Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_TRANSFORM_H
++ #define PX_TRANSFORM_H
++
++ #include "foundation/PxQuat.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++
++ template<class Type> class PxMat44T;
++
++ /*!
++ \brief class representing a rigid euclidean transform as a quaternion and a vector
++ */
++
++ template<class Type>
++ class PxTransformT
++ {
++ public:
++ PxQuatT<Type> q;
++ PxVec3T<Type> p;
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT()
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(PxIDENTITY) : q(PxIdentity), p(PxZero)
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxVec3T<Type>& position) : q(PxIdentity), p(position)
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxQuatT<Type>& orientation) : q(orientation), p(Type(0))
++ {
++ PX_ASSERT(orientation.isSane());
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(Type x, Type y, Type z, PxQuatT<Type> aQ = PxQuatT<Type>(PxIdentity)) : q(aQ), p(x, y, z)
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxVec3T<Type>& p0, const PxQuatT<Type>& q0) : q(q0), p(p0)
++ {
++ PX_ASSERT(q0.isSane());
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxMat44T<Type>& m); // defined in PxMat44.h
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxTransformT& other)
++ {
++ p = other.p;
++ q = other.q;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(const PxTransformT& other)
++ {
++ p = other.p;
++ q = other.q;
++ }
++
++ /**
++ \brief returns true if the two transforms are exactly equal
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransformT& t) const
++ {
++ return p == t.p && q == t.q;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT operator*(const PxTransformT& x) const
++ {
++ PX_ASSERT(x.isSane());
++ return transform(x);
++ }
++
++ //! Equals matrix multiplication
++ PX_CUDA_CALLABLE PX_INLINE PxTransformT& operator*=(const PxTransformT& other)
++ {
++ *this = *this * other;
++ return *this;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getInverse() const
++ {
++ PX_ASSERT(isFinite());
++ return PxTransformT(q.rotateInv(-p), q.getConjugate());
++ }
++
++ /**
++ \brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getNormalized() const
++ {
++ return PxTransformT(p, q.getNormalized());
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transform(const PxVec3T<Type>& input) const
++ {
++ PX_ASSERT(isFinite());
++ return q.rotate(input) + p;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transformInv(const PxVec3T<Type>& input) const
++ {
++ PX_ASSERT(isFinite());
++ return q.rotateInv(input - p);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotate(const PxVec3T<Type>& input) const
++ {
++ PX_ASSERT(isFinite());
++ return q.rotate(input);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotateInv(const PxVec3T<Type>& input) const
++ {
++ PX_ASSERT(isFinite());
++ return q.rotateInv(input);
++ }
++
++ //! Transform transform to parent (returns compound transform: first src, then *this)
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transform(const PxTransformT& src) const
++ {
++ PX_ASSERT(src.isSane());
++ PX_ASSERT(isSane());
++ // src = [srct, srcr] -> [r*srct + t, r*srcr]
++ return PxTransformT(q.rotate(src.p) + p, q * src.q);
++ }
++
++ //! Transform transform from parent (returns compound transform: first src, then this->inverse)
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transformInv(const PxTransformT& src) const
++ {
++ PX_ASSERT(src.isSane());
++ PX_ASSERT(isFinite());
++ // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
++ const PxQuatT<Type> qinv = q.getConjugate();
++ return PxTransformT(qinv.rotate(src.p - p), qinv * src.q);
++ }
++
++ /**
++ \brief returns true if finite and q is a unit quaternion
++ */
++ PX_CUDA_CALLABLE bool isValid() const
++ {
++ return p.isFinite() && q.isFinite() && q.isUnit();
++ }
++
++ /**
++ \brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
++ vs isValid
++ */
++ PX_CUDA_CALLABLE bool isSane() const
++ {
++ return isFinite() && q.isSane();
++ }
++
++ /**
++ \brief returns true if all elems are finite (not NAN or INF, etc.)
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
++ {
++ return p.isFinite() && q.isFinite();
++ }
++ };
++
++ typedef PxTransformT<float> PxTransform;
++ typedef PxTransformT<double> PxTransformd;
++
++ /*!
++ \brief A generic padded & aligned transform class.
++
++ This can be used for safe faster loads & stores, and faster address computations
++ (the default PxTransformT often generating imuls for this otherwise). Padding bytes
++ can be reused to store useful data if needed.
++ */
++ struct PX_ALIGN_PREFIX(16) PxTransformPadded : PxTransform
++ {
++ PX_FORCE_INLINE PxTransformPadded()
++ {
++ }
++
++ PX_FORCE_INLINE PxTransformPadded(const PxTransformPadded& other) : PxTransform(other)
++ {
++ }
++
++ PX_FORCE_INLINE explicit PxTransformPadded(const PxTransform& other) : PxTransform(other)
++ {
++ }
++
++ PX_FORCE_INLINE explicit PxTransformPadded(PxIDENTITY) : PxTransform(PxIdentity)
++ {
++ }
++
++ PX_FORCE_INLINE explicit PxTransformPadded(const PxVec3& position) : PxTransform(position)
++ {
++ }
++
++ PX_FORCE_INLINE explicit PxTransformPadded(const PxQuat& orientation) : PxTransform(orientation)
++ {
++ }
++
++ PX_FORCE_INLINE PxTransformPadded(const PxVec3& p0, const PxQuat& q0) : PxTransform(p0, q0)
++ {
++ }
++
++ PX_FORCE_INLINE void operator=(const PxTransformPadded& other)
++ {
++ p = other.p;
++ q = other.q;
++ }
++
++ PX_FORCE_INLINE void operator=(const PxTransform& other)
++ {
++ p = other.p;
++ q = other.q;
++ }
++
++ PxU32 padding;
++ }
++ PX_ALIGN_SUFFIX(16);
++ PX_COMPILE_TIME_ASSERT(sizeof(PxTransformPadded)==32);
++
++ typedef PxTransformPadded PxTransform32;
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif
++