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// 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) 2008-2017 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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