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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#ifndef APEX_MATH_H
#define APEX_MATH_H
#include "PxMat44.h"
#include "PsMathUtils.h"
#include "PsVecMath.h"
namespace nvidia
{
#define APEX_ALIGN_UP(offset, alignment) (((offset) + (alignment)-1) & ~((alignment)-1))
/**
* computes weight * _origin + (1.0f - weight) * _target
*/
PX_INLINE PxMat44 interpolateMatrix(float weight, const PxMat44& _origin, const PxMat44& _target)
{
// target: normalize, save scale, transform to quat
PxMat33 target(_target.column0.getXYZ(),
_target.column1.getXYZ(),
_target.column2.getXYZ());
PxVec3 axis0 = target.column0;
PxVec3 axis1 = target.column1;
PxVec3 axis2 = target.column2;
const PxVec4 targetScale(axis0.normalize(), axis1.normalize(), axis2.normalize(), 1.0f);
target.column0 = axis0;
target.column1 = axis1;
target.column2 = axis2;
const PxQuat targetQ = PxQuat(target);
// origin: normalize, save scale, transform to quat
PxMat33 origin(_origin.column0.getXYZ(),
_origin.column1.getXYZ(),
_origin.column2.getXYZ());
const PxVec4 originScale(axis0.normalize(), axis1.normalize(), axis2.normalize(), 1.0f);
origin.column0 = axis0;
origin.column1 = axis1;
origin.column2 = axis2;
const PxQuat originQ = PxQuat(origin);
// interpolate
PxQuat relativeQ = physx::shdfnd::slerp(1.0f - weight, originQ, targetQ);
PxMat44 relative(relativeQ);
relative.setPosition(weight * _origin.getPosition() + (1.0f - weight) * _target.getPosition());
PxMat44 _relative = relative;
const PxVec4 scale = weight * originScale + (1.0f - weight) * targetScale;
_relative.scale(scale);
return _relative;
}
bool operator != (const PxMat44& a, const PxMat44& b);
}
#endif // APEX_MATH_H
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