CmMatrix34.h

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#ifndef CM_MATRIX34_H
#define CM_MATRIX34_H
 
#include "foundation/PxMat34.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
namespace Cm
{
 
#ifndef __CUDACC__
// PT: similar to PxMat33Padded
class Matrix34FromTransform : public PxMat34
{
public:
    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34FromTransform(const PxTransform& other)
    {
        using namespace aos;
 
        const QuatV qV = V4LoadU(&other.q.x);
        Vec3V column0V, column1V, column2V;
        QuatGetMat33V(qV, column0V, column1V, column2V);
 
        // From "buildFrom"
        // PT: TODO: investigate if these overlapping stores are a problem
        V4StoreU(Vec4V_From_Vec3V(column0V), &m.column0.x);
        V4StoreU(Vec4V_From_Vec3V(column1V), &m.column1.x);
        V4StoreU(Vec4V_From_Vec3V(column2V), &m.column2.x);
 
        p = other.p;
    }
};
#endif
 
} // namespace Cm
 
}
 
#endif