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
25namespace physx {
26class PxRigidBody;
27}
28
29namespace QPhysicsUtils {
30
31Q_ALWAYS_INLINE physx::PxVec3 toPhysXType(const QVector3D &qvec)
32{
33 return physx::PxVec3(qvec.x(), qvec.y(), qvec.z());
34}
35
36Q_ALWAYS_INLINE physx::PxQuat toPhysXType(const QQuaternion &qquat)
37{
38 return physx::PxQuat(qquat.x(), qquat.y(), qquat.z(), qquat.scalar());
39}
40
41Q_ALWAYS_INLINE physx::PxMat33 toPhysXType(const QMatrix3x3 &m)
42{
43 return physx::PxMat33(const_cast<float *>(m.constData()));
44}
45
46Q_ALWAYS_INLINE QVector3D toQtType(const physx::PxVec3 &vec)
47{
48 return QVector3D(vec.x, vec.y, vec.z);
49}
50
51Q_ALWAYS_INLINE QQuaternion toQtType(const physx::PxQuat &quat)
52{
53 return QQuaternion(quat.w, quat.x, quat.y, quat.z);
54}
55
56Q_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

source code of qtquick3dphysics/src/quick3dphysics/qphysicsutils_p.h