include/foundation/PxMat34.h
File members: include/foundation/PxMat34.h
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// Copyright (c) 2008-2024 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_MAT34_H
#define PX_MAT34_H
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
template<class Type>
class PxMat34T
{
public:
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T()
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxVec3T<Type>& b0, const PxVec3T<Type>& b1, const PxVec3T<Type>& b2, const PxVec3T<Type>& b3)
: m(b0, b1, b2), p(b3)
{
}
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(Type values[]) :
m(values), p(values[9], values[10], values[11])
{
}
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat33T<Type>& other)
: m(other), p(PxZero)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat33T<Type>& other, const PxVec3T<Type>& t)
: m(other), p(t)
{
}
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxTransformT<Type>& other)
: m(other.q), p(other.p)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T(const PxMat34T& other) : m(other.m), p(other.p)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat34T& operator=(const PxMat34T& other)
{
m = other.m;
p = other.p;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE void setIdentity()
{
m = PxMat33T<Type>(PxIdentity);
p = PxVec3T<Type>(0);
}
// Simpler operators
PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxMat34T& other) const
{
return m == other.m && p == other.p;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxMat34T& other) const
{
return !operator==(other);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator-() const
{
return PxMat34T(-m, -p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator+(const PxMat34T& other) const
{
return PxMat34T(m + other.m, p + other.p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator-(const PxMat34T& other) const
{
return PxMat34T(m - other.m, p - other.p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(Type scalar) const
{
return PxMat34T(m*scalar, p*scalar);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(const PxMat34T& other) const
{
//Rows from this <dot> columns from other
//base0 = rotate(other.m.column0) etc
return PxMat34T(m*other.m, m*other.p + p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T operator*(const PxMat33T<Type>& other) const
{
//Rows from this <dot> columns from other
//base0 = transform(other.m.column0) etc
return PxMat34T(m*other, p);
}
template<class Type2>
friend PxMat34T<Type2> operator*(const PxMat33T<Type2>& a, const PxMat34T<Type2>& b);
// a <op>= b operators
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator+=(const PxMat34T& other)
{
m += other.m;
p += other.p;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator-=(const PxMat34T& other)
{
m -= other.m;
p -= other.p;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T& operator*=(Type scalar)
{
m *= scalar;
p *= scalar;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type operator()(PxU32 row, PxU32 col) const
{
return (*this)[col][row];
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type& operator()(PxU32 row, PxU32 col)
{
return (*this)[col][row];
}
// Transform etc
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotate(const PxVec3T<Type>& other) const
{
return m*other;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotateTranspose(const PxVec3T<Type>& other) const
{
return m.transformTranspose(other);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transform(const PxVec3T<Type>& other) const
{
return m*other + p;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transformTranspose(const PxVec3T<Type>& other) const
{
return m.transformTranspose(other - p);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T transformTranspose(const PxMat34T& other) const
{
return PxMat34T(m.transformTranspose(other.m.column0),
m.transformTranspose(other.m.column1),
m.transformTranspose(other.m.column2),
m.transformTranspose(other.p - p));
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat34T getInverseRT() const
{
return PxMat34T(m.getTranspose(), m.transformTranspose(-p));
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type>& operator[](PxU32 num) { return (&m.column0)[num]; }
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T<Type>& operator[](PxU32 num) const { return (&m.column0)[num]; }
//Data, see above for format!
PxMat33T<Type> m;
PxVec3T<Type> p;
};
template<class Type>
PX_INLINE PxMat34T<Type> operator*(const PxMat33T<Type>& a, const PxMat34T<Type>& b)
{
return PxMat34T<Type>(a * b.m, a * b.p);
}
typedef PxMat34T<float> PxMat34;
typedef PxMat34T<double> PxMat34d;
class PxMat34Padded : public PxMat34
{
public:
PX_FORCE_INLINE PxMat34Padded(const PxMat34& src) : PxMat34(src) {}
PX_FORCE_INLINE PxMat34Padded() {}
PX_FORCE_INLINE ~PxMat34Padded() {}
PxU32 padding;
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxMat34Padded)==16));
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif