PxTransform Class Reference
[Foundation]

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

#include <PxTransform.h>

Collaboration diagram for PxTransform:

[legend]

List of all members.

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 (float x, float y, float 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
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	operator* (const PxTransform &x) const
PX_CUDA_CALLABLE PX_INLINE PxTransform &	operator*= (PxTransform &other)
	Equals matrix multiplication.
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).
PX_CUDA_CALLABLE bool	isValid () const
	returns true if finite and q is a unit quaternion
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
PX_CUDA_CALLABLE PX_FORCE_INLINE bool	isFinite () const
	returns true if all elems are finite (not NAN or INF, etc.)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	transformInv (const PxTransform &src) const
	Transform transform from parent (returns compound transform: first src, then this->inverse).
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane	transform (const PxPlane &plane) const
	transform plane
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane	inverseTransform (const PxPlane &plane) const
	inverse-transform plane
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform	getNormalized () const
	return a normalized transform (i.e. one in which the quaternion has unit magnitude)
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

)

[inline, explicit]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform

(

PxIDENTITY

r

)

[inline, explicit]

References PX_UNUSED().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform

(

const PxQuat &

orientation

)

[inline, explicit]

References PxQuat::isSane(), and PX_ASSERT.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform	(	float	x,
		float	y,
		float	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.

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Member Function Documentation

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 PxPlane PxTransform::transform

(

const PxPlane &

plane

)

const [inline]

transform plane

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

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 PxVec3 PxTransform::transform

(

const PxVec3 &

input

)

const [inline]

References PX_ASSERT.

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

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

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxTransform::transformInv

(

const PxVec3 &

input

)

const [inline]

References PX_ASSERT.

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Member Data Documentation

PxVec3 PxTransform::p

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

PxQuat PxTransform::q

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

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

• PxTransform.h
• PxMat44.h