PxMeshScale.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_PHYSICS_NX_MESHSCALE
#define PX_PHYSICS_NX_MESHSCALE

#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxMat33.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxMeshScale
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(1.0f), rotation(PxIdentity) 
    {
    }

    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(PxReal r): scale(r), rotation(PxIdentity) 
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r)
    {
        PX_ASSERT(r.isUnit());
        scale = s;
        rotation = r;
    }


    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity()  const
    {
        return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE  PxMeshScale getInverse() const 
    {
        return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotation);
    }

    PX_DEPRECATED static PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale createIdentity()
    {
        return PxMeshScale(1.0f);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const 
    {
        PxMat33 rot(rotation);
        PxMat33 trans = rot.getTranspose();
        trans.column0 *= scale[0];
        trans.column1 *= scale[1];
        trans.column2 *= scale[2];
        return trans * rot;
    }


    PxVec3      transform(const PxVec3& v) const
    {
        return rotation.rotateInv(scale.multiply(rotation.rotate(v)));
    }

    PxVec3      scale;      
    PxQuat      rotation;   


};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif