Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 94 insertions, 0 deletions

diff --git a/KaplaDemo/samples/sampleViewer3/Vec/Transform.h b/KaplaDemo/samples/sampleViewer3/Vec/Transform.h
new file mode 100644
index 00000000..e08801de
--- /dev/null
+++ b/KaplaDemo/samples/sampleViewer3/Vec/Transform.h
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+#ifndef TRANSFORM_H
+#define TRANSFORM_H
+
+#include "Vec3.h"
+#include "Quat.h"
+#include "Plane.h"
+
+//	Singe / VecVecReal Precision Vec 3
+//  Matthias Mueller
+//  derived from NxVec3.h
+
+namespace M
+{
+
+class Transform
+{
+public:
+	Quat q;
+	Vec3 p;
+
+	Transform() {};
+	Transform(const Vec3& position): q(0, 0, 0, 1), p(position) {}
+	Transform(const Quat& orientation): q(orientation), p(0, 0, 0) {}
+	Transform(const Vec3& p0, const Quat& q0): q(q0), p(p0) {}
+
+	Transform operator*(const Transform& x) const
+	{
+		return transform(x);
+	}
+
+	Transform getInverse() const
+	{
+		return Transform(q.rotateInv(-p),q.getConjugate());
+	}
+
+
+	Vec3 transform(const Vec3& input) const
+	{
+		return q.rotate(input) + p;
+	}
+
+	Vec3 transformInv(const Vec3& input) const
+	{
+		return q.rotateInv(input-p);
+	}
+
+	Vec3 rotate(const Vec3& input) const
+	{
+		return q.rotate(input);
+	}
+
+	Vec3 rotateInv(const Vec3& input) const
+	{
+		return q.rotateInv(input);
+	}
+
+	Transform transform(const Transform& src) const
+	{
+		return Transform(q.rotate(src.p) + p, q*src.q);
+	}
+
+	Transform transformInv(const Transform& src) const
+	{
+		Quat qinv = q.getConjugate();
+		return Transform(qinv.rotate(src.p - p), qinv*src.q);
+	}
+
+	static  Transform createIdentity() 
+	{ 
+		return Transform(Vec3(0)); 
+	}
+
+	Plane transform(const Plane& plane) const
+	{
+		Vec3 transformedNormal = rotate(plane.n);
+		return Plane(transformedNormal, plane.d - p.dot(transformedNormal));
+	}
+
+	Plane inverseTransform(const Plane& plane) const
+	{
+		Vec3 transformedNormal = rotateInv(plane.n);
+		return Plane(transformedNormal, plane.d + p.dot(plane.n));
+	}
+
+	Transform getNormalized() const
+	{
+		return Transform(p, q.getNormalized());
+	}
+
+};
+
+}
+
+#endif