include/foundation/PxQuat.h
File members: include/foundation/PxQuat.h
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_QUAT_H
#define PX_QUAT_H
#include "foundation/PxVec3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
template<class Type>
class PxQuatT
{
public:
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT()
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT(PxIDENTITY) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0)), w(Type(1.0))
{
}
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT(Type r) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0)), w(r)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT(Type nx, Type ny, Type nz, Type nw) : x(nx), y(ny), z(nz), w(nw)
{
}
PX_CUDA_CALLABLE PX_INLINE PxQuatT(Type angleRadians, const PxVec3T<Type>& unitAxis)
{
PX_ASSERT(PxAbs(Type(1.0) - unitAxis.magnitude()) < Type(1e-3));
const Type a = angleRadians * Type(0.5);
Type s;
PxSinCos(a, s, w);
x = unitAxis.x * s;
y = unitAxis.y * s;
z = unitAxis.z * s;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT(const PxQuatT& v) : x(v.x), y(v.y), z(v.z), w(v.w)
{
}
PX_CUDA_CALLABLE PX_INLINE explicit PxQuatT(const PxMat33T<Type>& m); /* defined in PxMat33.h */
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const
{
return x==Type(0.0) && y==Type(0.0) && z==Type(0.0) && w==Type(1.0);
}
PX_CUDA_CALLABLE bool isFinite() const
{
return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z) && PxIsFinite(w);
}
PX_CUDA_CALLABLE bool isUnit() const
{
const Type unitTolerance = Type(1e-3);
return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
}
PX_CUDA_CALLABLE bool isSane() const
{
const Type unitTolerance = Type(1e-2);
return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxQuatT& q) const
{
return x == q.x && y == q.y && z == q.z && w == q.w;
}
PX_CUDA_CALLABLE PX_INLINE void toRadiansAndUnitAxis(Type& angle, PxVec3T<Type>& axis) const
{
const Type quatEpsilon = Type(1.0e-8);
const Type s2 = x * x + y * y + z * z;
if(s2 < quatEpsilon * quatEpsilon) // can't extract a sensible axis
{
angle = Type(0.0);
axis = PxVec3T<Type>(Type(1.0), Type(0.0), Type(0.0));
}
else
{
const Type s = PxRecipSqrt(s2);
axis = PxVec3T<Type>(x, y, z) * s;
angle = PxAbs(w) < quatEpsilon ? Type(PxPi) : PxAtan2(s2 * s, w) * Type(2.0);
}
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type getAngle() const
{
return PxAcos(w) * Type(2.0);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type getAngle(const PxQuatT& q) const
{
return PxAcos(dot(q)) * Type(2.0);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitudeSquared() const
{
return x * x + y * y + z * z + w * w;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type dot(const PxQuatT& v) const
{
return x * v.x + y * v.y + z * v.z + w * v.w;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT getNormalized() const
{
const Type s = Type(1.0) / magnitude();
return PxQuatT(x * s, y * s, z * s, w * s);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitude() const
{
return PxSqrt(magnitudeSquared());
}
// modifiers:
PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalize() // convert this PxQuatT to a unit quaternion
{
const Type mag = magnitude();
if(mag != Type(0.0))
{
const Type imag = Type(1.0) / mag;
x *= imag;
y *= imag;
z *= imag;
w *= imag;
}
return mag;
}
/*
\brief returns the conjugate.
\note for unit quaternions, this is the inverse.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT getConjugate() const
{
return PxQuatT(-x, -y, -z, w);
}
/*
\brief returns imaginary part.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> getImaginaryPart() const
{
return PxVec3T<Type>(x, y, z);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> getBasisVector0() const
{
const Type x2 = x * Type(2.0);
const Type w2 = w * Type(2.0);
return PxVec3T<Type>((w * w2) - Type(1.0) + x * x2, (z * w2) + y * x2, (-y * w2) + z * x2);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> getBasisVector1() const
{
const Type y2 = y * Type(2.0);
const Type w2 = w * Type(2.0);
return PxVec3T<Type>((-z * w2) + x * y2, (w * w2) - Type(1.0) + y * y2, (x * w2) + z * y2);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> getBasisVector2() const
{
const Type z2 = z * Type(2.0);
const Type w2 = w * Type(2.0);
return PxVec3T<Type>((y * w2) + x * z2, (-x * w2) + y * z2, (w * w2) - Type(1.0) + z * z2);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T<Type> rotate(const PxVec3T<Type>& v) const
{
const Type vx = Type(2.0) * v.x;
const Type vy = Type(2.0) * v.y;
const Type vz = Type(2.0) * v.z;
const Type w2 = w * w - Type(0.5);
const Type dot2 = (x * vx + y * vy + z * vz);
return PxVec3T<Type>((vx * w2 + (y * vz - z * vy) * w + x * dot2), (vy * w2 + (z * vx - x * vz) * w + y * dot2),
(vz * w2 + (x * vy - y * vx) * w + z * dot2));
}
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T<Type> rotateInv(const PxVec3T<Type>& v) const
{
const Type vx = Type(2.0) * v.x;
const Type vy = Type(2.0) * v.y;
const Type vz = Type(2.0) * v.z;
const Type w2 = w * w - Type(0.5);
const Type dot2 = (x * vx + y * vy + z * vz);
return PxVec3T<Type>((vx * w2 - (y * vz - z * vy) * w + x * dot2), (vy * w2 - (z * vx - x * vz) * w + y * dot2),
(vz * w2 - (x * vy - y * vx) * w + z * dot2));
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT& operator=(const PxQuatT& p)
{
x = p.x;
y = p.y;
z = p.z;
w = p.w;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT& operator*=(const PxQuatT& q)
{
const Type tx = w * q.x + q.w * x + y * q.z - q.y * z;
const Type ty = w * q.y + q.w * y + z * q.x - q.z * x;
const Type tz = w * q.z + q.w * z + x * q.y - q.x * y;
w = w * q.w - q.x * x - y * q.y - q.z * z;
x = tx;
y = ty;
z = tz;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT& operator+=(const PxQuatT& q)
{
x += q.x;
y += q.y;
z += q.z;
w += q.w;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT& operator-=(const PxQuatT& q)
{
x -= q.x;
y -= q.y;
z -= q.z;
w -= q.w;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT& operator*=(const Type s)
{
x *= s;
y *= s;
z *= s;
w *= s;
return *this;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT operator*(const PxQuatT& q) const
{
return PxQuatT(w * q.x + q.w * x + y * q.z - q.y * z, w * q.y + q.w * y + z * q.x - q.z * x,
w * q.z + q.w * z + x * q.y - q.x * y, w * q.w - x * q.x - y * q.y - z * q.z);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT operator+(const PxQuatT& q) const
{
return PxQuatT(x + q.x, y + q.y, z + q.z, w + q.w);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT operator-() const
{
return PxQuatT(-x, -y, -z, -w);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT operator-(const PxQuatT& q) const
{
return PxQuatT(x - q.x, y - q.y, z - q.z, w - q.w);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT operator*(Type r) const
{
return PxQuatT(x * r, y * r, z * r, w * r);
}
Type x, y, z, w;
};
typedef PxQuatT<float> PxQuat;
typedef PxQuatT<double> PxQuatd;
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif