Function tanHalf

physx/source/foundation/include/PsMathUtils.h:573–583

}

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal tanHalf(PxReal sin, PxReal cos)
{
	// PT: avoids divide by zero for singularity. We return sqrt(FLT_MAX) instead of FLT_MAX
	// to make sure the calling code doesn't generate INF values when manipulating the returned value
	// (some joints multiply it by 4, etc).
	if(cos==-1.0f)
		return sin<0.0f ? -sqrtf(FLT_MAX) : sqrtf(FLT_MAX);

	// PT: half-angle formula: tan(a/2) = sin(a)/(1+cos(a))
	return sin / (1.0f + cos);
}

PX_INLINE PxQuat quatFromTanQVector(const PxVec3& v)
{