1 | // Copyright (C) 2022 The Qt Company Ltd. |
2 | // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only |
3 | |
4 | #ifndef QPHYSICSUTILS_P_H |
5 | #define QPHYSICSUTILS_P_H |
6 | |
7 | // |
8 | // W A R N I N G |
9 | // ------------- |
10 | // |
11 | // This file is not part of the Qt API. It exists purely as an |
12 | // implementation detail. This header file may change from version to |
13 | // version without notice, or even be removed. |
14 | // |
15 | // We mean it. |
16 | // |
17 | |
18 | #include <QVector3D> |
19 | #include <QQuaternion> |
20 | #include <foundation/PxTransform.h> |
21 | #include <foundation/PxMat33.h> |
22 | #include <foundation/PxQuat.h> |
23 | #include <foundation/PxVec3.h> |
24 | |
25 | namespace physx { |
26 | class PxRigidBody; |
27 | } |
28 | |
29 | namespace QPhysicsUtils { |
30 | |
31 | Q_ALWAYS_INLINE physx::PxVec3 toPhysXType(const QVector3D &qvec) |
32 | { |
33 | return physx::PxVec3(qvec.x(), qvec.y(), qvec.z()); |
34 | } |
35 | |
36 | Q_ALWAYS_INLINE physx::PxQuat toPhysXType(const QQuaternion &qquat) |
37 | { |
38 | return physx::PxQuat(qquat.x(), qquat.y(), qquat.z(), qquat.scalar()); |
39 | } |
40 | |
41 | Q_ALWAYS_INLINE physx::PxMat33 toPhysXType(const QMatrix3x3 &m) |
42 | { |
43 | return physx::PxMat33(const_cast<float *>(m.constData())); |
44 | } |
45 | |
46 | Q_ALWAYS_INLINE QVector3D toQtType(const physx::PxVec3 &vec) |
47 | { |
48 | return QVector3D(vec.x, vec.y, vec.z); |
49 | } |
50 | |
51 | Q_ALWAYS_INLINE QQuaternion toQtType(const physx::PxQuat &quat) |
52 | { |
53 | return QQuaternion(quat.w, quat.x, quat.y, quat.z); |
54 | } |
55 | |
56 | Q_ALWAYS_INLINE physx::PxTransform toPhysXTransform(const QVector3D &position, |
57 | const QQuaternion &rotation) |
58 | { |
59 | return physx::PxTransform(QPhysicsUtils::toPhysXType(qvec: position), |
60 | QPhysicsUtils::toPhysXType(qquat: rotation)); |
61 | } |
62 | } |
63 | |
64 | #endif // QPHYSICSUTILS_P_H |
65 | |