408 lines
11 KiB
C++
408 lines
11 KiB
C++
// 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 PX_ALIGNED_QUAT_H
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#define PX_ALIGNED_QUAT_H
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#include "vector_types.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxQuat.h"
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#include "cutil_math.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxAssert.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxAlignedMat33;
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/**
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\brief This is a quaternion class. For more information on quaternion mathematics
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consult a mathematics source on complex numbers.
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*/
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PX_ALIGN_PREFIX(16)
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class PxAlignedQuat
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{
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public:
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/**
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\brief Default constructor, does not do any initialization.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat() { }
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//! identity constructor
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PX_CUDA_CALLABLE PX_INLINE PxAlignedQuat(PxIDENTITY r)
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: q(make_float4(0.0f, 0.0f, 0.0f, 1.0f))
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{
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PX_UNUSED(r);
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}
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/**
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\brief Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x,y,z) to zero
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*/
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat(PxReal r)
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: q(make_float4(0.0f, 0.0f, 0.0f, r))
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{
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}
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/**
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\brief Constructor. Take note of the order of the elements!
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat(PxReal nx, PxReal ny, PxReal nz, PxReal nw) : q(make_float4(nx, ny, nz, nw)) {}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat(const PxQuat& q0) : q(make_float4(q0.x, q0.y, q0.z, q0.w)) {}
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/**
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\brief Creates from angle-axis representation.
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Axis must be normalized!
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Angle is in radians!
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_INLINE PxAlignedQuat(PxReal angleRadians, const PxVec3& unitAxis)
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{
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PX_ASSERT(PxAbs(1.0f-unitAxis.magnitude())<1e-3f);
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const PxReal a = angleRadians * 0.5f;
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const PxReal s = PxSin(a);
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q.w = PxCos(a);
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q.x = unitAxis.x * s;
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q.y = unitAxis.y * s;
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q.z = unitAxis.z * s;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat(const float4 v) : q(v) {}
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/**
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\brief Copy ctor.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat(const PxAlignedQuat& v): q(v.q) {}
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/**
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\brief Creates from orientation matrix.
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\param[in] m Rotation matrix to extract quaternion from.
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*/
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PX_CUDA_CALLABLE PX_INLINE explicit PxAlignedQuat(const PxAlignedMat33& m); /* defined in PxAlignedMat33.h */
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/**
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\brief returns true if all elements are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE bool isFinite() const
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{
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return PxIsFinite(q.x)
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&& PxIsFinite(q.y)
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&& PxIsFinite(q.z)
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&& PxIsFinite(q.w);
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}
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/**
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\brief returns true if finite and magnitude is close to unit
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*/
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PX_CUDA_CALLABLE bool isUnit() const
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{
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const PxReal unitTolerance = 1e-4f;
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return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
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}
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/**
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\brief returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of error vs isValid
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*/
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PX_CUDA_CALLABLE bool isSane() const
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{
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const PxReal unitTolerance = 1e-2f;
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return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
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}
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/**
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\brief returns true if the two quaternions are exactly equal
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*/
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PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxAlignedQuat&q2) const { return q.x == q2.q.x && q.y == q2.q.y && q.z == q2.q.z && q.w == q2.q.w; }
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/**
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\brief This is the squared 4D vector length, should be 1 for unit quaternions.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const
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{
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return ::dot(q,q);
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}
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/**
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\brief returns the scalar product of this and other.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxAlignedQuat& v) const
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{
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return ::dot(q,v.q);
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}
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PX_CUDA_CALLABLE PX_INLINE PxAlignedQuat getNormalized() const
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{
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const PxReal s = 1.0f/magnitude();
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return PxAlignedQuat(q.x*s, q.y*s, q.z*s, q.w*s);
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}
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PX_CUDA_CALLABLE PX_INLINE float magnitude() const
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{
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return PxSqrt(magnitudeSquared());
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}
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//modifiers:
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/**
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\brief maps to the closest unit quaternion.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxReal normalize() // convert this PxAlignedQuat to a unit quaternion
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{
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const PxReal mag = magnitude();
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if (mag != 0.0f)
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{
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const PxReal imag = 1.0f / mag;
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q.x *= imag;
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q.y *= imag;
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q.z *= imag;
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q.w *= imag;
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}
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return mag;
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}
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/*
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\brief returns the conjugate.
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\note for unit quaternions, this is the inverse.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxAlignedQuat getConjugate() const
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{
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return PxAlignedQuat(-q.x,-q.y,-q.z,q.w);
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}
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/*
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\brief returns imaginary part.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxVec3 getImaginaryPart() const
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{
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return PxVec3(q.x,q.y,q.z);
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}
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/** brief computes rotation of x-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector0() const
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{
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const PxF32 x2 = q.x*2.0f;
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const PxF32 w2 = q.w*2.0f;
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return PxVec3( (q.w * w2) - 1.0f + q.x*x2,
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(q.z * w2) + q.y*x2,
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(-q.y * w2) + q.z*x2);
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}
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/** brief computes rotation of y-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector1() const
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{
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const PxF32 y2 = q.y*2.0f;
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const PxF32 w2 = q.w*2.0f;
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return PxVec3( (-q.z * w2) + q.x*y2,
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(q.w * w2) - 1.0f + q.y*y2,
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(q.x * w2) + q.z*y2);
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}
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/** brief computes rotation of z-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector2() const
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{
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const PxF32 z2 = q.z*2.0f;
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const PxF32 w2 = q.w*2.0f;
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return PxVec3( (q.y * w2) + q.x*z2,
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(-q.x * w2) + q.y*z2,
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(q.w * w2) - 1.0f + q.z*z2);
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}
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/**
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rotates passed vec by this (assumed unitary)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = q.w*q.w-0.5f;
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const PxF32 dot2 = (q.x*vx + q.y*vy +q.z*vz);
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return PxVec3
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(
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(vx*w2 + (q.y * vz - q.z * vy)*q.w + q.x*dot2),
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(vy*w2 + (q.z * vx - q.x * vz)*q.w + q.y*dot2),
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(vz*w2 + (q.x * vy - q.y * vx)*q.w + q.z*dot2)
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);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE const float4 rotate(const float4& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = q.w*q.w-0.5f;
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const PxF32 dot2 = (q.x*vx + q.y*vy +q.z*vz);
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return make_float4
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(
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(vx*w2 + (q.y * vz - q.z * vy)*q.w + q.x*dot2),
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(vy*w2 + (q.z * vx - q.x * vz)*q.w + q.y*dot2),
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(vz*w2 + (q.x * vy - q.y * vx)*q.w + q.z*dot2),
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0.f
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);
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}
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/**
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inverse rotates passed vec by this (assumed unitary)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = q.w*q.w-0.5f;
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const PxF32 dot2 = (q.x*vx + q.y*vy +q.z*vz);
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return PxVec3
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(
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(vx*w2 - (q.y * vz - q.z * vy)*q.w + q.x*dot2),
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(vy*w2 - (q.z * vx - q.x * vz)*q.w + q.y*dot2),
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(vz*w2 - (q.x * vy - q.y * vx)*q.w + q.z*dot2)
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);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE const float4 rotateInv(const float4& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = q.w*q.w-0.5f;
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const PxF32 dot2 = (q.x*vx + q.y*vy +q.z*vz);
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return make_float4
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(
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(vx*w2 - (q.y * vz - q.z * vy)*q.w + q.x*dot2),
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(vy*w2 - (q.z * vx - q.x * vz)*q.w + q.y*dot2),
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(vz*w2 - (q.x * vy - q.y * vx)*q.w + q.z*dot2),
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0.f
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);
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}
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/**
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\brief Assignment operator
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat& operator=(const PxAlignedQuat& p) { q = p.q; return *this; }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat& operator*= (const PxAlignedQuat& q2)
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{
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const PxReal tx = q.w*q2.q.x + q2.q.w*q.x + q.y*q2.q.z - q2.q.y*q.z;
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const PxReal ty = q.w*q2.q.y + q2.q.w*q.y + q.z*q2.q.x - q2.q.z*q.x;
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const PxReal tz = q.w*q2.q.z + q2.q.w*q.z + q.x*q2.q.y - q2.q.x*q.y;
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q.w = q.w*q2.q.w - q2.q.x*q.x - q.y*q2.q.y - q2.q.z*q.z;
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q.x = tx;
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q.y = ty;
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q.z = tz;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat& operator+= (const PxAlignedQuat& q2)
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{
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q += q2.q;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat& operator-= (const PxAlignedQuat& q2)
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{
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q -= q2.q;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat& operator*= (const PxReal s)
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{
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q *= s;
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return *this;
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}
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/** quaternion multiplication */
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PX_CUDA_CALLABLE PX_INLINE PxAlignedQuat operator*(const PxAlignedQuat& q2) const
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{
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return PxAlignedQuat(q.w*q2.q.x + q2.q.w*q.x + q.y*q2.q.z - q2.q.y*q.z,
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q.w*q2.q.y + q2.q.w*q.y + q.z*q2.q.x - q2.q.z*q.x,
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q.w*q2.q.z + q2.q.w*q.z + q.x*q2.q.y - q2.q.x*q.y,
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q.w*q2.q.w - q.x*q2.q.x - q.y*q2.q.y - q.z*q2.q.z);
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}
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/** quaternion addition */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat operator+(const PxAlignedQuat& q2) const
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{
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return PxAlignedQuat(q + q2.q);
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}
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/** quaternion subtraction */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat operator-() const
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{
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return PxAlignedQuat(-q.x,-q.y,-q.z,-q.w);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat operator-(const PxAlignedQuat& q2) const
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{
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return PxAlignedQuat(q - q2.q);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedQuat operator*(PxReal r) const
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{
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return PxAlignedQuat(q*r);
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}
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// TODO avoroshilov: check if it's OK
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PX_CUDA_CALLABLE PX_FORCE_INLINE operator PxQuat() const
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{
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return PxQuat(q.x, q.y, q.z, q.w);
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}
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/** the quaternion elements */
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float4 q;
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}
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PX_ALIGN_SUFFIX(16);
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif // PX_FOUNDATION_PX_QUAT_H
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