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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) 2008-2018 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));
}
}
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