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00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
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00025 //
00026 // Copyright (c) 2008-2012 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_FOUNDATION_PX_TRANSFORM_H
00032 #define PX_FOUNDATION_PX_TRANSFORM_H
00033 
00037 #include "foundation/PxQuat.h"
00038 #include "foundation/PxPlane.h"
00039 
00040 #ifndef PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00049 class PxTransform
00050 {
00051 public:
00052     PxQuat q;
00053     PxVec3 p;
00054 
00055 //#define PXTRANSFORM_DEFAULT_CONSTRUCT_NAN
00056 
00057     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform() 
00058 #ifdef PXTRANSFORM_DEFAULT_CONSTRUCT_IDENTITY
00059         : q(0, 0, 0, 1), p(0, 0, 0)
00060 #elif defined(PXTRANSFORM_DEFAULT_CONSTRUCT_NAN)
00061 #define invalid PxSqrt(-1.0f)
00062         : q(invalid, invalid, invalid, invalid), p(invalid, invalid, invalid)
00063 #undef invalid
00064 #endif
00065     {
00066     }
00067 
00068     PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position): q(0, 0, 0, 1), p(position)
00069     {
00070     }
00071 
00072     PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation): q(orientation), p(0, 0, 0)
00073     {
00074         PX_ASSERT(orientation.isSane());
00075     }
00076 
00077     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0): q(q0), p(p0) 
00078     {
00079         PX_ASSERT(q0.isSane());
00080     }
00081 
00082     PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m);    // defined in PxMat44.h
00083     
00084     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
00085     {
00086         PX_ASSERT(x.isSane());
00087         return transform(x);
00088     }
00089 
00090     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
00091     {
00092         PX_ASSERT(isFinite());
00093         return PxTransform(q.rotateInv(-p),q.getConjugate());
00094     }
00095 
00096 
00097     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
00098     {
00099         PX_ASSERT(isFinite());
00100         return q.rotate(input) + p;
00101     }
00102 
00103     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
00104     {
00105         PX_ASSERT(isFinite());
00106         return q.rotateInv(input-p);
00107     }
00108 
00109     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
00110     {
00111         PX_ASSERT(isFinite());
00112         return q.rotate(input);
00113     }
00114 
00115     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
00116     {
00117         PX_ASSERT(isFinite());
00118         return q.rotateInv(input);
00119     }
00120 
00122     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
00123     {
00124         PX_ASSERT(src.isSane());
00125         PX_ASSERT(isSane());
00126         // src = [srct, srcr] -> [r*srct + t, r*srcr]
00127         return PxTransform(q.rotate(src.p) + p, q*src.q);
00128     }
00129 
00134     PX_CUDA_CALLABLE bool isValid() const
00135     {
00136         return p.isFinite() && q.isFinite() && q.isUnit();
00137     }
00138 
00143     PX_CUDA_CALLABLE bool isSane() const
00144     {
00145           return isFinite() && q.isSane();
00146     }
00147 
00148 
00152     PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const { return p.isFinite() && q.isFinite(); }
00153 
00155     PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
00156     {
00157         PX_ASSERT(src.isSane());
00158         PX_ASSERT(isFinite());
00159         // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
00160         PxQuat qinv = q.getConjugate();
00161         return PxTransform(qinv.rotate(src.p - p), qinv*src.q);
00162     }
00163 
00164     PX_CUDA_CALLABLE static PX_FORCE_INLINE PxTransform createIdentity() 
00165     { 
00166         return PxTransform(PxVec3(0)); 
00167     }
00168 
00173     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
00174     {
00175         PxVec3 transformedNormal = rotate(plane.n);
00176         return PxPlane(transformedNormal, plane.d - p.dot(transformedNormal));
00177     }
00178 
00183     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
00184     {
00185         PxVec3 transformedNormal = rotateInv(plane.n);
00186         return PxPlane(transformedNormal, plane.d + p.dot(plane.n));
00187     }
00188 
00189 
00190 };
00191 
00192 #ifndef PX_DOXYGEN
00193 } // namespace physx
00194 #endif
00195 
00197 #endif // PX_FOUNDATION_PX_TRANSFORM_H