Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 135 insertions, 0 deletions

diff --git a/APEX_1.4/common/include/Cof44.h b/APEX_1.4/common/include/Cof44.h
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+/*
+ * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
+ *
+ * NVIDIA CORPORATION and its licensors retain all intellectual property
+ * and proprietary rights in and to this software, 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.
+ */
+
+
+#ifndef COF44_H
+#define COF44_H
+
+#include "Apex.h"
+#include "PxMat44.h"
+#include "PxPlane.h"
+
+namespace nvidia
+{
+namespace apex
+{
+
+/**
+\brief Stores the info needed for the cofactor matrix of a 4x4 homogeneous transformation matrix (implicit last row = 0 0 0 1)
+*/
+class Cof44
+{
+public:
+	/**
+	\param [in] m can be an arbitrary homogeneoous transformation matrix
+	*/
+	Cof44(const PxMat44& m)
+	{
+		_block33(0, 0) = m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1);
+		_block33(0, 1) = m(1, 2) * m(2, 0) - m(1, 0) * m(2, 2);
+		_block33(0, 2) = m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0);
+		_block33(1, 0) = m(2, 1) * m(0, 2) - m(2, 2) * m(0, 1);
+		_block33(1, 1) = m(2, 2) * m(0, 0) - m(2, 0) * m(0, 2);
+		_block33(1, 2) = m(2, 0) * m(0, 1) - m(2, 1) * m(0, 0);
+		_block33(2, 0) = m(0, 1) * m(1, 2) - m(0, 2) * m(1, 1);
+		_block33(2, 1) = m(0, 2) * m(1, 0) - m(0, 0) * m(1, 2);
+		_block33(2, 2) = m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0);
+		_44 = _block33(0, 0) * m(0, 0) + _block33(0, 1) * m(0, 1) + _block33(0, 2) * m(0, 2);
+		
+		initCommon(m.getPosition());
+	}
+
+	/**
+	\param [in] rt must be pure (proper) rotation and translation
+	\param [in] s is any diagonal matrix (typically scale).
+	\note The combined transform is assumed to be (rt)*s, i.e. s is applied first
+	*/
+	Cof44(const PxMat44& rt, const PxVec3 s)
+	{
+		const PxVec3 cofS(s.y * s.z, s.z * s.x, s.x * s.y);
+		_block33(0, 0) = rt(0, 0) * cofS.x;
+		_block33(0, 1) = rt(0, 1) * cofS.y;
+		_block33(0, 2) = rt(0, 2) * cofS.z;
+		_block33(1, 0) = rt(1, 0) * cofS.x;
+		_block33(1, 1) = rt(1, 1) * cofS.y;
+		_block33(1, 2) = rt(1, 2) * cofS.z;
+		_block33(2, 0) = rt(2, 0) * cofS.x;
+		_block33(2, 1) = rt(2, 1) * cofS.y;
+		_block33(2, 2) = rt(2, 2) * cofS.z;
+		_44 = cofS.x * s.x;
+
+		initCommon(rt.getPosition());
+	}
+
+	Cof44(const PxTransform rt, const PxVec3 s)
+	{
+		_block33 = PxMat33(rt.q);
+		const PxVec3 cofS(s.y * s.z, s.z * s.x, s.x * s.y);
+		_block33.column0 *= cofS.x;
+		_block33.column1 *= cofS.y;
+		_block33.column2 *= cofS.z;
+		_44 = cofS.x * s.x;
+
+		initCommon(rt.p);
+	}
+
+	/**
+	\brief Transforms a plane equation correctly even when the transformation is not a rotation
+	\note If the transformation is not a rotation then the length of the plane's normal vector is not preserved in general.
+	*/
+	void transform(const PxPlane& src, PxPlane& dst) const
+	{
+		dst.n = _block33.transform(src.n);
+		dst.d = (_block13.dot(src.n)) + _44 * src.d;
+	}
+
+	/**
+	\brief Transforms a normal correctly even when the transformation is not a rotation
+	\note If the transformation is not a rotation then the normal's length is not preserved in general.
+	*/
+	const PxMat33&	getBlock33() const
+	{
+		return _block33;
+	}
+
+	/**
+	\brief The determinant of the original matrix.
+	*/
+	float			getDeterminant() const
+	{
+		return _44;
+	}
+
+private:
+
+	void initCommon(const PxVec3& pos)
+	{
+		_block13 = _block33.transformTranspose(-pos);
+		if (_44 < 0)
+		{
+			// det is < 0, we need to negate all values
+			// The Cov Matrix divided by the determinant is the same as the inverse transposed of an affine transformation
+			// For rotation normals, dividing by the determinant is useless as it gets renormalized afterwards again.
+			// If the determinant is negative though, it is important that all values are negated to get the right results.
+			_block33 *= -1;
+			_block13 *= -1;
+			_44 = -_44;
+		}
+
+	}
+	PxMat33	_block33;
+	PxVec3	_block13;
+	float	_44;
+};
+
+}
+} // end namespace nvidia::apex
+
+#endif
\ No newline at end of file