PxTransform.h

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#ifndef PXFOUNDATION_PXTRANSFORM_H
#define PXFOUNDATION_PXTRANSFORM_H

#include "foundation/PxQuat.h"
#include "foundation/PxPlane.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxTransform
{
  public:
    PxQuat q;
    PxVec3 p;

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform()
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position) : q(PxIdentity), p(position)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(PxIDENTITY r) : q(PxIdentity), p(PxZero)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation) : q(orientation), p(0)
    {
        PX_ASSERT(orientation.isSane());
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ = PxQuat(PxIdentity))
    : q(aQ), p(x, y, z)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0) : q(q0), p(p0)
    {
        PX_ASSERT(q0.isSane());
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m); // defined in PxMat44.h

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransform& t) const
    {
        return p == t.p && q == t.q;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
    {
        PX_ASSERT(x.isSane());
        return transform(x);
    }

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

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
    {
        PX_ASSERT(isFinite());
        return PxTransform(q.rotateInv(-p), q.getConjugate());
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotate(input) + p;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotateInv(input - p);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotate(input);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
    {
        PX_ASSERT(isFinite());
        return q.rotateInv(input);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
    {
        PX_ASSERT(src.isSane());
        PX_ASSERT(isSane());
        // src = [srct, srcr] -> [r*srct + t, r*srcr]
        return PxTransform(q.rotate(src.p) + p, q * src.q);
    }

    PX_CUDA_CALLABLE bool isValid() const
    {
        return p.isFinite() && q.isFinite() && q.isUnit();
    }

    PX_CUDA_CALLABLE bool isSane() const
    {
        return isFinite() && q.isSane();
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
    {
        return p.isFinite() && q.isFinite();
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
    {
        PX_ASSERT(src.isSane());
        PX_ASSERT(isFinite());
        // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
        PxQuat qinv = q.getConjugate();
        return PxTransform(qinv.rotate(src.p - p), qinv * src.q);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
    {
        PxVec3 transformedNormal = rotate(plane.n);
        return PxPlane(transformedNormal, plane.d - p.dot(transformedNormal));
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
    {
        PxVec3 transformedNormal = rotateInv(plane.n);
        return PxPlane(transformedNormal, plane.d + p.dot(plane.n));
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const
    {
        return PxTransform(p, q.getNormalized());
    }
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H