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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2017 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 PXFOUNDATION_PXMAT44_H
+#define PXFOUNDATION_PXMAT44_H
+/** \addtogroup foundation
+@{
+*/
+
+#include "foundation/PxQuat.h"
+#include "foundation/PxVec4.h"
+#include "foundation/PxMat33.h"
+#include "foundation/PxTransform.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/*!
+\brief 4x4 matrix class
+
+This class is layout-compatible with D3D and OpenGL matrices. More notes on layout are given in the PxMat33
+
+@see PxMat33 PxTransform
+*/
+
+class PxMat44
+{
+  public:
+	//! Default constructor
+	PX_CUDA_CALLABLE PX_INLINE PxMat44()
+	{
+	}
+
+	//! identity constructor
+	PX_CUDA_CALLABLE PX_INLINE PxMat44(PxIDENTITY r)
+	: column0(1.0f, 0.0f, 0.0f, 0.0f)
+	, column1(0.0f, 1.0f, 0.0f, 0.0f)
+	, column2(0.0f, 0.0f, 1.0f, 0.0f)
+	, column3(0.0f, 0.0f, 0.0f, 1.0f)
+	{
+		PX_UNUSED(r);
+	}
+
+	//! zero constructor
+	PX_CUDA_CALLABLE PX_INLINE PxMat44(PxZERO r) : column0(PxZero), column1(PxZero), column2(PxZero), column3(PxZero)
+	{
+		PX_UNUSED(r);
+	}
+
+	//! Construct from four 4-vectors
+	PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4& col3)
+	: column0(col0), column1(col1), column2(col2), column3(col3)
+	{
+	}
+
+	//! constructor that generates a multiple of the identity matrix
+	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float r)
+	: column0(r, 0.0f, 0.0f, 0.0f)
+	, column1(0.0f, r, 0.0f, 0.0f)
+	, column2(0.0f, 0.0f, r, 0.0f)
+	, column3(0.0f, 0.0f, 0.0f, r)
+	{
+	}
+
+	//! Construct from three base vectors and a translation
+	PX_CUDA_CALLABLE PxMat44(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2, const PxVec3& col3)
+	: column0(col0, 0), column1(col1, 0), column2(col2, 0), column3(col3, 1.0f)
+	{
+	}
+
+	//! Construct from float[16]
+	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float values[])
+	: column0(values[0], values[1], values[2], values[3])
+	, column1(values[4], values[5], values[6], values[7])
+	, column2(values[8], values[9], values[10], values[11])
+	, column3(values[12], values[13], values[14], values[15])
+	{
+	}
+
+	//! Construct from a quaternion
+	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
+	{
+		const float x = q.x;
+		const float y = q.y;
+		const float z = q.z;
+		const float w = q.w;
+
+		const float x2 = x + x;
+		const float y2 = y + y;
+		const float z2 = z + z;
+
+		const float xx = x2 * x;
+		const float yy = y2 * y;
+		const float zz = z2 * z;
+
+		const float xy = x2 * y;
+		const float xz = x2 * z;
+		const float xw = x2 * w;
+
+		const float yz = y2 * z;
+		const float yw = y2 * w;
+		const float zw = z2 * w;
+
+		column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
+		column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
+		column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
+		column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
+	}
+
+	//! Construct from a diagonal vector
+	explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal)
+	: column0(diagonal.x, 0.0f, 0.0f, 0.0f)
+	, column1(0.0f, diagonal.y, 0.0f, 0.0f)
+	, column2(0.0f, 0.0f, diagonal.z, 0.0f)
+	, column3(0.0f, 0.0f, 0.0f, diagonal.w)
+	{
+	}
+
+	//! Construct from Mat33 and a translation
+	PX_CUDA_CALLABLE PxMat44(const PxMat33& axes, const PxVec3& position)
+	: column0(axes.column0, 0.0f), column1(axes.column1, 0.0f), column2(axes.column2, 0.0f), column3(position, 1.0f)
+	{
+	}
+
+	PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
+	{
+		*this = PxMat44(PxMat33(t.q), t.p);
+	}
+
+	/**
+	\brief returns true if the two matrices are exactly equal
+	*/
+	PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat44& m) const
+	{
+		return column0 == m.column0 && column1 == m.column1 && column2 == m.column2 && column3 == m.column3;
+	}
+
+	//! Copy constructor
+	PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
+	: column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
+	{
+	}
+
+	//! Assignment operator
+	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator=(const PxMat44& other)
+	{
+		column0 = other.column0;
+		column1 = other.column1;
+		column2 = other.column2;
+		column3 = other.column3;
+		return *this;
+	}
+
+	//! Get transposed matrix
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 getTranspose() const
+	{
+		return PxMat44(
+		    PxVec4(column0.x, column1.x, column2.x, column3.x), PxVec4(column0.y, column1.y, column2.y, column3.y),
+		    PxVec4(column0.z, column1.z, column2.z, column3.z), PxVec4(column0.w, column1.w, column2.w, column3.w));
+	}
+
+	//! Unary minus
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-() const
+	{
+		return PxMat44(-column0, -column1, -column2, -column3);
+	}
+
+	//! Add
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator+(const PxMat44& other) const
+	{
+		return PxMat44(column0 + other.column0, column1 + other.column1, column2 + other.column2,
+		               column3 + other.column3);
+	}
+
+	//! Subtract
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-(const PxMat44& other) const
+	{
+		return PxMat44(column0 - other.column0, column1 - other.column1, column2 - other.column2,
+		               column3 - other.column3);
+	}
+
+	//! Scalar multiplication
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(float scalar) const
+	{
+		return PxMat44(column0 * scalar, column1 * scalar, column2 * scalar, column3 * scalar);
+	}
+
+	friend PxMat44 operator*(float, const PxMat44&);
+
+	//! Matrix multiplication
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(const PxMat44& other) const
+	{
+		// Rows from this <dot> columns from other
+		// column0 = transform(other.column0) etc
+		return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2),
+		               transform(other.column3));
+	}
+
+	// a <op>= b operators
+
+	//! Equals-add
+	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
+	{
+		column0 += other.column0;
+		column1 += other.column1;
+		column2 += other.column2;
+		column3 += other.column3;
+		return *this;
+	}
+
+	//! Equals-sub
+	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
+	{
+		column0 -= other.column0;
+		column1 -= other.column1;
+		column2 -= other.column2;
+		column3 -= other.column3;
+		return *this;
+	}
+
+	//! Equals scalar multiplication
+	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(float scalar)
+	{
+		column0 *= scalar;
+		column1 *= scalar;
+		column2 *= scalar;
+		column3 *= scalar;
+		return *this;
+	}
+
+	//! Equals matrix multiplication
+	PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(const PxMat44& other)
+	{
+		*this = *this * other;
+		return *this;
+	}
+
+	//! Element access, mathematical way!
+	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
+	{
+		return (*this)[col][row];
+	}
+
+	//! Element access, mathematical way!
+	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
+	{
+		return (*this)[col][row];
+	}
+
+	//! Transform vector by matrix, equal to v' = M*v
+	PX_CUDA_CALLABLE PX_INLINE const PxVec4 transform(const PxVec4& other) const
+	{
+		return column0 * other.x + column1 * other.y + column2 * other.z + column3 * other.w;
+	}
+
+	//! Transform vector by matrix, equal to v' = M*v
+	PX_CUDA_CALLABLE PX_INLINE const PxVec3 transform(const PxVec3& other) const
+	{
+		return transform(PxVec4(other, 1.0f)).getXYZ();
+	}
+
+	//! Rotate vector by matrix, equal to v' = M*v
+	PX_CUDA_CALLABLE PX_INLINE const PxVec4 rotate(const PxVec4& other) const
+	{
+		return column0 * other.x + column1 * other.y + column2 * other.z; // + column3*0;
+	}
+
+	//! Rotate vector by matrix, equal to v' = M*v
+	PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& other) const
+	{
+		return rotate(PxVec4(other, 1.0f)).getXYZ();
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE const PxVec3 getBasis(int num) const
+	{
+		PX_ASSERT(num >= 0 && num < 3);
+		return (&column0)[num].getXYZ();
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE const PxVec3 getPosition() const
+	{
+		return column3.getXYZ();
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
+	{
+		column3.x = position.x;
+		column3.y = position.y;
+		column3.z = position.z;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const float* front() const
+	{
+		return &column0.x;
+	}
+
+	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
+	{
+		return (&column0)[num];
+	}
+	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
+	{
+		return (&column0)[num];
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE void scale(const PxVec4& p)
+	{
+		column0 *= p.x;
+		column1 *= p.y;
+		column2 *= p.z;
+		column3 *= p.w;
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE const PxMat44 inverseRT(void) const
+	{
+		PxVec3 r0(column0.x, column1.x, column2.x), r1(column0.y, column1.y, column2.y),
+		    r2(column0.z, column1.z, column2.z);
+
+		return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
+	}
+
+	PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
+	{
+		return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
+	}
+
+	// Data, see above for format!
+
+	PxVec4 column0, column1, column2, column3; // the four base vectors
+};
+
+// implementation from PxTransform.h
+PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
+{
+	PxVec3 column0 = PxVec3(m.column0.x, m.column0.y, m.column0.z);
+	PxVec3 column1 = PxVec3(m.column1.x, m.column1.y, m.column1.z);
+	PxVec3 column2 = PxVec3(m.column2.x, m.column2.y, m.column2.z);
+
+	q = PxQuat(PxMat33(column0, column1, column2));
+	p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif // #ifndef PXFOUNDATION_PXMAT44_H