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
205
206
207
208
209
210
211
212
213
214
215
|
// 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) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PXFOUNDATION_PXTRANSFORM_H
#define PXFOUNDATION_PXTRANSFORM_H
/** \addtogroup foundation
@{
*/
#include "foundation/PxQuat.h"
#include "foundation/PxPlane.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/*!
\brief class representing a rigid euclidean transform as a quaternion and a vector
*/
class PxTransform
{
public:
PxQuat q;
PxVec3 p;
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform()
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position) : q(PxIdentity), p(position)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(PxIDENTITY r) : q(PxIdentity), p(PxZero)
{
PX_UNUSED(r);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation) : q(orientation), p(0)
{
PX_ASSERT(orientation.isSane());
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ = PxQuat(PxIdentity))
: q(aQ), p(x, y, z)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0) : q(q0), p(p0)
{
PX_ASSERT(q0.isSane());
}
PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m); // defined in PxMat44.h
/**
\brief returns true if the two transforms are exactly equal
*/
PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransform& t) const
{
return p == t.p && q == t.q;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
{
PX_ASSERT(x.isSane());
return transform(x);
}
//! Equals matrix multiplication
PX_CUDA_CALLABLE PX_INLINE PxTransform& operator*=(PxTransform& other)
{
*this = *this * other;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
{
PX_ASSERT(isFinite());
return PxTransform(q.rotateInv(-p), q.getConjugate());
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
{
PX_ASSERT(isFinite());
return q.rotate(input) + p;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
{
PX_ASSERT(isFinite());
return q.rotateInv(input - p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
{
PX_ASSERT(isFinite());
return q.rotate(input);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
{
PX_ASSERT(isFinite());
return q.rotateInv(input);
}
//! Transform transform to parent (returns compound transform: first src, then *this)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
{
PX_ASSERT(src.isSane());
PX_ASSERT(isSane());
// src = [srct, srcr] -> [r*srct + t, r*srcr]
return PxTransform(q.rotate(src.p) + p, q * src.q);
}
/**
\brief returns true if finite and q is a unit quaternion
*/
PX_CUDA_CALLABLE bool isValid() const
{
return p.isFinite() && q.isFinite() && q.isUnit();
}
/**
\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
vs isValid
*/
PX_CUDA_CALLABLE bool isSane() const
{
return isFinite() && q.isSane();
}
/**
\brief returns true if all elems are finite (not NAN or INF, etc.)
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
{
return p.isFinite() && q.isFinite();
}
//! Transform transform from parent (returns compound transform: first src, then this->inverse)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
{
PX_ASSERT(src.isSane());
PX_ASSERT(isFinite());
// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
PxQuat qinv = q.getConjugate();
return PxTransform(qinv.rotate(src.p - p), qinv * src.q);
}
/**
\brief transform plane
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
{
PxVec3 transformedNormal = rotate(plane.n);
return PxPlane(transformedNormal, plane.d - p.dot(transformedNormal));
}
/**
\brief inverse-transform plane
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
{
PxVec3 transformedNormal = rotateInv(plane.n);
return PxPlane(transformedNormal, plane.d + p.dot(plane.n));
}
/**
\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const
{
return PxTransform(p, q.getNormalized());
}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H
|