CmSpatialVector.h

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#ifndef CM_SPATIAL_VECTOR_H
#define CM_SPATIAL_VECTOR_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxVecMath.h"
#include "foundation/PxTransform.h"
 
namespace physx
{
namespace Cm
{
PX_ALIGN_PREFIX(16)
class SpatialVector
{
public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector()
    {}
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector(const PxVec3& lin, const PxVec3& ang)
        : linear(lin), pad0(0.0f), angular(ang), pad1(0.0f)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE ~SpatialVector()
    {}
 
    // PT: this one is very important. Without it, the Xbox compiler generates weird "float-to-int" and "int-to-float" LHS
    // each time we copy a SpatialVector (see for example PIX on "solveSimpleGroupA" without this operator).
    PX_CUDA_CALLABLE PX_FORCE_INLINE    void    operator = (const SpatialVector& v)
    {
        linear = v.linear;
        pad0 = 0.0f;
        angular = v.angular;
        pad1 = 0.0f;
    }
 
    static PX_CUDA_CALLABLE  PX_FORCE_INLINE SpatialVector zero() { return SpatialVector(PxVec3(0),PxVec3(0)); }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector operator+(const SpatialVector& v) const
    {
        return SpatialVector(linear+v.linear,angular+v.angular);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector operator-(const SpatialVector& v) const
    {
        return SpatialVector(linear-v.linear,angular-v.angular);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector operator-() const
    {
        return SpatialVector(-linear,-angular);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVector operator *(PxReal s) const
    {   
        return SpatialVector(linear*s,angular*s);   
    }
        
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator+=(const SpatialVector& v)
    {
        linear+=v.linear;
        angular+=v.angular;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator-=(const SpatialVector& v)
    {
        linear-=v.linear;
        angular-=v.angular;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const
    {
        return angular.magnitude() + linear.magnitude();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const SpatialVector& v) const
    {
        return linear.dot(v.linear) + angular.dot(v.angular);
    }
        
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
    {
        return linear.isFinite() && angular.isFinite();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Cm::SpatialVector scale(PxReal l, PxReal a) const
    {
        return Cm::SpatialVector(linear*l, angular*a);
    }
 
    PxVec3 linear;
    PxReal pad0;
    PxVec3 angular;
    PxReal pad1;
}
PX_ALIGN_SUFFIX(16);
 
PX_ALIGN_PREFIX(16)
struct SpatialVectorF
{
public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF()
    {}
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF(const PxReal* v)
        : pad0(0.0f), pad1(0.0f)
    {
        top.x = v[0]; top.y = v[1]; top.z = v[2];
        bottom.x = v[3]; bottom.y = v[4]; bottom.z = v[5];
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF(const PxVec3& top_, const PxVec3& bottom_)
        : top(top_), pad0(0.0f), bottom(bottom_), pad1(0.0f)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE ~SpatialVectorF()
    {}
 
    // PT: this one is very important. Without it, the Xbox compiler generates weird "float-to-int" and "int-to-float" LHS
    // each time we copy a SpatialVector (see for example PIX on "solveSimpleGroupA" without this operator).
    PX_CUDA_CALLABLE PX_FORCE_INLINE    void    operator = (const SpatialVectorF& v)
    {
        top = v.top;
        pad0 = 0.0f;
        bottom = v.bottom;
        pad1 = 0.0f;
    }
 
    static PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF Zero() { return SpatialVectorF(PxVec3(0), PxVec3(0)); }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF operator+(const SpatialVectorF& v) const
    {
        return SpatialVectorF(top + v.top, bottom + v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF operator-(const SpatialVectorF& v) const
    {
        return SpatialVectorF(top - v.top, bottom - v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF operator-() const
    {
        return SpatialVectorF(-top, -bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF operator *(PxReal s) const
    {
        return SpatialVectorF(top*s, bottom*s);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF multiply(const SpatialVectorF& v) const
    {
        return SpatialVectorF(top.multiply(v.top), bottom.multiply(v.bottom));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator *= (const PxReal s)
    {
        top *= s;
        bottom *= s;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator += (const SpatialVectorF& v)
    {
        top += v.top;
        bottom += v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator -= (const SpatialVectorF& v)
    {
        top -= v.top;
        bottom -= v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const
    {
        return top.magnitude() + bottom.magnitude();
    }
 
    PX_FORCE_INLINE PxReal magnitudeSquared()   const
    {
        return top.magnitudeSquared() + bottom.magnitudeSquared();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal innerProduct(const SpatialVectorF& v) const
    {
        return bottom.dot(v.top) + top.dot(v.bottom);
        /*PxVec3 p0 = bottom.multiply(v.top);
        PxVec3 p1 = top.multiply(v.bottom);
 
        PxReal result = (((p1.y + p1.z) + (p0.z + p1.x)) + (p0.x + p0.y));
        return result;*/
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const SpatialVectorF& v) const
    {
        return top.dot(v.top) + bottom.dot(v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const SpatialVector& v) const
    {
        return bottom.dot(v.angular) + top.dot(v.linear);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF cross(const SpatialVectorF& v) const
    {
        SpatialVectorF a;
        a.top = top.cross(v.top);
        a.bottom = top.cross(v.bottom) + bottom.cross(v.top);
        return a;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF abs() const
    {
        return SpatialVectorF(top.abs(), bottom.abs());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF rotate(const PxTransform& rot) const
    {
        return SpatialVectorF(rot.rotate(top), rot.rotate(bottom));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE SpatialVectorF rotateInv(const PxTransform& rot) const
    {
        return SpatialVectorF(rot.rotateInv(top), rot.rotateInv(bottom));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
    {
        return top.isFinite() && bottom.isFinite();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isValid(const PxReal maxV) const
    {
        const bool tValid = ((PxAbs(top.x) <= maxV) && (PxAbs(top.y) <= maxV) && (PxAbs(top.z) <= maxV));
        const bool bValid = ((PxAbs(bottom.x) <= maxV) && (PxAbs(bottom.y) <= maxV) && (PxAbs(bottom.z) <= maxV));
 
        return tValid && bValid;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Cm::SpatialVectorF scale(PxReal l, PxReal a) const
    {
        return Cm::SpatialVectorF(top*l, bottom*a);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void assignTo(PxReal* val) const
    {
        val[0] = top.x; val[1] = top.y; val[2] = top.z;
        val[3] = bottom.x; val[4] = bottom.y; val[5] = bottom.z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator [] (const PxU32 index)
    {
        PX_ASSERT(index < 6);
        if(index < 3)
            return top[index];
        return bottom[index-3];
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator [] (const PxU32 index) const
    {
        PX_ASSERT(index < 6);
        if (index < 3)
            return top[index];
        return bottom[index-3];
    }
 
    PxVec3 top;
    PxReal pad0;
    PxVec3 bottom;
    PxReal pad1;
} PX_ALIGN_SUFFIX(16);
 
struct UnAlignedSpatialVector
{
public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector()
    {}
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector(const PxReal* v)
    {
        top.x = v[0]; top.y = v[1]; top.z = v[2];
        bottom.x = v[3]; bottom.y = v[4]; bottom.z = v[5];
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector(const PxVec3& top_, const PxVec3& bottom_)
        : top(top_), bottom(bottom_)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE ~UnAlignedSpatialVector()
    {}
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE    void    operator = (const SpatialVectorF& v)
    {
        top = v.top;
        bottom = v.bottom;
    }
 
    static PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector Zero() { return UnAlignedSpatialVector(PxVec3(0), PxVec3(0)); }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector operator+(const UnAlignedSpatialVector& v) const
    {
        return UnAlignedSpatialVector(top + v.top, bottom + v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector operator-(const UnAlignedSpatialVector& v) const
    {
        return UnAlignedSpatialVector(top - v.top, bottom - v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector operator-() const
    {
        return UnAlignedSpatialVector(-top, -bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector operator *(PxReal s) const
    {
        return UnAlignedSpatialVector(top*s, bottom*s);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator *= (const PxReal s)
    {
        top *= s;
        bottom *= s;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator += (const UnAlignedSpatialVector& v)
    {
        top += v.top;
        bottom += v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator += (const SpatialVectorF& v)
    {
        top += v.top;
        bottom += v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator -= (const UnAlignedSpatialVector& v)
    {
        top -= v.top;
        bottom -= v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator -= (const SpatialVectorF& v)
    {
        top -= v.top;
        bottom -= v.bottom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const
    {
        return top.magnitude() + bottom.magnitude();
    }
 
    PX_FORCE_INLINE PxReal magnitudeSquared()   const
    {
        return top.magnitudeSquared() + bottom.magnitudeSquared();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal innerProduct(const UnAlignedSpatialVector& v) const
    {
        return bottom.dot(v.top) + top.dot(v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal innerProduct(const SpatialVectorF& v) const
    {
        return bottom.dot(v.top) + top.dot(v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const UnAlignedSpatialVector& v) const
    {
        return top.dot(v.top) + bottom.dot(v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const SpatialVectorF& v) const
    {
        return top.dot(v.top) + bottom.dot(v.bottom);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector cross(const UnAlignedSpatialVector& v) const
    {
        UnAlignedSpatialVector a;
        a.top = top.cross(v.top);
        a.bottom = top.cross(v.bottom) + bottom.cross(v.top);
        return a;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector abs() const
    {
        return UnAlignedSpatialVector(top.abs(), bottom.abs());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector rotate(const PxTransform& rot) const
    {
        return UnAlignedSpatialVector(rot.rotate(top), rot.rotate(bottom));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE UnAlignedSpatialVector rotateInv(const PxTransform& rot) const
    {
        return UnAlignedSpatialVector(rot.rotateInv(top), rot.rotateInv(bottom));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
    {
        return top.isFinite() && bottom.isFinite();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isValid(const PxReal maxV) const
    {
        const bool tValid = ((top.x <= maxV) && (top.y <= maxV) && (top.z <= maxV));
        const bool bValid = ((bottom.x <= maxV) && (bottom.y <= maxV) && (bottom.z <= maxV));
 
        return tValid && bValid;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Cm::UnAlignedSpatialVector scale(PxReal l, PxReal a) const
    {
        return Cm::UnAlignedSpatialVector(top*l, bottom*a);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void assignTo(PxReal* val) const
    {
        val[0] = top.x; val[1] = top.y; val[2] = top.z;
        val[3] = bottom.x; val[4] = bottom.y; val[5] = bottom.z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator [] (const PxU32 index)
    {
        PX_ASSERT(index < 6);
        return (&top.x)[index];
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator [] (const PxU32 index) const
    {
        PX_ASSERT(index < 6);
        return (&top.x)[index];
    }
 
    PxVec3 top;                 //12        12
    PxVec3 bottom;              //12        24
};
 
PX_ALIGN_PREFIX(16)
struct SpatialVectorV
{
    aos::Vec3V linear;
    aos::Vec3V angular;
 
    PX_FORCE_INLINE SpatialVectorV() {}
    PX_FORCE_INLINE SpatialVectorV(PxZERO): linear(aos::V3Zero()), angular(aos::V3Zero()) {}
    PX_FORCE_INLINE SpatialVectorV(const Cm::SpatialVector& v): linear(aos::V3LoadA(&v.linear.x)), angular(aos::V3LoadA(&v.angular.x)) {}
    PX_FORCE_INLINE SpatialVectorV(const aos::Vec3VArg l, const aos::Vec3VArg a): linear(l), angular(a) {}
    PX_FORCE_INLINE SpatialVectorV(const SpatialVectorV& other): linear(other.linear), angular(other.angular) {}
 
    PX_FORCE_INLINE SpatialVectorV& operator=(const SpatialVectorV& other) { linear = other.linear; angular = other.angular; return *this; }
 
    PX_FORCE_INLINE SpatialVectorV operator+(const SpatialVectorV& other) const { return SpatialVectorV(aos::V3Add(linear,other.linear),
                                                                                                  aos::V3Add(angular, other.angular)); }
    
    PX_FORCE_INLINE SpatialVectorV& operator+=(const SpatialVectorV& other) { linear = aos::V3Add(linear,other.linear); 
                                                                              angular = aos::V3Add(angular, other.angular);
                                                                              return *this;
                                                                            }
                                                                                                    
    PX_FORCE_INLINE SpatialVectorV operator-(const SpatialVectorV& other) const { return SpatialVectorV(aos::V3Sub(linear,other.linear),
                                                                                                  aos::V3Sub(angular, other.angular)); }
    
    PX_FORCE_INLINE SpatialVectorV operator-() const { return SpatialVectorV(aos::V3Neg(linear), aos::V3Neg(angular)); }
 
    PX_FORCE_INLINE SpatialVectorV operator*(const aos::FloatVArg r) const { return SpatialVectorV(aos::V3Scale(linear,r), aos::V3Scale(angular,r)); }
 
    PX_FORCE_INLINE SpatialVectorV& operator-=(const SpatialVectorV& other) { linear = aos::V3Sub(linear,other.linear); 
                                                                              angular = aos::V3Sub(angular, other.angular);
                                                                              return *this;
                                                                            }
 
    PX_FORCE_INLINE aos::FloatV dot(const SpatialVectorV& other) const { return aos::V3SumElems(aos::V3Add(aos::V3Mul(linear, other.linear), aos::V3Mul(angular, other.angular))); }
 
    PX_FORCE_INLINE SpatialVectorV multiply(const SpatialVectorV& other) const { return SpatialVectorV(aos::V3Mul(linear, other.linear), aos::V3Mul(angular, other.angular)); }
 
    PX_FORCE_INLINE SpatialVectorV multiplyAdd(const SpatialVectorV& m, const SpatialVectorV& a) const { return SpatialVectorV(aos::V3MulAdd(linear, m.linear, a.linear), aos::V3MulAdd(angular, m.angular, a.angular)); }
 
    PX_FORCE_INLINE SpatialVectorV scale(const aos::FloatV& a, const aos::FloatV& b) const { return SpatialVectorV(aos::V3Scale(linear, a), aos::V3Scale(angular, b)); }
 
}PX_ALIGN_SUFFIX(16);
 
} // namespace Cm
 
PX_COMPILE_TIME_ASSERT(sizeof(Cm::SpatialVector) == 32);
PX_COMPILE_TIME_ASSERT(sizeof(Cm::SpatialVectorV) == 32);
 
}
 
#endif