PxExtended.h

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#ifndef PX_PHYSICS_CCT_EXTENDED
#define PX_PHYSICS_CCT_EXTENDED

// This needs to be included in Foundation just for the debug renderer

#include "PxPhysXConfig.h"
#include "foundation/PxTransform.h"
#include "foundation/PxAssert.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

// This has to be done here since it also changes the top-level "Px" and "Np" APIs
#define PX_BIG_WORLDS

#ifdef PX_BIG_WORLDS
typedef double  PxExtended;
#define PX_MAX_EXTENDED PX_MAX_F64
#define PxExtendedAbs(x)    fabs(x)

struct PxExtendedVec3
{
    PX_INLINE   PxExtendedVec3()                                                                    {}
    PX_INLINE   PxExtendedVec3(PxExtended _x, PxExtended _y, PxExtended _z) : x(_x), y(_y), z(_z)   {}

    PX_INLINE   bool isZero()   const
    {
        if(x!=0.0 || y!=0.0 || z!=0.0)  return false;
        return true;
    }

    PX_INLINE PxExtended    dot(const PxVec3& v) const
    {
        return x * PxExtended(v.x) + y * PxExtended(v.y) + z * PxExtended(v.z);
    }

    PX_INLINE   PxExtended distanceSquared(const PxExtendedVec3& v) const
    {
        PxExtended dx = x - v.x;
        PxExtended dy = y - v.y;
        PxExtended dz = z - v.z;
        return dx * dx + dy * dy + dz * dz;
    }

    PX_INLINE PxExtended magnitudeSquared() const
    {
        return x * x + y * y + z * z;
    }

    PX_INLINE PxExtended magnitude() const
    {
        return PxSqrt(x * x + y * y + z * z);
    }

    PX_INLINE   PxExtended  normalize()
    {
        PxExtended m = magnitude();
        if (m != 0.0)
        {
            const PxExtended il =  PxExtended(1.0) / m;
            x *= il;
            y *= il;
            z *= il;
        }
        return m;
    }

    PX_INLINE   bool isFinite() const
    {
        return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
    }

    PX_INLINE   void maximum(const PxExtendedVec3& v)
    {
        if (x < v.x) x = v.x;
        if (y < v.y) y = v.y;
        if (z < v.z) z = v.z;
    }


    PX_INLINE   void minimum(const PxExtendedVec3& v)
    {
        if (x > v.x) x = v.x;
        if (y > v.y) y = v.y;
        if (z > v.z) z = v.z;
    }

    PX_INLINE   void    set(PxExtended x_, PxExtended y_, PxExtended z_)
    {
        this->x = x_;
        this->y = y_;
        this->z = z_;
    }

    PX_INLINE void  setPlusInfinity()
    {
        x = y = z = PX_MAX_EXTENDED;
    }

    PX_INLINE void  setMinusInfinity()
    {
        x = y = z = -PX_MAX_EXTENDED;
    }

    PX_INLINE void  cross(const PxExtendedVec3& left, const PxVec3& right)
    {
        // temps needed in case left or right is this.
        PxExtended a = (left.y * PxExtended(right.z)) - (left.z * PxExtended(right.y));
        PxExtended b = (left.z * PxExtended(right.x)) - (left.x * PxExtended(right.z));
        PxExtended c = (left.x * PxExtended(right.y)) - (left.y * PxExtended(right.x));

        x = a;
        y = b;
        z = c;
    }

    PX_INLINE void  cross(const PxExtendedVec3& left, const PxExtendedVec3& right)
    {
        // temps needed in case left or right is this.
        PxExtended a = (left.y * right.z) - (left.z * right.y);
        PxExtended b = (left.z * right.x) - (left.x * right.z);
        PxExtended c = (left.x * right.y) - (left.y * right.x);

        x = a;
        y = b;
        z = c;
    }

    PX_INLINE PxExtendedVec3 cross(const PxExtendedVec3& v) const
    {
        PxExtendedVec3 temp;
        temp.cross(*this,v);
        return temp;
    }

    PX_INLINE void  cross(const PxVec3& left, const PxExtendedVec3& right)
    {
        // temps needed in case left or right is this.
        PxExtended a = (PxExtended(left.y) * right.z) - (PxExtended(left.z) * right.y);
        PxExtended b = (PxExtended(left.z) * right.x) - (PxExtended(left.x) * right.z);
        PxExtended c = (PxExtended(left.x) * right.y) - (PxExtended(left.y) * right.x);

        x = a;
        y = b;
        z = c;
    }

    PX_INLINE   PxExtendedVec3      operator-()     const
    {
        return PxExtendedVec3(-x, -y, -z);
    }

    PX_INLINE   PxExtendedVec3&     operator+=(const PxExtendedVec3& v)
    {
        x += v.x;
        y += v.y;
        z += v.z;
        return *this;
    }

    PX_INLINE   PxExtendedVec3&     operator-=(const PxExtendedVec3& v)
    {
        x -= v.x;
        y -= v.y;
        z -= v.z;
        return *this;
    }

    PX_INLINE   PxExtendedVec3&     operator+=(const PxVec3& v)
    {
        x += PxExtended(v.x);
        y += PxExtended(v.y);
        z += PxExtended(v.z);
        return *this;
    }

    PX_INLINE   PxExtendedVec3&     operator-=(const PxVec3& v)
    {
        x -= PxExtended(v.x);
        y -= PxExtended(v.y);
        z -= PxExtended(v.z);
        return *this;
    }

    PX_INLINE   PxExtendedVec3&     operator*=(const PxReal& s)
    {
        x *= PxExtended(s);
        y *= PxExtended(s);
        z *= PxExtended(s);
        return *this;
    }

    PX_INLINE   PxExtendedVec3      operator+(const PxExtendedVec3& v)  const
    {
        return PxExtendedVec3(x + v.x, y + v.y, z + v.z);
    }

    PX_INLINE   PxVec3          operator-(const PxExtendedVec3& v)  const
    {
        return PxVec3(PxReal(x - v.x), PxReal(y - v.y), PxReal(z - v.z));
    }

    PX_INLINE   PxExtended&         operator[](int index)
    {
        PX_ASSERT(index>=0 && index<=2);

        return reinterpret_cast<PxExtended*>(this)[index];
    }


    PX_INLINE   PxExtended          operator[](int index) const
    {
        PX_ASSERT(index>=0 && index<=2);

        return reinterpret_cast<const PxExtended*>(this)[index];
    }

    PxExtended x,y,z;
};

    PX_FORCE_INLINE PxVec3 toVec3(const PxExtendedVec3& v)
    {
        return PxVec3(float(v.x), float(v.y), float(v.z));
    }

#else
// Big worlds not defined

typedef PxVec3      PxExtendedVec3;
typedef PxReal      PxExtended;
#define PX_MAX_EXTENDED PX_MAX_F32
#define PxExtendedAbs(x)    fabsf(x)
#endif

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif