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| author | git perforce import user <a@b> | 2016-10-25 12:29:14 -0600 |
|---|---|---|
| committer | Sheikh Dawood Abdul Ajees <Sheikh Dawood Abdul Ajees> | 2016-10-25 18:56:37 -0500 |
| commit | 3dfe2108cfab31ba3ee5527e217d0d8e99a51162 (patch) | |
| tree | fa6485c169e50d7415a651bf838f5bcd0fd3bfbd /PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html | |
| download | physx-3.4-3dfe2108cfab31ba3ee5527e217d0d8e99a51162.tar.xz physx-3.4-3dfe2108cfab31ba3ee5527e217d0d8e99a51162.zip | |
Initial commit:
PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617
[CL 21300167]
Diffstat (limited to 'PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html')
| -rw-r--r-- | PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html | 204 |
1 files changed, 204 insertions, 0 deletions
diff --git a/PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html b/PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html new file mode 100644 index 00000000..55091161 --- /dev/null +++ b/PhysX_3.4/Documentation/PhysXAPI/files/PxTransform_8h-source.html @@ -0,0 +1,204 @@ +<html> + <head> + <title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxTransform.h Source File</title> + <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> + <LINK HREF="NVIDIA.css" REL="stylesheet" TYPE="text/css"> + </head> + + <body bgcolor="#FFFFFF"> + <div id="header"> + <hr class="first"> + <img alt="" src="images/PhysXlogo.png" align="middle"> <br> + <center> + <a class="qindex" href="main.html">Main Page</a> + <a class="qindex" href="hierarchy.html">Class Hierarchy</a> + <a class="qindex" href="annotated.html">Compound List</a> + <a class="qindex" href="functions.html">Compound Members</a> + </center> + <hr class="second"> + </div> +<!-- Generated by Doxygen 1.5.8 --> +<h1>PxTransform.h</h1><a href="PxTransform_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This code contains NVIDIA Confidential Information and is disclosed to you</span> +<a name="l00002"></a>00002 <span class="comment">// under a form of NVIDIA software license agreement provided separately to you.</span> +<a name="l00003"></a>00003 <span class="comment">//</span> +<a name="l00004"></a>00004 <span class="comment">// Notice</span> +<a name="l00005"></a>00005 <span class="comment">// NVIDIA Corporation and its licensors retain all intellectual property and</span> +<a name="l00006"></a>00006 <span class="comment">// proprietary rights in and to this software and related documentation and</span> +<a name="l00007"></a>00007 <span class="comment">// any modifications thereto. Any use, reproduction, disclosure, or</span> +<a name="l00008"></a>00008 <span class="comment">// distribution of this software and related documentation without an express</span> +<a name="l00009"></a>00009 <span class="comment">// license agreement from NVIDIA Corporation is strictly prohibited.</span> +<a name="l00010"></a>00010 <span class="comment">//</span> +<a name="l00011"></a>00011 <span class="comment">// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES</span> +<a name="l00012"></a>00012 <span class="comment">// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO</span> +<a name="l00013"></a>00013 <span class="comment">// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,</span> +<a name="l00014"></a>00014 <span class="comment">// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.</span> +<a name="l00015"></a>00015 <span class="comment">//</span> +<a name="l00016"></a>00016 <span class="comment">// Information and code furnished is believed to be accurate and reliable.</span> +<a name="l00017"></a>00017 <span class="comment">// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such</span> +<a name="l00018"></a>00018 <span class="comment">// information or for any infringement of patents or other rights of third parties that may</span> +<a name="l00019"></a>00019 <span class="comment">// result from its use. No license is granted by implication or otherwise under any patent</span> +<a name="l00020"></a>00020 <span class="comment">// or patent rights of NVIDIA Corporation. Details are subject to change without notice.</span> +<a name="l00021"></a>00021 <span class="comment">// This code supersedes and replaces all information previously supplied.</span> +<a name="l00022"></a>00022 <span class="comment">// NVIDIA Corporation products are not authorized for use as critical</span> +<a name="l00023"></a>00023 <span class="comment">// components in life support devices or systems without express written approval of</span> +<a name="l00024"></a>00024 <span class="comment">// NVIDIA Corporation.</span> +<a name="l00025"></a>00025 <span class="comment">//</span> +<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.</span> +<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span> +<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.</span> +<a name="l00029"></a>00029 +<a name="l00030"></a>00030 <span class="preprocessor">#ifndef PXFOUNDATION_PXTRANSFORM_H</span> +<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define PXFOUNDATION_PXTRANSFORM_H</span> +<a name="l00032"></a>00032 <span class="preprocessor"></span> +<a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="PxQuat_8h.html">foundation/PxQuat.h</a>"</span> +<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxPlane_8h.html">foundation/PxPlane.h</a>"</span> +<a name="l00038"></a>00038 +<a name="l00039"></a>00039 <span class="preprocessor">#if !PX_DOXYGEN</span> +<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="keyword">namespace </span>physx +<a name="l00041"></a>00041 { +<a name="l00042"></a>00042 <span class="preprocessor">#endif</span> +<a name="l00043"></a>00043 <span class="preprocessor"></span> +<a name="l00048"></a><a class="code" href="classPxTransform.html">00048</a> <span class="keyword">class </span><a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> +<a name="l00049"></a>00049 { +<a name="l00050"></a>00050 <span class="keyword">public</span>: +<a name="l00051"></a><a class="code" href="classPxTransform.html#adb9d2118765e188f212cf3c0e0018cb">00051</a> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a> q; +<a name="l00052"></a><a class="code" href="classPxTransform.html#b1a41ac5f4df8e07ba590fa0a8a6e786">00052</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> p; +<a name="l00053"></a>00053 +<a name="l00054"></a><a class="code" href="classPxTransform.html#cf88e048efec0734d0fc89cd9f976d51">00054</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>() +<a name="l00055"></a>00055 { +<a name="l00056"></a>00056 } +<a name="l00057"></a>00057 +<a name="l00058"></a><a class="code" href="classPxTransform.html#cb9832826ac6c8d150200524f7e7324d">00058</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& position) : q(<a class="code" href="group__foundation.html#gg70160ca5bbafef277790b3e0f12baf3895e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>), p(position) +<a name="l00059"></a>00059 { +<a name="l00060"></a>00060 } +<a name="l00061"></a>00061 +<a name="l00062"></a><a class="code" href="classPxTransform.html#b414a3463acc556445fb095ee32e98d8">00062</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<a class="code" href="group__foundation.html#g70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a> r) : q(<a class="code" href="group__foundation.html#gg70160ca5bbafef277790b3e0f12baf3895e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>), p(<a class="code" href="group__foundation.html#ggc10bd69c94c165a52f6de39678ef9d4c0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>) +<a name="l00063"></a>00063 { +<a name="l00064"></a>00064 <a class="code" href="group__foundation.html#g3b618390d8743c532c4131cb931df43a">PX_UNUSED</a>(r); +<a name="l00065"></a>00065 } +<a name="l00066"></a>00066 +<a name="l00067"></a><a class="code" href="classPxTransform.html#1e8f1a81e48e0b8c5e5708b871ca61e0">00067</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& orientation) : q(orientation), p(0) +<a name="l00068"></a>00068 { +<a name="l00069"></a>00069 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(orientation.<a class="code" href="classPxQuat.html#935090e7b3017e74a7f8dae595bcaec9" title="returns true if finite and magnitude is reasonably close to unit to allow for some...">isSane</a>()); +<a name="l00070"></a>00070 } +<a name="l00071"></a>00071 +<a name="l00072"></a><a class="code" href="classPxTransform.html#94418383f43ad184a40806d343858f80">00072</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a> aQ = <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>(<a class="code" href="group__foundation.html#gg70160ca5bbafef277790b3e0f12baf3895e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>)) +<a name="l00073"></a>00073 : q(aQ), p(x, y, z) +<a name="l00074"></a>00074 { +<a name="l00075"></a>00075 } +<a name="l00076"></a>00076 +<a name="l00077"></a><a class="code" href="classPxTransform.html#d1f4d4ab98a90e24f45b1166f1906309">00077</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& p0, <span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& q0) : q(q0), p(p0) +<a name="l00078"></a>00078 { +<a name="l00079"></a>00079 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(q0.<a class="code" href="classPxQuat.html#935090e7b3017e74a7f8dae595bcaec9" title="returns true if finite and magnitude is reasonably close to unit to allow for some...">isSane</a>()); +<a name="l00080"></a>00080 } +<a name="l00081"></a>00081 +<a name="l00082"></a>00082 <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxMat44.html" title="4x4 matrix class">PxMat44</a>& m); <span class="comment">// defined in PxMat44.h</span> +<a name="l00083"></a>00083 +<a name="l00087"></a><a class="code" href="classPxTransform.html#e7af63048d4325b4e4b34efaaa8c06ae">00087</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t)<span class="keyword"> const</span> +<a name="l00088"></a>00088 <span class="keyword"> </span>{ +<a name="l00089"></a>00089 <span class="keywordflow">return</span> p == t.<a class="code" href="classPxTransform.html#b1a41ac5f4df8e07ba590fa0a8a6e786">p</a> && q == t.<a class="code" href="classPxTransform.html#adb9d2118765e188f212cf3c0e0018cb">q</a>; +<a name="l00090"></a>00090 } +<a name="l00091"></a>00091 +<a name="l00092"></a><a class="code" href="classPxTransform.html#278af9e20d53aeca4edd4b2a33b375bf">00092</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> <a class="code" href="group__foundation.html#ga7415102b45174d3eda4d4f2f12127bc">operator*</a>(<span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& x)<span class="keyword"> const</span> +<a name="l00093"></a>00093 <span class="keyword"> </span>{ +<a name="l00094"></a>00094 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(x.<a class="code" href="classPxTransform.html#c478f0538ec396ac4888748af0bbb7b9" title="returns true if finite and quat magnitude is reasonably close to unit to allow for...">isSane</a>()); +<a name="l00095"></a>00095 <span class="keywordflow">return</span> transform(x); +<a name="l00096"></a>00096 } +<a name="l00097"></a>00097 +<a name="l00099"></a><a class="code" href="classPxTransform.html#c3b962fef92f40058e6c9122fff01a5f">00099</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& operator*=(<a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& other) +<a name="l00100"></a>00100 { +<a name="l00101"></a>00101 *<span class="keyword">this</span> = *<span class="keyword">this</span> * other; +<a name="l00102"></a>00102 <span class="keywordflow">return</span> *<span class="keyword">this</span>; +<a name="l00103"></a>00103 } +<a name="l00104"></a>00104 +<a name="l00105"></a><a class="code" href="classPxTransform.html#a9eb3fc599b804fd1c803f2312d91a63">00105</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> getInverse()<span class="keyword"> const</span> +<a name="l00106"></a>00106 <span class="keyword"> </span>{ +<a name="l00107"></a>00107 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00108"></a>00108 <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(q.rotateInv(-p), q.getConjugate()); +<a name="l00109"></a>00109 } +<a name="l00110"></a>00110 +<a name="l00111"></a><a class="code" href="classPxTransform.html#ee2fa4f5d0f6a1bad831fe0c81094ebd">00111</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> transform(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& input)<span class="keyword"> const</span> +<a name="l00112"></a>00112 <span class="keyword"> </span>{ +<a name="l00113"></a>00113 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00114"></a>00114 <span class="keywordflow">return</span> q.rotate(input) + p; +<a name="l00115"></a>00115 } +<a name="l00116"></a>00116 +<a name="l00117"></a><a class="code" href="classPxTransform.html#d36809f880476e7de83b1c2fd7c533b5">00117</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> transformInv(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& input)<span class="keyword"> const</span> +<a name="l00118"></a>00118 <span class="keyword"> </span>{ +<a name="l00119"></a>00119 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00120"></a>00120 <span class="keywordflow">return</span> q.rotateInv(input - p); +<a name="l00121"></a>00121 } +<a name="l00122"></a>00122 +<a name="l00123"></a><a class="code" href="classPxTransform.html#b5daa240811e713f2ffcf8de0760c5f6">00123</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> rotate(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& input)<span class="keyword"> const</span> +<a name="l00124"></a>00124 <span class="keyword"> </span>{ +<a name="l00125"></a>00125 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00126"></a>00126 <span class="keywordflow">return</span> q.rotate(input); +<a name="l00127"></a>00127 } +<a name="l00128"></a>00128 +<a name="l00129"></a><a class="code" href="classPxTransform.html#50ecf24af0c3ae70f16be2ef416842e5">00129</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> rotateInv(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& input)<span class="keyword"> const</span> +<a name="l00130"></a>00130 <span class="keyword"> </span>{ +<a name="l00131"></a>00131 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00132"></a>00132 <span class="keywordflow">return</span> q.rotateInv(input); +<a name="l00133"></a>00133 } +<a name="l00134"></a>00134 +<a name="l00136"></a><a class="code" href="classPxTransform.html#d5533186ba48398aa3180f3bef236436">00136</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> transform(<span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& src)<span class="keyword"> const</span> +<a name="l00137"></a>00137 <span class="keyword"> </span>{ +<a name="l00138"></a>00138 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(src.<a class="code" href="classPxTransform.html#c478f0538ec396ac4888748af0bbb7b9" title="returns true if finite and quat magnitude is reasonably close to unit to allow for...">isSane</a>()); +<a name="l00139"></a>00139 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isSane()); +<a name="l00140"></a>00140 <span class="comment">// src = [srct, srcr] -> [r*srct + t, r*srcr]</span> +<a name="l00141"></a>00141 <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(q.rotate(src.<a class="code" href="classPxTransform.html#b1a41ac5f4df8e07ba590fa0a8a6e786">p</a>) + p, q * src.<a class="code" href="classPxTransform.html#adb9d2118765e188f212cf3c0e0018cb">q</a>); +<a name="l00142"></a>00142 } +<a name="l00143"></a>00143 +<a name="l00148"></a><a class="code" href="classPxTransform.html#d75cf2a2d604ed7b0d33502c320e09a7">00148</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> isValid()<span class="keyword"> const</span> +<a name="l00149"></a>00149 <span class="keyword"> </span>{ +<a name="l00150"></a>00150 <span class="keywordflow">return</span> p.isFinite() && q.isFinite() && q.isUnit(); +<a name="l00151"></a>00151 } +<a name="l00152"></a>00152 +<a name="l00158"></a><a class="code" href="classPxTransform.html#c478f0538ec396ac4888748af0bbb7b9">00158</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> isSane()<span class="keyword"> const</span> +<a name="l00159"></a>00159 <span class="keyword"> </span>{ +<a name="l00160"></a>00160 <span class="keywordflow">return</span> isFinite() && q.isSane(); +<a name="l00161"></a>00161 } +<a name="l00162"></a>00162 +<a name="l00166"></a><a class="code" href="classPxTransform.html#0d66eedfb956d80c83e9a3d74b56c9e2">00166</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> isFinite()<span class="keyword"> const</span> +<a name="l00167"></a>00167 <span class="keyword"> </span>{ +<a name="l00168"></a>00168 <span class="keywordflow">return</span> p.isFinite() && q.isFinite(); +<a name="l00169"></a>00169 } +<a name="l00170"></a>00170 +<a name="l00172"></a><a class="code" href="classPxTransform.html#16906580704d8e04c665f80aeb57eb2e">00172</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> transformInv(<span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& src)<span class="keyword"> const</span> +<a name="l00173"></a>00173 <span class="keyword"> </span>{ +<a name="l00174"></a>00174 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(src.<a class="code" href="classPxTransform.html#c478f0538ec396ac4888748af0bbb7b9" title="returns true if finite and quat magnitude is reasonably close to unit to allow for...">isSane</a>()); +<a name="l00175"></a>00175 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(isFinite()); +<a name="l00176"></a>00176 <span class="comment">// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]</span> +<a name="l00177"></a>00177 <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a> qinv = q.getConjugate(); +<a name="l00178"></a>00178 <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(qinv.<a class="code" href="classPxQuat.html#b5ffbf8b2b7bd871e6ac0b854fd5730e">rotate</a>(src.<a class="code" href="classPxTransform.html#b1a41ac5f4df8e07ba590fa0a8a6e786">p</a> - p), qinv * src.<a class="code" href="classPxTransform.html#adb9d2118765e188f212cf3c0e0018cb">q</a>); +<a name="l00179"></a>00179 } +<a name="l00180"></a>00180 +<a name="l00185"></a><a class="code" href="classPxTransform.html#0f9dd0eba200e976a98d2285d49a5557">00185</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a> transform(<span class="keyword">const</span> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a>& plane)<span class="keyword"> const</span> +<a name="l00186"></a>00186 <span class="keyword"> </span>{ +<a name="l00187"></a>00187 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> transformedNormal = rotate(plane.<a class="code" href="classPxPlane.html#5697986eb1240eafe0261f453c5a7065" title="The normal to the plane.">n</a>); +<a name="l00188"></a>00188 <span class="keywordflow">return</span> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a>(transformedNormal, plane.<a class="code" href="classPxPlane.html#7cf263ac8ebddc47953a3fcbfc0a0455" title="The distance from the origin.">d</a> - p.dot(transformedNormal)); +<a name="l00189"></a>00189 } +<a name="l00190"></a>00190 +<a name="l00195"></a><a class="code" href="classPxTransform.html#5da0382f2515dde8b695dbf325786696">00195</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a> inverseTransform(<span class="keyword">const</span> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a>& plane)<span class="keyword"> const</span> +<a name="l00196"></a>00196 <span class="keyword"> </span>{ +<a name="l00197"></a>00197 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> transformedNormal = rotateInv(plane.<a class="code" href="classPxPlane.html#5697986eb1240eafe0261f453c5a7065" title="The normal to the plane.">n</a>); +<a name="l00198"></a>00198 <span class="keywordflow">return</span> <a class="code" href="classPxPlane.html" title="Representation of a plane.">PxPlane</a>(transformedNormal, plane.<a class="code" href="classPxPlane.html#7cf263ac8ebddc47953a3fcbfc0a0455" title="The distance from the origin.">d</a> + p.dot(plane.<a class="code" href="classPxPlane.html#5697986eb1240eafe0261f453c5a7065" title="The normal to the plane.">n</a>)); +<a name="l00199"></a>00199 } +<a name="l00200"></a>00200 +<a name="l00204"></a><a class="code" href="classPxTransform.html#f42e0f4013654fff60a24ecb6c0f0277">00204</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> getNormalized()<span class="keyword"> const</span> +<a name="l00205"></a>00205 <span class="keyword"> </span>{ +<a name="l00206"></a>00206 <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>(p, q.getNormalized()); +<a name="l00207"></a>00207 } +<a name="l00208"></a>00208 }; +<a name="l00209"></a>00209 +<a name="l00210"></a>00210 <span class="preprocessor">#if !PX_DOXYGEN</span> +<a name="l00211"></a>00211 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span> +<a name="l00212"></a>00212 <span class="preprocessor">#endif</span> +<a name="l00213"></a>00213 <span class="preprocessor"></span> +<a name="l00215"></a>00215 <span class="preprocessor">#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H</span> +</pre></div></div> + +<hr style="width: 100%; height: 2px;"><br> +Copyright © 2008-2016 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. <a href="http://www.nvidia.com ">www.nvidia.com</a> +</body> +</html> |