class representing a rigid euclidean transform as a quaternion and a vector More...

#include <PxTransform.h>

Collaboration diagram for PxTransform:

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform ()

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (const PxVec3 &position)

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (PxIDENTITY r)

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (const PxQuat &orientation)

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (PxReal x, PxReal y, PxReal z, PxQuat aQ=PxQuat(PxIdentity))

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (const PxVec3 &p0, const PxQuat &q0)

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxTransform (const PxMat44 &m)

PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxTransform &t) const
	returns true if the two transforms are exactly equal More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	operator* (const PxTransform &x) const

PX_CUDA_CALLABLE PX_INLINE PxTransform &	operator*= (PxTransform &other)
	Equals matrix multiplication. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	getInverse () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	transform (const PxVec3 &input) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	transformInv (const PxVec3 &input) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	rotate (const PxVec3 &input) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	rotateInv (const PxVec3 &input) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	transform (const PxTransform &src) const
	Transform transform to parent (returns compound transform: first src, then *this) More...

PX_CUDA_CALLABLE bool	isValid () const
	returns true if finite and q is a unit quaternion More...

PX_CUDA_CALLABLE bool	isSane () const
	returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error vs isValid More...

PX_CUDA_CALLABLE PX_FORCE_INLINE bool	isFinite () const
	returns true if all elems are finite (not NAN or INF, etc.) More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	transformInv (const PxTransform &src) const
	Transform transform from parent (returns compound transform: first src, then this->inverse) More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane	transform (const PxPlane &plane) const
	transform plane More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane	inverseTransform (const PxPlane &plane) const
	inverse-transform plane More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	getNormalized () const
	return a normalized transform (i.e. one in which the quaternion has unit magnitude) More...

Static Public Member Functions
static PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	createIdentity ()
	deprecated - use PxTransform(PxIdentity) More...

Public Attributes
PxQuat	q

PxVec3	p

Detailed Description

class representing a rigid euclidean transform as a quaternion and a vector

Constructor & Destructor Documentation

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform ( )

inline

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform ( const PxVec3 & position )

inlineexplicit

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform ( PxIDENTITY r )

inlineexplicit

References PX_UNUSED().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform ( const PxQuat & orientation )

inlineexplicit

References PxQuat::isSane(), and PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform	(	PxReal	x,
		PxReal	y,
		PxReal	z,
		PxQuat	aQ = `PxQuat(PxIdentity)`
	)

inline

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform	(	const PxVec3 &	p0,
		const PxQuat &	q0
	)

inline

References PxQuat::isSane(), and PX_ASSERT.

Member Function Documentation

static PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::createIdentity ( )

inlinestatic

deprecated - use PxTransform(PxIdentity)

Deprecated:

References PxIdentity.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::getInverse ( ) const

inline

References PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::getNormalized ( ) const

inline

return a normalized transform (i.e. one in which the quaternion has unit magnitude)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane PxTransform::inverseTransform ( const PxPlane & plane ) const

inline

inverse-transform plane

References PxPlane::d, and PxPlane::n.

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxTransform::isFinite ( ) const

inline

returns true if all elems are finite (not NAN or INF, etc.)

PX_CUDA_CALLABLE bool PxTransform::isSane ( ) const

inline

returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error vs isValid

Referenced by operator*(), transform(), and transformInv().

PX_CUDA_CALLABLE bool PxTransform::isValid ( ) const

inline

returns true if finite and q is a unit quaternion

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::operator* ( const PxTransform & x ) const

inline

References isSane(), and PX_ASSERT.

PX_CUDA_CALLABLE PX_INLINE PxTransform& PxTransform::operator*= ( PxTransform & other )

inline

Equals matrix multiplication.

PX_CUDA_CALLABLE PX_INLINE bool PxTransform::operator== ( const PxTransform & t ) const

inline

returns true if the two transforms are exactly equal

References p, and q.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxTransform::rotate ( const PxVec3 & input ) const

inline

References PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxTransform::rotateInv ( const PxVec3 & input ) const

inline

References PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxTransform::transform ( const PxVec3 & input ) const

inline

References PX_ASSERT.

Referenced by PxPlaneEquationFromTransform(), and PxBounds3::transformFast().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::transform ( const PxTransform & src ) const

inline

Transform transform to parent (returns compound transform: first src, then *this)

References isSane(), p, PX_ASSERT, and q.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane PxTransform::transform ( const PxPlane & plane ) const

inline

transform plane

References PxPlane::d, and PxPlane::n.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxTransform::transformInv ( const PxVec3 & input ) const

inline

References PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform PxTransform::transformInv ( const PxTransform & src ) const

inline

Transform transform from parent (returns compound transform: first src, then this->inverse)

References PxQuat::getConjugate(), isSane(), p, PX_ASSERT, q, and PxQuat::rotate().

Member Data Documentation

PxVec3 PxTransform::p

Referenced by operator==(), PxBounds3::poseExtent(), PxMat44::PxMat44(), transform(), and transformInv().

PxQuat PxTransform::q

Referenced by operator==(), PxBounds3::poseExtent(), PxMat44::PxMat44(), transform(), PxBounds3::transformFast(), and transformInv().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation