PxMat34.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 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 PX_MAT34_H
#define PX_MAT34_H
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
template<class Type>
class PxMat34T
{
    public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T()
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxVec3T<Type>& b0, const PxVec3T<Type>& b1, const PxVec3T<Type>& b2, const PxVec3T<Type>& b3)
        : m(b0, b1, b2), p(b3)
    {
    }
 
    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(Type values[]) :
        m(values), p(values[9], values[10], values[11])
    {       
    }
 
    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat33T<Type>& other)
        : m(other), p(PxZero)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat33T<Type>& other, const PxVec3T<Type>& t)
        : m(other), p(t)
    {
    }
 
    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxTransformT<Type>& other)
         : m(other.q), p(other.p)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat34T& other) : m(other.m), p(other.p)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat34T& operator=(const PxMat34T& other)
    {
        m = other.m;
        p = other.p;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void setIdentity()
    {
        m = PxMat33T<Type>(PxIdentity);
        p = PxVec3T<Type>(0);
    }
    
    // Simpler operators
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxMat34T& other) const
    {
        return m == other.m && p == other.p;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxMat34T& other) const
    {
        return !operator==(other);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator-() const
    {
        return PxMat34T(-m, -p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator+(const PxMat34T& other) const
    {
        return PxMat34T(m + other.m, p + other.p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator-(const PxMat34T& other) const
    {
        return PxMat34T(m - other.m, p - other.p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(Type scalar) const
    {
        return PxMat34T(m*scalar, p*scalar);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(const PxMat34T& other) const
    {
        //Rows from this <dot> columns from other
        //base0 = rotate(other.m.column0) etc
        return PxMat34T(m*other.m, m*other.p + p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(const PxMat33T<Type>& other) const
    {
        //Rows from this <dot> columns from other
        //base0 = transform(other.m.column0) etc
        return PxMat34T(m*other, p);
    }
 
    template<class Type2>
    friend PxMat34T<Type2> operator*(const PxMat33T<Type2>& a, const PxMat34T<Type2>& b);
    
    // a <op>= b operators
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator+=(const PxMat34T& other)
    {
        m += other.m;
        p += other.p;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator-=(const PxMat34T& other)
    {
        m -= other.m;
        p -= other.p;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator*=(Type scalar)
    {
        m *= scalar;
        p *= scalar;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type operator()(PxU32 row, PxU32 col) const
    {
        return (*this)[col][row];
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type& operator()(PxU32 row, PxU32 col)
    {
        return (*this)[col][row];
    }
 
    // Transform etc
    
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotate(const PxVec3T<Type>& other) const
    {
        return m*other;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotateTranspose(const PxVec3T<Type>& other) const
    {
        return m.transformTranspose(other);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transform(const PxVec3T<Type>& other) const
    {
        return m*other + p;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transformTranspose(const PxVec3T<Type>& other) const
    {
        return m.transformTranspose(other - p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T transformTranspose(const PxMat34T& other) const
    {
        return PxMat34T(m.transformTranspose(other.m.column0), 
                        m.transformTranspose(other.m.column1), 
                        m.transformTranspose(other.m.column2), 
                        m.transformTranspose(other.p - p));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T getInverseRT() const
    {
        return PxMat34T(m.getTranspose(), m.transformTranspose(-p));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE        PxVec3T<Type>& operator[](PxU32 num)            { return (&m.column0)[num]; }
    PX_CUDA_CALLABLE PX_FORCE_INLINE const  PxVec3T<Type>& operator[](PxU32 num)    const   { return (&m.column0)[num]; }
 
    //Data, see above for format!
 
    PxMat33T<Type> m;
    PxVec3T<Type> p;
};
 
template<class Type>
PX_INLINE PxMat34T<Type> operator*(const PxMat33T<Type>& a, const PxMat34T<Type>& b)
{
    return PxMat34T<Type>(a * b.m, a * b.p);
}
 
typedef PxMat34T<float>     PxMat34;
typedef PxMat34T<double>    PxMat34d;
 
class PxMat34Padded : public PxMat34
{
    public:
        PX_FORCE_INLINE PxMat34Padded(const PxMat34& src) : PxMat34(src)    {}
        PX_FORCE_INLINE PxMat34Padded()                                     {}
        PX_FORCE_INLINE ~PxMat34Padded()                                    {}
        PxU32   padding;
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxMat34Padded)==16));
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif