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29
30#ifndef PXFOUNDATION_PXTRANSFORM_H
31#define PXFOUNDATION_PXTRANSFORM_H
32/** \addtogroup foundation
33 @{
34*/
35
36#include "foundation/PxQuat.h"
37#include "foundation/PxPlane.h"
38
39#if !PX_DOXYGEN
40namespace physx
41{
42#endif
43
44/*!
45\brief class representing a rigid euclidean transform as a quaternion and a vector
46*/
47
48class PxTransform
49{
50 public:
51 PxQuat q;
52 PxVec3 p;
53
54 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform()
55 {
56 }
57
58 PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position) : q(PxIdentity), p(position)
59 {
60 }
61
62 PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(PxIDENTITY r) : q(PxIdentity), p(PxZero)
63 {
64 PX_UNUSED(r);
65 }
66
67 PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation) : q(orientation), p(0)
68 {
69 PX_SHARED_ASSERT(orientation.isSane());
70 }
71
72 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ = PxQuat(PxIdentity))
73 : q(aQ), p(x, y, z)
74 {
75 }
76
77 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0) : q(q0), p(p0)
78 {
79 PX_SHARED_ASSERT(q0.isSane());
80 }
81
82 PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m); // defined in PxMat44.h
83
84 /**
85 \brief returns true if the two transforms are exactly equal
86 */
87 PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransform& t) const
88 {
89 return p == t.p && q == t.q;
90 }
91
92 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
93 {
94 PX_SHARED_ASSERT(x.isSane());
95 return transform(src: x);
96 }
97
98 //! Equals matrix multiplication
99 PX_CUDA_CALLABLE PX_INLINE PxTransform& operator*=(PxTransform& other)
100 {
101 *this = *this * other;
102 return *this;
103 }
104
105 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
106 {
107 PX_SHARED_ASSERT(isFinite());
108 return PxTransform(q.rotateInv(v: -p), q.getConjugate());
109 }
110
111 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
112 {
113 PX_SHARED_ASSERT(isFinite());
114 return q.rotate(v: input) + p;
115 }
116
117 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
118 {
119 PX_SHARED_ASSERT(isFinite());
120 return q.rotateInv(v: input - p);
121 }
122
123 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
124 {
125 PX_SHARED_ASSERT(isFinite());
126 return q.rotate(v: input);
127 }
128
129 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
130 {
131 PX_SHARED_ASSERT(isFinite());
132 return q.rotateInv(v: input);
133 }
134
135 //! Transform transform to parent (returns compound transform: first src, then *this)
136 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
137 {
138 PX_SHARED_ASSERT(src.isSane());
139 PX_SHARED_ASSERT(isSane());
140 // src = [srct, srcr] -> [r*srct + t, r*srcr]
141 return PxTransform(q.rotate(v: src.p) + p, q * src.q);
142 }
143
144 /**
145 \brief returns true if finite and q is a unit quaternion
146 */
147
148 PX_CUDA_CALLABLE bool isValid() const
149 {
150 return p.isFinite() && q.isFinite() && q.isUnit();
151 }
152
153 /**
154 \brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
155 vs isValid
156 */
157
158 PX_CUDA_CALLABLE bool isSane() const
159 {
160 return isFinite() && q.isSane();
161 }
162
163 /**
164 \brief returns true if all elems are finite (not NAN or INF, etc.)
165 */
166 PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
167 {
168 return p.isFinite() && q.isFinite();
169 }
170
171 //! Transform transform from parent (returns compound transform: first src, then this->inverse)
172 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
173 {
174 PX_SHARED_ASSERT(src.isSane());
175 PX_SHARED_ASSERT(isFinite());
176 // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
177 PxQuat qinv = q.getConjugate();
178 return PxTransform(qinv.rotate(v: src.p - p), qinv * src.q);
179 }
180
181 /**
182 \brief transform plane
183 */
184
185 PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
186 {
187 PxVec3 transformedNormal = rotate(input: plane.n);
188 return PxPlane(transformedNormal, plane.d - p.dot(v: transformedNormal));
189 }
190
191 /**
192 \brief inverse-transform plane
193 */
194
195 PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
196 {
197 PxVec3 transformedNormal = rotateInv(input: plane.n);
198 return PxPlane(transformedNormal, plane.d + p.dot(v: plane.n));
199 }
200
201 /**
202 \brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
203 */
204 PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const
205 {
206 return PxTransform(p, q.getNormalized());
207 }
208};
209
210#if !PX_DOXYGEN
211} // namespace physx
212#endif
213
214/** @} */
215#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H
216

source code of qtquick3dphysics/src/3rdparty/PhysX/pxshared/include/foundation/PxTransform.h