242 lines
7.7 KiB
C
242 lines
7.7 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef CM_SCALING_H
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#define CM_SCALING_H
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#include "foundation/PxBounds3.h"
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#include "foundation/PxMat33.h"
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#include "foundation/PxMathUtils.h"
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#include "foundation/PxMat34.h"
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#include "foundation/PxSIMDHelpers.h"
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#include "geometry/PxMeshScale.h"
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#include "CmUtils.h"
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namespace physx
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{
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namespace Cm
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{
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// PT: same as PxMeshScale::toMat33() but faster
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PX_FORCE_INLINE PxMat33 toMat33(const PxMeshScale& meshScale)
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{
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const PxMat33Padded rot(meshScale.rotation);
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PxMat33 trans = rot.getTranspose();
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trans.column0 *= meshScale.scale[0];
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trans.column1 *= meshScale.scale[1];
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trans.column2 *= meshScale.scale[2];
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return trans * rot;
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}
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// class that can perform scaling fast. Relatively large size, generated from PxMeshScale on demand.
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// CS: I've removed most usages of this class, because most of the time only one-way transform is needed.
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// If you only need a temporary FastVertex2ShapeScaling, setup your transform as PxMat34Legacy and use
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// normal matrix multiplication or a transform() overload to convert points and bounds between spaces.
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class FastVertex2ShapeScaling
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{
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public:
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PX_INLINE FastVertex2ShapeScaling()
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{
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//no scaling by default:
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vertex2ShapeSkew = PxMat33(PxIdentity);
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shape2VertexSkew = PxMat33(PxIdentity);
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mFlipNormal = false;
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}
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PX_INLINE explicit FastVertex2ShapeScaling(const PxMeshScale& scale)
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{
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init(scale);
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}
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PX_INLINE FastVertex2ShapeScaling(const PxVec3& scale, const PxQuat& rotation)
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{
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init(scale, rotation);
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}
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PX_INLINE void init(const PxMeshScale& scale)
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{
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init(scale.scale, scale.rotation);
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}
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PX_INLINE void setIdentity()
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{
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vertex2ShapeSkew = PxMat33(PxIdentity);
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shape2VertexSkew = PxMat33(PxIdentity);
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mFlipNormal = false;
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}
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PX_INLINE void init(const PxVec3& scale, const PxQuat& rotation)
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{
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// TODO: may want to optimize this for cases where we have uniform or axis aligned scaling!
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// That would introduce branches and it's unclear to me whether that's faster than just doing the math.
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// Lazy computation would be another option, at the cost of introducing even more branches.
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const PxMat33Padded R(rotation);
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vertex2ShapeSkew = R.getTranspose();
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const PxMat33 diagonal = PxMat33::createDiagonal(scale);
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vertex2ShapeSkew = vertex2ShapeSkew * diagonal;
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vertex2ShapeSkew = vertex2ShapeSkew * R;
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/*
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The inverse, is, explicitly:
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shape2VertexSkew.setTransposed(R);
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shape2VertexSkew.multiplyDiagonal(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z));
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shape2VertexSkew *= R;
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It may be competitive to compute the inverse -- though this has a branch in it:
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*/
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shape2VertexSkew = vertex2ShapeSkew.getInverse();
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mFlipNormal = ((scale.x * scale.y * scale.z) < 0.0f);
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}
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PX_FORCE_INLINE void flipNormal(PxVec3& v1, PxVec3& v2) const
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{
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if (mFlipNormal)
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{
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PxVec3 tmp = v1; v1 = v2; v2 = tmp;
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}
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}
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PX_FORCE_INLINE PxVec3 operator* (const PxVec3& src) const
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{
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return vertex2ShapeSkew * src;
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}
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PX_FORCE_INLINE PxVec3 operator% (const PxVec3& src) const
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{
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return shape2VertexSkew * src;
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}
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PX_FORCE_INLINE const PxMat33& getVertex2ShapeSkew() const
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{
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return vertex2ShapeSkew;
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}
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PX_FORCE_INLINE const PxMat33& getShape2VertexSkew() const
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{
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return shape2VertexSkew;
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}
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PX_INLINE PxMat34 getVertex2WorldSkew(const PxMat34& shape2world) const
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{
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const PxMat34 vertex2worldSkew = shape2world * getVertex2ShapeSkew();
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//vertex2worldSkew = shape2world * [vertex2shapeSkew, 0]
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//[aR at] * [bR bt] = [aR * bR aR * bt + at] NOTE: order of operations important so it works when this ?= left ?= right.
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return vertex2worldSkew;
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}
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PX_INLINE PxMat34 getWorld2VertexSkew(const PxMat34& shape2world) const
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{
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//world2vertexSkew = shape2vertex * invPQ(shape2world)
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//[aR 0] * [bR' -bR'*bt] = [aR * bR' -aR * bR' * bt + 0]
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const PxMat33 rotate( shape2world[0], shape2world[1], shape2world[2] );
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const PxMat33 M = getShape2VertexSkew() * rotate.getTranspose();
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return PxMat34(M[0], M[1], M[2], -M * shape2world[3]);
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}
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//! Transforms a shape space OBB to a vertex space OBB. All 3 params are in and out.
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void transformQueryBounds(PxVec3& center, PxVec3& extents, PxMat33& basis) const
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{
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basis.column0 = shape2VertexSkew * (basis.column0 * extents.x);
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basis.column1 = shape2VertexSkew * (basis.column1 * extents.y);
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basis.column2 = shape2VertexSkew * (basis.column2 * extents.z);
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center = shape2VertexSkew * center;
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extents = PxOptimizeBoundingBox(basis);
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}
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void transformPlaneToShapeSpace(const PxVec3& nIn, const PxReal dIn, PxVec3& nOut, PxReal& dOut) const
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{
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const PxVec3 tmp = shape2VertexSkew.transformTranspose(nIn);
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const PxReal denom = 1.0f / tmp.magnitude();
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nOut = tmp * denom;
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dOut = dIn * denom;
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}
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PX_FORCE_INLINE bool flipsNormal() const { return mFlipNormal; }
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private:
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PxMat33 vertex2ShapeSkew;
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PxMat33 shape2VertexSkew;
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bool mFlipNormal;
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};
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PX_FORCE_INLINE void getScaledVertices(PxVec3* v, const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, bool idtMeshScale, const Cm::FastVertex2ShapeScaling& scaling)
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{
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if(idtMeshScale)
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{
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v[0] = v0;
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v[1] = v1;
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v[2] = v2;
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}
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else
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{
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const PxI32 winding = scaling.flipsNormal() ? 1 : 0;
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v[0] = scaling * v0;
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v[1+winding] = scaling * v1;
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v[2-winding] = scaling * v2;
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}
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}
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} // namespace Cm
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PX_INLINE PxMat34 operator*(const PxTransform& transform, const PxMeshScale& scale)
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{
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const PxMat33Padded tmp(transform.q);
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return PxMat34(tmp * Cm::toMat33(scale), transform.p);
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}
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PX_INLINE PxMat34 operator*(const PxMeshScale& scale, const PxTransform& transform)
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{
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const PxMat33 scaleMat = Cm::toMat33(scale);
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const PxMat33Padded t(transform.q);
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const PxMat33 r = scaleMat * t;
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const PxVec3 p = scaleMat * transform.p;
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return PxMat34(r, p);
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}
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PX_INLINE PxMat34 operator*(const PxMat34& transform, const PxMeshScale& scale)
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{
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return PxMat34(transform.m * Cm::toMat33(scale), transform.p);
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}
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PX_INLINE PxMat34 operator*(const PxMeshScale& scale, const PxMat34& transform)
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{
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const PxMat33 scaleMat = Cm::toMat33(scale);
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return PxMat34(scaleMat * transform.m, scaleMat * transform.p);
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}
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}
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#endif
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