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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

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diff --git a/PhysX_3.4/Source/Common/src/CmMatrix34.h b/PhysX_3.4/Source/Common/src/CmMatrix34.h
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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) 2008-2016 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 PX_PHYSICS_COMMON_MATRIX34
+#define PX_PHYSICS_COMMON_MATRIX34
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxMat33.h"
+
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+namespace Cm
+{
+
+/*!
+Basic mathematical 3x4 matrix, implemented as a 3x3 rotation matrix and a translation
+
+See PxMat33 for the format of the rotation matrix.
+
+*/
+
+class Matrix34
+{
+public:
+	//! Default constructor
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34()
+	{}
+
+	//! Construct from four base vectors
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const PxVec3& b0, const PxVec3& b1, const PxVec3& b2, const PxVec3& b3)
+		: m(b0, b1, b2), p(b3)
+	{}
+
+	//! Construct from float[12]
+	explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(PxReal values[]):
+		m(values), p(values[9], values[10], values[11])
+	{		
+	}
+
+	//! Construct from a 3x3 matrix
+	explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const PxMat33& other)
+		: m(other), p(PxZero)
+	{
+	}
+
+	//! Construct from a 3x3 matrix and a translation vector
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const PxMat33& other, const PxVec3& t)
+		: m(other), p(t)
+	{}
+
+	//! Construct from a PxTransform
+	explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const PxTransform& other):
+		m(other.q), p(other.p)
+	{
+	}
+
+	//! Construct from a quaternion
+	explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const PxQuat& q):
+		m(q), p(PxZero)
+	{
+	}
+
+	//! Copy constructor
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34(const Matrix34& other):
+		m(other.m), p(other.p)
+	{
+	}
+
+	//! Assignment operator
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const Matrix34& operator=(const Matrix34& other)
+	{
+		m = other.m;
+		p = other.p;
+		return *this;
+	}
+
+	//! Set to identity matrix
+	PX_CUDA_CALLABLE PX_FORCE_INLINE void setIdentity()
+	{
+		m = PxMat33(PxIdentity);
+		p = PxVec3(0);
+	}
+	
+	// Simpler operators
+	//! Equality operator
+	PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const Matrix34& other) const
+	{
+		return m == other.m && p == other.p;
+	}
+
+	//! Inequality operator
+	PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const Matrix34& other) const
+	{
+		return !operator==(other);
+	}
+
+	//! Unary minus
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator-() const
+	{
+		return Matrix34(-m, -p);
+	}
+
+	//! Add
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator+(const Matrix34& other) const
+	{
+		return Matrix34(m + other.m, p + other.p);
+	}
+
+	//! Subtract
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator-(const Matrix34& other) const
+	{
+		return Matrix34(m - other.m, p - other.p);
+	}
+
+	//! Scalar multiplication
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator*(PxReal scalar) const
+	{
+		return Matrix34(m*scalar, p*scalar);
+	}
+
+	friend Matrix34 operator*(PxReal, const Matrix34&);
+
+	//! Matrix multiplication
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator*(const Matrix34& other) const
+	{
+		//Rows from this <dot> columns from other
+		//base0 = rotate(other.m.column0) etc
+		return Matrix34(m*other.m, m*other.p + p);
+	}
+
+	//! Matrix multiplication, extend the second matrix
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 operator*(const PxMat33& other) const
+	{
+		//Rows from this <dot> columns from other
+		//base0 = transform(other.m.column0) etc
+		return Matrix34(m*other, p);
+	}
+
+	friend Matrix34 operator*(const PxMat33& a, const Matrix34& b);
+	
+	// a <op>= b operators
+
+	//! Equals-add
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34& operator+=(const Matrix34& other)
+	{
+		m += other.m;
+		p += other.p;
+		return *this;
+	}
+
+	//! Equals-sub
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34& operator-=(const Matrix34& other)
+	{
+		m -= other.m;
+		p -= other.p;
+		return *this;
+	}
+
+	//! Equals scalar multiplication
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34& operator*=(PxReal scalar)
+	{
+		m *= scalar;
+		p *= scalar;
+
+		return *this;
+	}
+
+	//! Element access, mathematical way!
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal operator()(PxU32 row, PxU32 col) const
+	{
+		return (*this)[col][row];
+	}
+
+	//! Element access, mathematical way!
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator()(PxU32 row, PxU32 col)
+	{
+		return (*this)[col][row];
+	}
+
+	// Transform etc
+	
+	//! Transform vector by matrix, equal to v' = M*v
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& other) const
+	{
+		return m*other;
+	}
+
+	//! Transform vector by transpose of matrix, equal to v' = M^t*v
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateTranspose(const PxVec3& other) const
+	{
+		return m.transformTranspose(other);
+	}
+
+	//! Transform point by matrix
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& other) const
+	{
+		return m*other + p;
+	}
+
+	//! Transform point by transposed matrix
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformTranspose(const PxVec3& other) const
+	{
+		return m.transformTranspose(other - p);
+	}
+
+	//! Transform point by transposed matrix
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Cm::Matrix34 transformTranspose(const Cm::Matrix34& other) const
+	{
+		return Cm::Matrix34(m.transformTranspose(other.m.column0), 
+							m.transformTranspose(other.m.column1), 
+							m.transformTranspose(other.m.column2), 
+							m.transformTranspose(other.p - p));
+	}
+
+
+	//! Invert matrix treating it as a rotation+translation matrix only
+	PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34 getInverseRT() const
+	{
+		return Matrix34(m.getTranspose(), m.transformTranspose(-p));
+	}
+
+
+	// Conversion
+	//! Set matrix from quaternion
+	PX_CUDA_CALLABLE PX_FORCE_INLINE void set(const PxQuat& q) 
+	{
+		m = PxMat33(q);
+		p = PxVec3(PxZero);
+	}
+
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE		PxVec3& operator[](unsigned int num){return (&m.column0)[num];}
+	PX_CUDA_CALLABLE PX_FORCE_INLINE		PxVec3& operator[](int num)			{ return (&m.column0)[num]; }
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const	PxVec3& operator[](unsigned int num) const	{ return (&m.column0)[num]; }
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const	PxVec3& operator[](int num) const	{ return (&m.column0)[num]; }
+
+	//Data, see above for format!
+
+	PxMat33 m;
+	PxVec3 p;
+
+};
+
+
+//! Multiply a*b, a is extended
+PX_INLINE Matrix34 operator*(const PxMat33& a, const Matrix34& b)
+{
+	return Matrix34(a * b.m, a * b.p);
+}
+
+
+} // namespace Cm
+
+}
+
+#endif