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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.
#ifndef PSFOUNDATION_PSVECTRANSFORM_H
#define PSFOUNDATION_PSVECTRANSFORM_H
#include "PsVecMath.h"
#include "foundation/PxTransform.h"
namespace physx
{
namespace shdfnd
{
namespace aos
{
class PsTransformV
{
public:
QuatV q;
Vec3V p;
PX_FORCE_INLINE PsTransformV(const PxTransform& orientation)
{
// const PxQuat oq = orientation.q;
// const PxF32 f[4] = {oq.x, oq.y, oq.z, oq.w};
q = QuatVLoadXYZW(orientation.q.x, orientation.q.y, orientation.q.z, orientation.q.w);
// q = QuatV_From_F32Array(&oq.x);
p = V3LoadU(orientation.p);
}
PX_FORCE_INLINE PsTransformV(const Vec3VArg p0 = V3Zero(), const QuatVArg q0 = QuatIdentity()) : q(q0), p(p0)
{
PX_ASSERT(isSaneQuatV(q0));
}
PX_FORCE_INLINE PsTransformV operator*(const PsTransformV& x) const
{
PX_ASSERT(x.isSane());
return transform(x);
}
PX_FORCE_INLINE PsTransformV getInverse() const
{
PX_ASSERT(isFinite());
// return PxTransform(q.rotateInv(-p),q.getConjugate());
return PsTransformV(QuatRotateInv(q, V3Neg(p)), QuatConjugate(q));
}
PX_FORCE_INLINE void normalize()
{
p = V3Zero();
q = QuatIdentity();
}
PX_FORCE_INLINE void Invalidate()
{
p = V3Splat(FMax());
q = QuatIdentity();
}
PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
{
PX_ASSERT(isFinite());
// return q.rotate(input) + p;
return QuatTransform(q, p, input);
}
PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
{
PX_ASSERT(isFinite());
// return q.rotateInv(input-p);
return QuatRotateInv(q, V3Sub(input, p));
}
PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
{
PX_ASSERT(isFinite());
// return q.rotate(input);
return QuatRotate(q, input);
}
PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
{
PX_ASSERT(isFinite());
// return q.rotateInv(input);
return QuatRotateInv(q, input);
}
//! Transform transform to parent (returns compound transform: first src, then *this)
PX_FORCE_INLINE PsTransformV transform(const PsTransformV& 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);
return PsTransformV(V3Add(QuatRotate(q, src.p), p), QuatMul(q, src.q));
}
/**
\brief returns true if finite and q is a unit quaternion
*/
PX_FORCE_INLINE bool isValid() const
{
// return p.isFinite() && q.isFinite() && q.isValid();
return isFiniteVec3V(p) & isFiniteQuatV(q) & isValidQuatV(q);
}
/**
\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
vs isValid
*/
PX_FORCE_INLINE bool isSane() const
{
// return isFinite() && q.isSane();
return isFinite() & isSaneQuatV(q);
}
/**
\brief returns true if all elems are finite (not NAN or INF, etc.)
*/
PX_FORCE_INLINE bool isFinite() const
{
// return p.isFinite() && q.isFinite();
return isFiniteVec3V(p) & isFiniteQuatV(q);
}
//! Transform transform from parent (returns compound transform: first src, then this->inverse)
PX_FORCE_INLINE PsTransformV transformInv(const PsTransformV& 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);*/
const QuatV qinv = QuatConjugate(q);
const Vec3V v = QuatRotate(qinv, V3Sub(src.p, p));
const QuatV rot = QuatMul(qinv, src.q);
return PsTransformV(v, rot);
}
static PX_FORCE_INLINE PsTransformV createIdentity()
{
return PsTransformV(V3Zero());
}
};
PX_FORCE_INLINE PsTransformV loadTransformA(const PxTransform& transform)
{
const QuatV q0 = QuatVLoadA(&transform.q.x);
const Vec3V p0 = V3LoadA(&transform.p.x);
return PsTransformV(p0, q0);
}
PX_FORCE_INLINE PsTransformV loadTransformU(const PxTransform& transform)
{
const QuatV q0 = QuatVLoadU(&transform.q.x);
const Vec3V p0 = V3LoadU(&transform.p.x);
return PsTransformV(p0, q0);
}
class PsMatTransformV
{
public:
Mat33V rot;
Vec3V p;
PX_FORCE_INLINE PsMatTransformV()
{
p = V3Zero();
rot = M33Identity();
}
PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const Mat33V& _rot)
{
p = _p;
rot = _rot;
}
PX_FORCE_INLINE PsMatTransformV(const PsTransformV& other)
{
p = other.p;
QuatGetMat33V(other.q, rot.col0, rot.col1, rot.col2);
}
PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const QuatV& quat)
{
p = _p;
QuatGetMat33V(quat, rot.col0, rot.col1, rot.col2);
}
PX_FORCE_INLINE Vec3V getCol0() const
{
return rot.col0;
}
PX_FORCE_INLINE Vec3V getCol1() const
{
return rot.col1;
}
PX_FORCE_INLINE Vec3V getCol2() const
{
return rot.col2;
}
PX_FORCE_INLINE void setCol0(const Vec3VArg col0)
{
rot.col0 = col0;
}
PX_FORCE_INLINE void setCol1(const Vec3VArg col1)
{
rot.col1 = col1;
}
PX_FORCE_INLINE void setCol2(const Vec3VArg col2)
{
rot.col2 = col2;
}
PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
{
return V3Add(p, M33MulV3(rot, input));
}
PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
{
return M33TrnspsMulV3(rot, V3Sub(input, p)); // QuatRotateInv(q, V3Sub(input, p));
}
PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
{
return M33MulV3(rot, input);
}
PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
{
return M33TrnspsMulV3(rot, input);
}
PX_FORCE_INLINE PsMatTransformV transformInv(const PsMatTransformV& src) const
{
const Vec3V v = M33TrnspsMulV3(rot, V3Sub(src.p, p));
const Mat33V mat = M33MulM33(M33Trnsps(rot), src.rot);
return PsMatTransformV(v, mat);
}
};
}
}
}
#endif
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