2012 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_FOUNDATION_PX_MATH_H
00032 #define PX_FOUNDATION_PX_MATH_H
00033 
00038 #include <math.h>
00039 #include <float.h>
00040 
00041 #include "foundation/PxIntrinsics.h"
00042 #include "foundation/PxAssert.h"
00043 
00044 #ifndef PX_DOXYGEN
00045 namespace physx
00046 {
00047 #endif
00048 
00049     // constants
00050     static const PxReal PxPi        =   PxReal(3.141592653589793);
00051     static const PxReal PxHalfPi    =   PxReal(1.57079632679489661923);
00052     static const PxReal PxTwoPi     =   PxReal(6.28318530717958647692);
00053     static const PxReal PxInvPi     =   PxReal(0.31830988618379067154);
00054 
00055 
00059     template<class T>
00060     PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMax(T a, T b)                          { return a<b ? b : a;   }
00061 
00063     template<>
00064     PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMax(float a, float b)              { return intrinsics::selectMax(a, b); }
00065 
00069     template<class T>
00070     PX_CUDA_CALLABLE PX_FORCE_INLINE T PxMin(T a, T b)                          { return a<b ? a : b;   }
00071 
00072     template<>
00074     PX_CUDA_CALLABLE PX_FORCE_INLINE float PxMin(float a, float b)              { return intrinsics::selectMin(a, b); }
00075 
00076     /*
00077     Many of these are just implemented as PX_CUDA_CALLABLE PX_FORCE_INLINE calls to the C lib right now,
00078     but later we could replace some of them with some approximations or more
00079     clever stuff.
00080     */
00081 
00085     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAbs(PxF32 a)                       { return intrinsics::abs(a);    }
00086 
00087     PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxEquals(PxF32 a, PxF32 b,PxF32 eps)  { return (PxAbs(a - b) < eps);  }
00088 
00092     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAbs(PxF64 a)                       { return ::fabs(a); }
00093 
00097     PX_CUDA_CALLABLE PX_FORCE_INLINE PxI32 PxAbs(PxI32 a)                       { return ::abs(a);  }
00098 
00102     template<class T>
00103     PX_CUDA_CALLABLE PX_FORCE_INLINE T PxClamp(T v, T lo, T hi)                 { PX_ASSERT(lo<=hi); return PxMin(hi, PxMax(lo, v)); }
00104 
00106     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSqrt(PxF32 a)                      { return intrinsics::sqrt(a);       }
00107 
00109     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSqrt(PxF64 a)                      { return ::sqrt(a); }
00110 
00112     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxRecipSqrt(PxF32 a)                 { return intrinsics::recipSqrt(a);  }
00113 
00115     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxRecipSqrt(PxF64 a)                 { return 1/::sqrt(a);   }
00116 
00118 
00120     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSin(PxF32 a)                       { return intrinsics::sin(a);                }
00121 
00123     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxSin(PxF64 a)                       { return ::sin(a);                          }
00124 
00126     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCos(PxF32 a)                       { return intrinsics::cos(a);                }
00127 
00129     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxCos(PxF64 a)                       { return ::cos(a);                          }
00130 
00135     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxTan(PxF32 a)                       { return ::tan(a);                          }
00136 
00141     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxTan(PxF64 a)                       { return ::tan(a);                          }
00142 
00148     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAsin(PxF32 f)                      { return ::asin(PxClamp(f,-1.0f,1.0f)); }
00149 
00155     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAsin(PxF64 f)                      { return ::asin(PxClamp(f,-1.0,1.0));       }
00156 
00162     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAcos(PxF32 f)                      { return ::acos(PxClamp(f,-1.0f,1.0f));         }
00163 
00169     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAcos(PxF64 f)                      { return ::acos(PxClamp(f,-1.0,1.0));               }
00170 
00176     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAtan(PxF32 a)                      { return ::atan(a); }
00177 
00183     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAtan(PxF64 a)                      { return ::atan(a); }
00184 
00190     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxAtan2(PxF32 x, PxF32 y)            { return ::atan2(x,y);  }
00191 
00197     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 PxAtan2(PxF64 x, PxF64 y)            { return ::atan2(x,y);  }
00198 
00200     PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(PxF32 f)                   { return intrinsics::isFinite(f);   }
00201 
00203     PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(PxF64 f)                   { return intrinsics::isFinite(f);   }
00204 
00205     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxFloor(PxF32 a)                     { return ::floorf(a);                   }
00206 
00207     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxExp(PxF32 a)                       { return ::expf(a); }
00208 
00209     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxCeil(PxF32 a)                      { return ::ceilf(a);    }
00210 
00211     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxSign(PxF32 a)                      { return physx::intrinsics::sign(a); }
00212 
00213     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxPow(PxF32 x,PxF32 y)               { return ::powf(x,y); };
00214 
00215     PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 PxLog(PxF32 x)                       { return ::log(x); };
00216 
00217 #ifndef PX_DOXYGEN
00218 } // namespace physx
00219 #endif
00220 
00222 #endif // PX_FOUNDATION_PX_MATH_H