PxTransform Class Reference
[Foundation]

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

#include <PxTransform.h>

Collaboration diagram for PxTransform:

Collaboration graph
PxVec3PxQuat
[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.


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]

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.


Member Data Documentation


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


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