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<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">//</span>
<a name="l00002"></a>00002 <span class="comment">// Redistribution and use in source and binary forms, with or without</span>
<a name="l00003"></a>00003 <span class="comment">// modification, are permitted provided that the following conditions</span>
<a name="l00004"></a>00004 <span class="comment">// are met:</span>
<a name="l00005"></a>00005 <span class="comment">// * Redistributions of source code must retain the above copyright</span>
<a name="l00006"></a>00006 <span class="comment">// notice, this list of conditions and the following disclaimer.</span>
<a name="l00007"></a>00007 <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00008"></a>00008 <span class="comment">// notice, this list of conditions and the following disclaimer in the</span>
<a name="l00009"></a>00009 <span class="comment">// documentation and/or other materials provided with the distribution.</span>
<a name="l00010"></a>00010 <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span>
<a name="l00011"></a>00011 <span class="comment">// contributors may be used to endorse or promote products derived</span>
<a name="l00012"></a>00012 <span class="comment">// from this software without specific prior written permission.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY</span>
<a name="l00015"></a>00015 <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span>
<a name="l00016"></a>00016 <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span>
<a name="l00017"></a>00017 <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span>
<a name="l00018"></a>00018 <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span>
<a name="l00019"></a>00019 <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span>
<a name="l00020"></a>00020 <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span>
<a name="l00021"></a>00021 <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span>
<a name="l00022"></a>00022 <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00023"></a>00023 <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span>
<a name="l00024"></a>00024 <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2018 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>
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