| 66 | } |
| 67 | |
| 68 | static PX_FORCE_INLINE void transformNoEmptyTestV(Vec3p& c, Vec3p& ext, const PxMat33Padded& rot, const PxVec3& pos, const CenterExtentsPadded& bounds) |
| 69 | { |
| 70 | const Vec4V boundsCenterV = V4LoadU(&bounds.mCenter.x); // PT: this load is safe since extents follow center in the class |
| 71 | |
| 72 | // PT: unfortunately we can't V4LoadU 'pos' directly (it can come directly from users!). So we have to live with this for now: |
| 73 | const Vec4V posV = Vec4V_From_Vec3V(V3LoadU(&pos.x)); |
| 74 | // PT: but eventually we'd like to use the "unsafe" version (e.g. by switching p&q in PxTransform), which would save 6 instructions on Win32 |
| 75 | const Vec4V cV = V4Add(multiply3x3V(boundsCenterV, rot), posV); |
| 76 | // const Vec4V cV = V4Add(multiply3x3V(boundsCenterV, rot), V4LoadU(&pos.x)); // ### unsafe |
| 77 | V4StoreU(cV, &c.x); |
| 78 | |
| 79 | // extended basis vectors |
| 80 | const Vec4V boundsExtentsV = V4LoadU(&bounds.mExtents.x); // PT: this load is safe since bounds are padded |
| 81 | const Vec4V c0V = V4Scale(V4LoadU(&rot.column0.x), V4GetX(boundsExtentsV)); |
| 82 | const Vec4V c1V = V4Scale(V4LoadU(&rot.column1.x), V4GetY(boundsExtentsV)); |
| 83 | const Vec4V c2V = V4Scale(V4LoadU(&rot.column2.x), V4GetZ(boundsExtentsV)); |
| 84 | |
| 85 | // find combination of base vectors that produces max. distance for each component = sum of abs() |
| 86 | Vec4V extentsV = V4Add(V4Abs(c0V), V4Abs(c1V)); |
| 87 | extentsV = V4Add(extentsV, V4Abs(c2V)); |
| 88 | V4StoreU(extentsV, &ext.x); |
| 89 | } |
| 90 | |
| 91 | static PX_FORCE_INLINE PxU32 isNonIdentity(const PxVec3& scale) |
| 92 | { |
no test coverage detected