PxTransformT

Defined in include/foundation/Px.h

template<class Type> class PxTransformT

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

Public Functions

inline PxTransformT()

inline explicit PxTransformT(const PxVec3T<Type> &position)

inline explicit PxTransformT(PxIDENTITY)

inline explicit PxTransformT(const PxQuatT<Type> &orientation)

inline PxTransformT(Type x, Type y, Type z, PxQuatT<Type> aQ = PxQuatT<Type>(PxIdentity))

inline PxTransformT(const PxVec3T<Type> &p0, const PxQuatT<Type> &q0)

inline explicit PxTransformT(const PxMat44T<Type> &m)

inline void operator=(const PxTransformT &other)

inline PxTransformT(const PxTransformT &other)

inline bool operator==(const PxTransformT &t) const: returns true if the two transforms are exactly equal

inline PxTransformT operator*(const PxTransformT &x) const

inline PxTransformT &operator*=(const PxTransformT &other): Equals matrix multiplication.

inline PxTransformT getInverse() const

inline PxVec3T<Type> transform(const PxVec3T<Type> &input) const

inline PxVec3T<Type> transformInv(const PxVec3T<Type> &input) const

inline PxVec3T<Type> rotate(const PxVec3T<Type> &input) const

inline PxVec3T<Type> rotateInv(const PxVec3T<Type> &input) const

inline PxTransformT transform(const PxTransformT &src) const: Transform transform to parent (returns compound transform: first src, then *this)

inline bool isValid() const: returns true if finite and q is a unit quaternion

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

inline bool isFinite() const: returns true if all elems are finite (not NAN or INF, etc.)

inline PxTransformT transformInv(const PxTransformT &src) const: Transform transform from parent (returns compound transform: first src, then this->inverse)

inline PxTransformT getNormalized() const

return a normalized transform (i.e.

one in which the quaternion has unit magnitude)

Public Members

PxQuatT<Type> q

PxVec3T<Type> p