PxSIMDHelpers.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 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_SIMD_HELPERS_H
#define PX_SIMD_HELPERS_H
 
#include "foundation/PxMat33.h"
#include "foundation/PxVecMath.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
    class PxMat33Padded : public PxMat33
    {
    public:
        explicit PX_FORCE_INLINE PxMat33Padded(const PxQuat& q)
        {
            using namespace aos;
            const QuatV qV = V4LoadU(&q.x);
            Vec3V column0V, column1V, column2V;
            QuatGetMat33V(qV, column0V, column1V, column2V);
#if defined(PX_SIMD_DISABLED) || (PX_ARM || PX_A64) || PX_WASM
            V3StoreU(column0V, column0);
            V3StoreU(column1V, column1);
            V3StoreU(column2V, column2);
#else
            V4StoreU(column0V, &column0.x);
            V4StoreU(column1V, &column1.x);
            V4StoreU(column2V, &column2.x);
#endif
        }
        PX_FORCE_INLINE ~PxMat33Padded()                {}
        PX_FORCE_INLINE void operator=(const PxMat33& other)
        {
            column0 = other.column0;
            column1 = other.column1;
            column2 = other.column2;
        }
        PxU32   padding;
    };
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif