216 lines
6.1 KiB
C++
216 lines
6.1 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PXFOUNDATION_PXTRANSFORM_H
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#define PXFOUNDATION_PXTRANSFORM_H
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/** \addtogroup foundation
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@{
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*/
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#include "foundation/PxQuat.h"
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#include "foundation/PxPlane.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/*!
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\brief class representing a rigid euclidean transform as a quaternion and a vector
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*/
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class PxTransform
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{
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public:
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PxQuat q;
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PxVec3 p;
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform()
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position) : q(PxIdentity), p(position)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(PxIDENTITY r) : q(PxIdentity), p(PxZero)
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{
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PX_UNUSED(r);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation) : q(orientation), p(0)
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{
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PX_SHARED_ASSERT(orientation.isSane());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ = PxQuat(PxIdentity))
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: q(aQ), p(x, y, z)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0) : q(q0), p(p0)
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{
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PX_SHARED_ASSERT(q0.isSane());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m); // defined in PxMat44.h
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/**
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\brief returns true if the two transforms are exactly equal
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*/
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PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransform& t) const
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{
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return p == t.p && q == t.q;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
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{
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PX_SHARED_ASSERT(x.isSane());
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return transform(x);
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}
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//! Equals matrix multiplication
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PX_CUDA_CALLABLE PX_INLINE PxTransform& operator*=(PxTransform& other)
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{
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*this = *this * other;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
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{
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PX_SHARED_ASSERT(isFinite());
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return PxTransform(q.rotateInv(-p), q.getConjugate());
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
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{
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PX_SHARED_ASSERT(isFinite());
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return q.rotate(input) + p;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
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{
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PX_SHARED_ASSERT(isFinite());
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return q.rotateInv(input - p);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
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{
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PX_SHARED_ASSERT(isFinite());
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return q.rotate(input);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
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{
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PX_SHARED_ASSERT(isFinite());
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return q.rotateInv(input);
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}
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//! Transform transform to parent (returns compound transform: first src, then *this)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
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{
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PX_SHARED_ASSERT(src.isSane());
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PX_SHARED_ASSERT(isSane());
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// src = [srct, srcr] -> [r*srct + t, r*srcr]
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return PxTransform(q.rotate(src.p) + p, q * src.q);
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}
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/**
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\brief returns true if finite and q is a unit quaternion
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*/
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PX_CUDA_CALLABLE bool isValid() const
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{
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return p.isFinite() && q.isFinite() && q.isUnit();
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}
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/**
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\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
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vs isValid
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*/
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PX_CUDA_CALLABLE bool isSane() const
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{
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return isFinite() && q.isSane();
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}
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/**
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\brief returns true if all elems are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
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{
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return p.isFinite() && q.isFinite();
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}
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//! Transform transform from parent (returns compound transform: first src, then this->inverse)
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
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{
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PX_SHARED_ASSERT(src.isSane());
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PX_SHARED_ASSERT(isFinite());
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// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
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PxQuat qinv = q.getConjugate();
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return PxTransform(qinv.rotate(src.p - p), qinv * src.q);
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}
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/**
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\brief transform plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
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{
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PxVec3 transformedNormal = rotate(plane.n);
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return PxPlane(transformedNormal, plane.d - p.dot(transformedNormal));
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}
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/**
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\brief inverse-transform plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
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{
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PxVec3 transformedNormal = rotateInv(plane.n);
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return PxPlane(transformedNormal, plane.d + p.dot(plane.n));
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}
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/**
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\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const
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{
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return PxTransform(p, q.getNormalized());
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}
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H
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