include/geometry/PxMeshScale.h
File members: include/geometry/PxMeshScale.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_MESH_SCALE_H
#define PX_MESH_SCALE_H
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxMat33.h"
#include "foundation/PxAssert.h"
#define PX_MESH_SCALE_MIN 1e-6f
#define PX_MESH_SCALE_MAX 1e6f
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxMeshScale
{
public:
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(1.0f), rotation(PxIdentity)
{
}
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(PxReal r): scale(r), rotation(PxIdentity)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s)
{
scale = s;
rotation = PxQuat(PxIdentity);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r)
{
PX_ASSERT(r.isUnit());
scale = s;
rotation = r;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const
{
return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale getInverse() const
{
return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotation);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const
{
PxMat33 rot(rotation);
PxMat33 trans = rot.getTranspose();
trans.column0 *= scale[0];
trans.column1 *= scale[1];
trans.column2 *= scale[2];
return trans * rot;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNegativeDeterminant() const
{
return (scale.x * scale.y * scale.z < 0.0f);
}
PxVec3 transform(const PxVec3& v) const
{
return rotation.rotateInv(scale.multiply(rotation.rotate(v)));
}
bool isValidForTriangleMesh() const
{
PxVec3 absXYZ = scale.abs();
return (absXYZ.maxElement() <= PX_MESH_SCALE_MAX) && (absXYZ.minElement() >= PX_MESH_SCALE_MIN);
}
bool isValidForConvexMesh() const
{
return (scale.maxElement() <= PX_MESH_SCALE_MAX) && (scale.minElement() >= PX_MESH_SCALE_MIN);
}
PxVec3 scale;
PxQuat rotation;
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif