255 lines
7.5 KiB
C++
255 lines
7.5 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_TRANSFORM_H
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#define PX_ALIGNED_TRANSFORM_H
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#include "AlignedQuat.h"
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#include "foundation/PxPlane.h"
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#include "foundation/PxTransform.h"
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namespace physx
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{
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class PxAlignedTransform
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{
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public:
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PxAlignedQuat q;
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float4 p;
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//#define PxAlignedTransform_DEFAULT_CONSTRUCT_NAN
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform()
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#ifdef PXTRANSFORM_DEFAULT_CONSTRUCT_IDENTITY
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: q(0, 0, 0, 1), p(0, 0, 0)
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#elif defined(PXTRANSFORM_DEFAULT_CONSTRUCT_NAN)
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#define invalid PxSqrt(-1.0f)
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: q(invalid, invalid, invalid, invalid), p(invalid, invalid, invalid)
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#undef invalid
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#endif
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxAlignedTransform(const float4& position): q(PxIdentity), p(position)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxAlignedTransform(PxIDENTITY r)
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: q(PxIdentity), p(make_float4(0.f))
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{
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PX_UNUSED(r);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxAlignedTransform(const PxAlignedQuat& orientation): q(orientation), p(make_float4(0.f))
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{
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PX_ASSERT(orientation.isSane());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform(PxReal x, PxReal y, PxReal z)
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: q(PxIdentity), p(make_float4(x, y, z, 0.f))
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform(PxReal x, PxReal y, PxReal z, const PxAlignedQuat& aQ)
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: q(aQ), p(make_float4(x, y, z, 0.f))
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform(const float4& p0, const PxAlignedQuat& q0): q(q0), p(p0)
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{
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PX_ASSERT(q0.isSane());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform(const PxTransform& x)
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{
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PX_ASSERT(x.isSane());
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q = PxAlignedQuat( x.q );
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p = make_float4(x.p.x, x.p.y, x.p.z, 0.f);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getTransform() const
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{
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return PxTransform(PxVec3(p.x, p.y, p.z), PxQuat(q.q.x, q.q.y, q.q.z, q.q.w));
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform operator*(const PxAlignedTransform& x) const
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{
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PX_ASSERT(x.isSane());
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return transform(x);
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}
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//! Equals matrix multiplication
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PX_CUDA_CALLABLE PX_INLINE PxAlignedTransform& operator*=(PxAlignedTransform &other)
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{
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*this = *this * other;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxAlignedTransform &other) const
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{
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return (p.x == other.p.x) && (p.y == other.p.y) && (p.z == other.p.z) && (q == other.q);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxAlignedTransform &other) const
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{
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return !(*this == other);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform getInverse() const
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{
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PX_ASSERT(isFinite());
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return PxAlignedTransform(q.rotateInv(make_float4(-p.x, -p.y, -p.z, -p.w)),q.getConjugate());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotate(input) + PxVec3(p.x, p.y, p.z);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotateInv(input-PxVec3(p.x, p.y, p.z));
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 transform(const float4& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotate(input) + p;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 transformInv(const float4& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotateInv(input-p);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotate(input);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotateInv(input);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 rotate(const float4& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotate(input);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float4 rotateInv(const float4& input) const
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{
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PX_ASSERT(isFinite());
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return q.rotateInv(input);
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}
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//! Transform transform to parent (returns compound transform: first src, then *this)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform transform(const PxAlignedTransform& src) const
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{
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PX_ASSERT(src.isSane());
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PX_ASSERT(isSane());
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// src = [srct, srcr] -> [r*srct + t, r*srcr]
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return PxAlignedTransform(q.rotate(src.p) + p, q*src.q);
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}
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/**
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\brief returns true if finite and q is a unit quaternion
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*/
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PX_CUDA_CALLABLE bool isValid() const
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{
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return PxIsFinite(p.x) && PxIsFinite(p.y) && PxIsFinite(p.z) && q.isFinite() && q.isUnit();
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}
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/**
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\brief returns true if finite and quat 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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return isFinite() && q.isSane();
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}
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/**
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\brief returns true if all elems are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const { return PxIsFinite(p.x) && PxIsFinite(p.y) && PxIsFinite(p.z) && q.isFinite(); }
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//! Transform transform from parent (returns compound transform: first src, then this->inverse)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform transformInv(const PxAlignedTransform& src) const
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{
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PX_ASSERT(src.isSane());
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PX_ASSERT(isFinite());
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// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
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PxAlignedQuat qinv = q.getConjugate();
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return PxAlignedTransform(qinv.rotate(src.p - p), qinv*src.q);
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}
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/**
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\brief transform plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
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{
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PxVec3 transformedNormal = rotate(plane.n);
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return PxPlane(transformedNormal, plane.d - PxVec3(p.x, p.y, p.z).dot(transformedNormal));
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}
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/**
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\brief inverse-transform plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
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{
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PxVec3 transformedNormal = rotateInv(plane.n);
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return PxPlane(transformedNormal, plane.d + PxVec3(p.x, p.y, p.z).dot(plane.n));
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}
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/**
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\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxAlignedTransform getNormalized() const
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{
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return PxAlignedTransform(p, q.getNormalized());
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}
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};
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}
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#endif
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