71 lines
2.7 KiB
C++
71 lines
2.7 KiB
C++
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//
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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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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxMathUtils.h"
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#include "common/PxPhysXCommonConfig.h"
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namespace physx
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{
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PX_PHYSX_COMMON_API PxTransform PxTransformFromPlaneEquation(const PxPlane& plane)
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{
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PxPlane p = plane;
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p.normalize();
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// special case handling for axis aligned planes
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const PxReal halfsqrt2 = 0.707106781f;
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PxQuat q;
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if(2 == (p.n.x == 0.0f) + (p.n.y == 0.0f) + (p.n.z == 0.0f)) // special handling for axis aligned planes
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{
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if(p.n.x > 0) q = PxQuat(PxIdentity);
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else if(p.n.x < 0) q = PxQuat(0, 0, 1.0f, 0);
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else q = PxQuat(0.0f, -p.n.z, p.n.y, 1.0f) * halfsqrt2;
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}
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else q = PxShortestRotation(PxVec3(1.f,0,0), p.n);
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return PxTransform(-p.n * p.d, q);
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}
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PX_PHYSX_COMMON_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight)
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{
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const PxVec3 axis = p1-p0;
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const PxReal height = axis.magnitude();
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if(halfHeight)
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*halfHeight = height/2;
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return PxTransform((p1+p0) * 0.5f,
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height<1e-6f ? PxQuat(PxIdentity) : PxShortestRotation(PxVec3(1.f,0,0), axis/height));
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}
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}
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