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Diffstat (limited to 'PhysX_3.4/Source/Common/src/CmMathUtils.cpp')
| -rw-r--r-- | PhysX_3.4/Source/Common/src/CmMathUtils.cpp | 69 |
1 files changed, 69 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/Common/src/CmMathUtils.cpp b/PhysX_3.4/Source/Common/src/CmMathUtils.cpp new file mode 100644 index 00000000..72d7586f --- /dev/null +++ b/PhysX_3.4/Source/Common/src/CmMathUtils.cpp @@ -0,0 +1,69 @@ +// 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. + +#include "foundation/PxPreprocessor.h" +#include "foundation/PxTransform.h" +#include "foundation/PxMathUtils.h" + +namespace physx +{ + + +PX_FOUNDATION_API PxTransform PxTransformFromPlaneEquation(const PxPlane& plane) +{ + PxPlane p = plane; + p.normalize(); + + // special case handling for axis aligned planes + const PxReal halfsqrt2 = 0.707106781; + PxQuat q; + if(2 == (p.n.x == 0.0f) + (p.n.y == 0.0f) + (p.n.z == 0.0f)) // special handling for axis aligned planes + { + if(p.n.x > 0) q = PxQuat(PxIdentity); + else if(p.n.x < 0) q = PxQuat(0, 0, 1.0f, 0); + else q = PxQuat(0.0f, -p.n.z, p.n.y, 1.0f) * halfsqrt2; + } + else q = PxShortestRotation(PxVec3(1.f,0,0), p.n); + + return PxTransform(-p.n * p.d, q); + +} + +PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight) +{ + const PxVec3 axis = p1-p0; + const PxReal height = axis.magnitude(); + if(halfHeight) + *halfHeight = height/2; + + return PxTransform((p1+p0) * 0.5f, + height<1e-6f ? PxQuat(PxIdentity) : PxShortestRotation(PxVec3(1.f,0,0), axis/height)); +} + +} |