1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
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>
|