PxTransform.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
#ifndef PX_TRANSFORM_H
#define PX_TRANSFORM_H
#include "foundation/PxQuat.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
template<class Type>
class PxTransformT
{
  public:
    PxQuatT<Type>   q;
    PxVec3T<Type>   p;
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT()
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxVec3T<Type>& position) : q(PxIdentity), p(position)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(PxIDENTITY) : q(PxIdentity), p(PxZero)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxQuatT<Type>& orientation) : q(orientation), p(Type(0))
    {
        PX_ASSERT(orientation.isSane());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(Type x, Type y, Type z, PxQuatT<Type> aQ = PxQuatT<Type>(PxIdentity)) :
        q(aQ), p(x, y, z)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxVec3T<Type>& p0, const PxQuatT<Type>& q0) : q(q0), p(p0)
    {
        PX_ASSERT(q0.isSane());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxMat44T<Type>& m); // defined in PxMat44.h
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(const PxTransformT& other)
    {
        p = other.p;
        q = other.q;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxTransformT& other)
    {
        p = other.p;
        q = other.q;
    }
 
    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransformT& t) const
    {
        return p == t.p && q == t.q;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT operator*(const PxTransformT& x) const
    {
        PX_ASSERT(x.isSane());
        return transform(x);
    }
 
    PX_CUDA_CALLABLE PX_INLINE PxTransformT& operator*=(const PxTransformT& other)
    {
        *this = *this * other;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getInverse() const
    {
        PX_ASSERT(isFinite());
        return PxTransformT(q.rotateInv(-p), q.getConjugate());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transform(const PxVec3T<Type>& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotate(input) + p;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transformInv(const PxVec3T<Type>& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotateInv(input - p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotate(const PxVec3T<Type>& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotate(input);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotateInv(const PxVec3T<Type>& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotateInv(input);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transform(const PxTransformT& src) const
    {
        PX_ASSERT(src.isSane());
        PX_ASSERT(isSane());
        // src = [srct, srcr] -> [r*srct + t, r*srcr]
        return PxTransformT(q.rotate(src.p) + p, q * src.q);
    }
 
    PX_CUDA_CALLABLE bool isValid() const
    {
        return p.isFinite() && q.isFinite() && q.isUnit();
    }
 
    PX_CUDA_CALLABLE bool isSane() const
    {
        return isFinite() && q.isSane();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
    {
        return p.isFinite() && q.isFinite();
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transformInv(const PxTransformT& src) const
    {
        PX_ASSERT(src.isSane());
        PX_ASSERT(isFinite());
        // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
        const PxQuatT<Type> qinv = q.getConjugate();
        return PxTransformT(qinv.rotate(src.p - p), qinv * src.q);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getNormalized() const
    {
        return PxTransformT(p, q.getNormalized());
    }
};
 
typedef PxTransformT<float>     PxTransform;
typedef PxTransformT<double>    PxTransformd;
 
struct PX_ALIGN_PREFIX(16) PxTransformPadded
{
    PxTransform transform;
    PxU32       padding;
}
PX_ALIGN_SUFFIX(16);
PX_COMPILE_TIME_ASSERT(sizeof(PxTransformPadded)==32);
 
typedef PxTransformPadded   PxTransform32;
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif