Space-Project/dependencies/physx-4.1/include/foundation/PxMat44.h
2021-01-16 17:11:39 +01:00

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#ifndef PXFOUNDATION_PXMAT44_H
#define PXFOUNDATION_PXMAT44_H
/** \addtogroup foundation
@{
*/
#include "foundation/PxQuat.h"
#include "foundation/PxVec4.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/*!
\brief 4x4 matrix class
This class is layout-compatible with D3D and OpenGL matrices. More notes on layout are given in the PxMat33
@see PxMat33 PxTransform
*/
class PxMat44
{
public:
//! Default constructor
PX_CUDA_CALLABLE PX_INLINE PxMat44()
{
}
//! identity constructor
PX_CUDA_CALLABLE PX_INLINE PxMat44(PxIDENTITY r)
: column0(1.0f, 0.0f, 0.0f, 0.0f)
, column1(0.0f, 1.0f, 0.0f, 0.0f)
, column2(0.0f, 0.0f, 1.0f, 0.0f)
, column3(0.0f, 0.0f, 0.0f, 1.0f)
{
PX_UNUSED(r);
}
//! zero constructor
PX_CUDA_CALLABLE PX_INLINE PxMat44(PxZERO r) : column0(PxZero), column1(PxZero), column2(PxZero), column3(PxZero)
{
PX_UNUSED(r);
}
//! Construct from four 4-vectors
PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4& col3)
: column0(col0), column1(col1), column2(col2), column3(col3)
{
}
//! constructor that generates a multiple of the identity matrix
explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float r)
: column0(r, 0.0f, 0.0f, 0.0f)
, column1(0.0f, r, 0.0f, 0.0f)
, column2(0.0f, 0.0f, r, 0.0f)
, column3(0.0f, 0.0f, 0.0f, r)
{
}
//! Construct from three base vectors and a translation
PX_CUDA_CALLABLE PxMat44(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2, const PxVec3& col3)
: column0(col0, 0), column1(col1, 0), column2(col2, 0), column3(col3, 1.0f)
{
}
//! Construct from float[16]
explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float values[])
: column0(values[0], values[1], values[2], values[3])
, column1(values[4], values[5], values[6], values[7])
, column2(values[8], values[9], values[10], values[11])
, column3(values[12], values[13], values[14], values[15])
{
}
//! Construct from a quaternion
explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
{
const float x = q.x;
const float y = q.y;
const float z = q.z;
const float w = q.w;
const float x2 = x + x;
const float y2 = y + y;
const float z2 = z + z;
const float xx = x2 * x;
const float yy = y2 * y;
const float zz = z2 * z;
const float xy = x2 * y;
const float xz = x2 * z;
const float xw = x2 * w;
const float yz = y2 * z;
const float yw = y2 * w;
const float zw = z2 * w;
column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
}
//! Construct from a diagonal vector
explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal)
: column0(diagonal.x, 0.0f, 0.0f, 0.0f)
, column1(0.0f, diagonal.y, 0.0f, 0.0f)
, column2(0.0f, 0.0f, diagonal.z, 0.0f)
, column3(0.0f, 0.0f, 0.0f, diagonal.w)
{
}
//! Construct from Mat33 and a translation
PX_CUDA_CALLABLE PxMat44(const PxMat33& axes, const PxVec3& position)
: column0(axes.column0, 0.0f), column1(axes.column1, 0.0f), column2(axes.column2, 0.0f), column3(position, 1.0f)
{
}
PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
{
*this = PxMat44(PxMat33(t.q), t.p);
}
/**
\brief returns true if the two matrices are exactly equal
*/
PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat44& m) const
{
return column0 == m.column0 && column1 == m.column1 && column2 == m.column2 && column3 == m.column3;
}
//! Copy constructor
PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
: column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
{
}
//! Assignment operator
PX_CUDA_CALLABLE PX_INLINE PxMat44& operator=(const PxMat44& other)
{
column0 = other.column0;
column1 = other.column1;
column2 = other.column2;
column3 = other.column3;
return *this;
}
//! Get transposed matrix
PX_CUDA_CALLABLE PX_INLINE const PxMat44 getTranspose() const
{
return PxMat44(
PxVec4(column0.x, column1.x, column2.x, column3.x), PxVec4(column0.y, column1.y, column2.y, column3.y),
PxVec4(column0.z, column1.z, column2.z, column3.z), PxVec4(column0.w, column1.w, column2.w, column3.w));
}
//! Unary minus
PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-() const
{
return PxMat44(-column0, -column1, -column2, -column3);
}
//! Add
PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator+(const PxMat44& other) const
{
return PxMat44(column0 + other.column0, column1 + other.column1, column2 + other.column2,
column3 + other.column3);
}
//! Subtract
PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-(const PxMat44& other) const
{
return PxMat44(column0 - other.column0, column1 - other.column1, column2 - other.column2,
column3 - other.column3);
}
//! Scalar multiplication
PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(float scalar) const
{
return PxMat44(column0 * scalar, column1 * scalar, column2 * scalar, column3 * scalar);
}
friend PxMat44 operator*(float, const PxMat44&);
//! Matrix multiplication
PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(const PxMat44& other) const
{
// Rows from this <dot> columns from other
// column0 = transform(other.column0) etc
return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2),
transform(other.column3));
}
// a <op>= b operators
//! Equals-add
PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
{
column0 += other.column0;
column1 += other.column1;
column2 += other.column2;
column3 += other.column3;
return *this;
}
//! Equals-sub
PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
{
column0 -= other.column0;
column1 -= other.column1;
column2 -= other.column2;
column3 -= other.column3;
return *this;
}
//! Equals scalar multiplication
PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(float scalar)
{
column0 *= scalar;
column1 *= scalar;
column2 *= scalar;
column3 *= scalar;
return *this;
}
//! Equals matrix multiplication
PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(const PxMat44& other)
{
*this = *this * other;
return *this;
}
//! Element access, mathematical way!
PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
{
return (*this)[col][row];
}
//! Element access, mathematical way!
PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
{
return (*this)[col][row];
}
//! Transform vector by matrix, equal to v' = M*v
PX_CUDA_CALLABLE PX_INLINE const PxVec4 transform(const PxVec4& other) const
{
return column0 * other.x + column1 * other.y + column2 * other.z + column3 * other.w;
}
//! Transform vector by matrix, equal to v' = M*v
PX_CUDA_CALLABLE PX_INLINE const PxVec3 transform(const PxVec3& other) const
{
return transform(PxVec4(other, 1.0f)).getXYZ();
}
//! Rotate vector by matrix, equal to v' = M*v
PX_CUDA_CALLABLE PX_INLINE const PxVec4 rotate(const PxVec4& other) const
{
return column0 * other.x + column1 * other.y + column2 * other.z; // + column3*0;
}
//! Rotate vector by matrix, equal to v' = M*v
PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& other) const
{
return rotate(PxVec4(other, 1.0f)).getXYZ();
}
PX_CUDA_CALLABLE PX_INLINE const PxVec3 getBasis(int num) const
{
PX_SHARED_ASSERT(num >= 0 && num < 3);
return (&column0)[num].getXYZ();
}
PX_CUDA_CALLABLE PX_INLINE const PxVec3 getPosition() const
{
return column3.getXYZ();
}
PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
{
column3.x = position.x;
column3.y = position.y;
column3.z = position.z;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE const float* front() const
{
return &column0.x;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
{
return (&column0)[num];
}
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
{
return (&column0)[num];
}
PX_CUDA_CALLABLE PX_INLINE void scale(const PxVec4& p)
{
column0 *= p.x;
column1 *= p.y;
column2 *= p.z;
column3 *= p.w;
}
PX_CUDA_CALLABLE PX_INLINE const PxMat44 inverseRT(void) const
{
PxVec3 r0(column0.x, column1.x, column2.x), r1(column0.y, column1.y, column2.y),
r2(column0.z, column1.z, column2.z);
return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
}
PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
{
return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
}
// Data, see above for format!
PxVec4 column0, column1, column2, column3; // the four base vectors
};
// implementation from PxTransform.h
PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
{
PxVec3 column0 = PxVec3(m.column0.x, m.column0.y, m.column0.z);
PxVec3 column1 = PxVec3(m.column1.x, m.column1.y, m.column1.z);
PxVec3 column2 = PxVec3(m.column2.x, m.column2.y, m.column2.z);
q = PxQuat(PxMat33(column0, column1, column2));
p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
}
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif // #ifndef PXFOUNDATION_PXMAT44_H