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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) 2008-2014 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 NV_NVFOUNDATION_NVTRANSFORM_H
+#define NV_NVFOUNDATION_NVTRANSFORM_H
+/** \addtogroup foundation
+  @{
+*/
+
+#include "NvQuat.h"
+#include "NvPlane.h"
+
+#if !NV_DOXYGEN
+namespace nvidia
+{
+#endif
+
+/*!
+\brief class representing a rigid euclidean transform as a quaternion and a vector
+*/
+
+class NvTransform
+{
+  public:
+	NvQuat q;
+	NvVec3 p;
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform()
+	{
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE explicit NvTransform(const NvVec3& position) : q(NvIdentity), p(position)
+	{
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE explicit NvTransform(NvIDENTITY r) : q(NvIdentity), p(NvZero)
+	{
+		NV_UNUSED(r);
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE explicit NvTransform(const NvQuat& orientation) : q(orientation), p(0)
+	{
+		NV_ASSERT(orientation.isSane());
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform(float x, float y, float z, NvQuat aQ = NvQuat(NvIdentity))
+	: q(aQ), p(x, y, z)
+	{
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform(const NvVec3& p0, const NvQuat& q0) : q(q0), p(p0)
+	{
+		NV_ASSERT(q0.isSane());
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE explicit NvTransform(const NvMat44& m); // defined in NvMat44.h
+
+	/**
+	\brief returns true if the two transforms are exactly equal
+	*/
+	NV_CUDA_CALLABLE NV_INLINE bool operator==(const NvTransform& t) const
+	{
+		return p == t.p && q == t.q;
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform operator*(const NvTransform& x) const
+	{
+		NV_ASSERT(x.isSane());
+		return transform(x);
+	}
+
+	//! Equals matrix multiplication
+	NV_CUDA_CALLABLE NV_INLINE NvTransform& operator*=(NvTransform& other)
+	{
+		*this = *this * other;
+		return *this;
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform getInverse() const
+	{
+		NV_ASSERT(isFinite());
+		return NvTransform(q.rotateInv(-p), q.getConjugate());
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 transform(const NvVec3& input) const
+	{
+		NV_ASSERT(isFinite());
+		return q.rotate(input) + p;
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 transformInv(const NvVec3& input) const
+	{
+		NV_ASSERT(isFinite());
+		return q.rotateInv(input - p);
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 rotate(const NvVec3& input) const
+	{
+		NV_ASSERT(isFinite());
+		return q.rotate(input);
+	}
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 rotateInv(const NvVec3& input) const
+	{
+		NV_ASSERT(isFinite());
+		return q.rotateInv(input);
+	}
+
+	//! Transform transform to parent (returns compound transform: first src, then *this)
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform transform(const NvTransform& src) const
+	{
+		NV_ASSERT(src.isSane());
+		NV_ASSERT(isSane());
+		// src = [srct, srcr] -> [r*srct + t, r*srcr]
+		return NvTransform(q.rotate(src.p) + p, q * src.q);
+	}
+
+	/**
+	\brief returns true if finite and q is a unit quaternion
+	*/
+
+	NV_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
+	*/
+
+	NV_CUDA_CALLABLE bool isSane() const
+	{
+		return isFinite() && q.isSane();
+	}
+
+	/**
+	\brief returns true if all elems are finite (not NAN or INF, etc.)
+	*/
+	NV_CUDA_CALLABLE NV_FORCE_INLINE bool isFinite() const
+	{
+		return p.isFinite() && q.isFinite();
+	}
+
+	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform transformInv(const NvTransform& src) const
+	{
+		NV_ASSERT(src.isSane());
+		NV_ASSERT(isFinite());
+		// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
+		NvQuat qinv = q.getConjugate();
+		return NvTransform(qinv.rotate(src.p - p), qinv * src.q);
+	}
+
+	/**
+	\brief transform plane
+	*/
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane transform(const NvPlane& plane) const
+	{
+		NvVec3 transformedNormal = rotate(plane.n);
+		return NvPlane(transformedNormal, plane.d - p.dot(transformedNormal));
+	}
+
+	/**
+	\brief inverse-transform plane
+	*/
+
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane inverseTransform(const NvPlane& plane) const
+	{
+		NvVec3 transformedNormal = rotateInv(plane.n);
+		return NvPlane(transformedNormal, plane.d + p.dot(plane.n));
+	}
+
+	/**
+	\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
+	*/
+	NV_CUDA_CALLABLE NV_FORCE_INLINE NvTransform getNormalized() const
+	{
+		return NvTransform(p, q.getNormalized());
+	}
+};
+
+#if !NV_DOXYGEN
+} // namespace nvidia
+#endif
+
+/** @} */
+#endif // #ifndef NV_NVFOUNDATION_NVTRANSFORM_H