PxMat44.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_FOUNDATION_PX_MAT44_H
#define PX_FOUNDATION_PX_MAT44_H

#include "foundation/PxQuat.h"
#include "foundation/PxVec4.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxMat44
{
public:
    PX_CUDA_CALLABLE PX_INLINE PxMat44()
    {}

    PX_CUDA_CALLABLE PX_INLINE PxMat44(PxIDENTITY r)
        : column0(1.0f,0.0f,0.0f,0.0f), column1(0.0f,1.0f,0.0f,0.0f), column2(0.0f,0.0f,1.0f,0.0f), column3(0.0f,0.0f,0.0f,1.0f)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44(PxZERO r)
        : column0(PxZero), column1(PxZero), column2(PxZero), column3(PxZero)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4 &col3)
        : column0(col0), column1(col1), column2(col2), column3(col3)
    {}

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(PxReal r)
        : column0(r,0.0f,0.0f,0.0f), column1(0.0f,r,0.0f,0.0f), column2(0.0f,0.0f,r,0.0f), column3(0.0f,0.0f,0.0f,r)
    {}


    PX_CUDA_CALLABLE PxMat44(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2, const PxVec3& col3)
        : column0(col0,0), column1(col1,0), column2(col2,0), column3(col3,1.0f)
    {}

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(PxReal values[]):
        column0(values[0],values[1],values[2], values[3]),
        column1(values[4],values[5],values[6], values[7]),
        column2(values[8],values[9],values[10], values[11]),
        column3(values[12], values[13], values[14], values[15])
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
    {
        const PxReal x = q.x;
        const PxReal y = q.y;
        const PxReal z = q.z;
        const PxReal w = q.w;

        const PxReal x2 = x + x;
        const PxReal y2 = y + y;
        const PxReal z2 = z + z;

        const PxReal xx = x2*x;
        const PxReal yy = y2*y;
        const PxReal zz = z2*z;

        const PxReal xy = x2*y;
        const PxReal xz = x2*z;
        const PxReal xw = x2*w;

        const PxReal yz = y2*z;
        const PxReal yw = y2*w;
        const PxReal zw = z2*w;

        column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
        column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
        column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
        column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal):
        column0(diagonal.x,0.0f,0.0f,0.0f),
        column1(0.0f,diagonal.y,0.0f,0.0f),
        column2(0.0f,0.0f,diagonal.z,0.0f),
        column3(0.0f,0.0f,0.0f,diagonal.w)
    {
    }

    PX_CUDA_CALLABLE PxMat44(const PxMat33& orientation, const PxVec3& position):
        column0(orientation.column0,0.0f),
        column1(orientation.column1,0.0f),
        column2(orientation.column2,0.0f),
        column3(position,1.0f)
    {
    }
        
    PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
    {
        *this = PxMat44(PxMat33(t.q), t.p);
    }


    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat44& m) const  { return column0 == m.column0 && column1 == m.column1 && column2 == m.column2 && column3 == m.column3; }

    PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
        : column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
    {}

    PX_CUDA_CALLABLE PX_INLINE const PxMat44& operator=(const PxMat44& other)
    {
        column0 = other.column0;
        column1 = other.column1;
        column2 = other.column2;
        column3 = other.column3;
        return *this;
    }

    PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE static PxMat44 createIdentity()
    {
        return PxMat44(PxIdentity);
    }


    PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE static PxMat44 createZero()
    {
        return PxMat44(PxZero); 
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 getTranspose() const
    {
        return PxMat44(PxVec4(column0.x, column1.x, column2.x, column3.x),
                     PxVec4(column0.y, column1.y, column2.y, column3.y),
                     PxVec4(column0.z, column1.z, column2.z, column3.z),
                     PxVec4(column0.w, column1.w, column2.w, column3.w));
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 operator-() const
    {
        return PxMat44(-column0, -column1, -column2, -column3);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 operator+(const PxMat44& other) const
    {
        return PxMat44( column0+other.column0,
                      column1+other.column1,
                      column2+other.column2,
                      column3+other.column3);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 operator-(const PxMat44& other) const
    {
        return PxMat44( column0-other.column0,
                      column1-other.column1,
                      column2-other.column2,
                      column3-other.column3);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 operator*(PxReal scalar) const
    {
        return PxMat44(column0*scalar, column1*scalar, column2*scalar, column3*scalar);
    }

    friend PxMat44 operator*(PxReal, const PxMat44&);

    PX_CUDA_CALLABLE PX_INLINE PxMat44 operator*(const PxMat44& other) const
    {
        //Rows from this <dot> columns from other
        //column0 = transform(other.column0) etc
        return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2), transform(other.column3));
    }

    // a <op>= b operators

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
    {
        column0 += other.column0;
        column1 += other.column1;
        column2 += other.column2;
        column3 += other.column3;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
    {
        column0 -= other.column0;
        column1 -= other.column1;
        column2 -= other.column2;
        column3 -= other.column3;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(PxReal scalar)
    {
        column0 *= scalar;
        column1 *= scalar;
        column2 *= scalar;
        column3 *= scalar;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(const PxMat44 &other)
    {
        *this = *this * other;
        return *this;
    }


    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal operator()(unsigned int row, unsigned int col) const
    {
        return (*this)[col][row];
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator()(unsigned int row, unsigned int col)
    {
        return (*this)[col][row];
    }
    
    PX_CUDA_CALLABLE PX_INLINE PxVec4 transform(const PxVec4& other) const
    {
        return column0*other.x + column1*other.y + column2*other.z + column3*other.w;
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec3 transform(const PxVec3& other) const
    {
        return transform(PxVec4(other,1.0f)).getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec4 rotate(const PxVec4& other) const
    {
        return column0*other.x + column1*other.y + column2*other.z;// + column3*0;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& other) const
    {
        return rotate(PxVec4(other,1.0f)).getXYZ();
    }


    PX_CUDA_CALLABLE PX_INLINE PxVec3 getBasis(int num) const
    {
        PX_ASSERT(num>=0 && num<3);
        return (&column0)[num].getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec3 getPosition() const
    {
        return column3.getXYZ();
    }

    PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
    {
        column3.x = position.x;
        column3.y = position.y;
        column3.z = position.z;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal* front() const
    {
        return &column0.x;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num) {return (&column0)[num];}
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const {return (&column0)[num];}

    PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](int num) {return (&column0)[num];}
    PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](int num) const {return (&column0)[num];}

    PX_CUDA_CALLABLE PX_INLINE void scale(const PxVec4& p)
    {
        column0 *= p.x;
        column1 *= p.y;
        column2 *= p.z;
        column3 *= p.w;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat44 inverseRT(void) const
    {
        PxVec3 r0(column0.x, column1.x, column2.x),
            r1(column0.y, column1.y, column2.y),
            r2(column0.z, column1.z, column2.z);

        return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
    }

    PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
    {
        return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
    }


    //Data, see above for format!

    PxVec4 column0, column1, column2, column3; //the four base vectors
};

// implementation from PxTransform.h
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
{
    PxVec3 column0  = PxVec3(m.column0.x, m.column0.y, m.column0.z);
    PxVec3 column1  = PxVec3(m.column1.x, m.column1.y, m.column1.z);
    PxVec3 column2  = PxVec3(m.column2.x, m.column2.y, m.column2.z);

    q = PxQuat(PxMat33(column0, column1, column2));
    p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
}

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif // PX_FOUNDATION_PX_MAT44_H