377 lines
11 KiB
C
377 lines
11 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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#ifndef PXFOUNDATION_PXMAT44_H
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#define PXFOUNDATION_PXMAT44_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/PxVec4.h"
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#include "foundation/PxMat33.h"
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#include "foundation/PxTransform.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 4x4 matrix class
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This class is layout-compatible with D3D and OpenGL matrices. More notes on layout are given in the PxMat33
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@see PxMat33 PxTransform
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*/
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class PxMat44
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{
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public:
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//! Default constructor
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PX_CUDA_CALLABLE PX_INLINE PxMat44()
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{
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}
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//! identity constructor
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PX_CUDA_CALLABLE PX_INLINE PxMat44(PxIDENTITY r)
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: column0(1.0f, 0.0f, 0.0f, 0.0f)
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, column1(0.0f, 1.0f, 0.0f, 0.0f)
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, column2(0.0f, 0.0f, 1.0f, 0.0f)
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, column3(0.0f, 0.0f, 0.0f, 1.0f)
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{
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PX_UNUSED(r);
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}
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//! zero constructor
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PX_CUDA_CALLABLE PX_INLINE PxMat44(PxZERO r) : column0(PxZero), column1(PxZero), column2(PxZero), column3(PxZero)
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{
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PX_UNUSED(r);
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}
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//! Construct from four 4-vectors
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PX_CUDA_CALLABLE PxMat44(const PxVec4& col0, const PxVec4& col1, const PxVec4& col2, const PxVec4& col3)
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: column0(col0), column1(col1), column2(col2), column3(col3)
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{
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}
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//! constructor that generates a multiple of the identity matrix
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explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float r)
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: column0(r, 0.0f, 0.0f, 0.0f)
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, column1(0.0f, r, 0.0f, 0.0f)
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, column2(0.0f, 0.0f, r, 0.0f)
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, column3(0.0f, 0.0f, 0.0f, r)
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{
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}
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//! Construct from three base vectors and a translation
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PX_CUDA_CALLABLE PxMat44(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2, const PxVec3& col3)
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: column0(col0, 0), column1(col1, 0), column2(col2, 0), column3(col3, 1.0f)
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{
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}
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//! Construct from float[16]
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explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(float values[])
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: column0(values[0], values[1], values[2], values[3])
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, column1(values[4], values[5], values[6], values[7])
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, column2(values[8], values[9], values[10], values[11])
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, column3(values[12], values[13], values[14], values[15])
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{
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}
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//! Construct from a quaternion
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explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxQuat& q)
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{
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const float x = q.x;
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const float y = q.y;
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const float z = q.z;
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const float w = q.w;
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const float x2 = x + x;
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const float y2 = y + y;
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const float z2 = z + z;
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const float xx = x2 * x;
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const float yy = y2 * y;
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const float zz = z2 * z;
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const float xy = x2 * y;
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const float xz = x2 * z;
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const float xw = x2 * w;
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const float yz = y2 * z;
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const float yw = y2 * w;
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const float zw = z2 * w;
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column0 = PxVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f);
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column1 = PxVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f);
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column2 = PxVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f);
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column3 = PxVec4(0.0f, 0.0f, 0.0f, 1.0f);
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}
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//! Construct from a diagonal vector
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explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxVec4& diagonal)
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: column0(diagonal.x, 0.0f, 0.0f, 0.0f)
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, column1(0.0f, diagonal.y, 0.0f, 0.0f)
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, column2(0.0f, 0.0f, diagonal.z, 0.0f)
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, column3(0.0f, 0.0f, 0.0f, diagonal.w)
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{
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}
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//! Construct from Mat33 and a translation
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PX_CUDA_CALLABLE PxMat44(const PxMat33& axes, const PxVec3& position)
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: column0(axes.column0, 0.0f), column1(axes.column1, 0.0f), column2(axes.column2, 0.0f), column3(position, 1.0f)
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{
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}
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PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
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{
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*this = PxMat44(PxMat33(t.q), t.p);
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}
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/**
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\brief returns true if the two matrices are exactly equal
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*/
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PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat44& m) const
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{
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return column0 == m.column0 && column1 == m.column1 && column2 == m.column2 && column3 == m.column3;
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}
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//! Copy constructor
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PX_CUDA_CALLABLE PX_INLINE PxMat44(const PxMat44& other)
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: column0(other.column0), column1(other.column1), column2(other.column2), column3(other.column3)
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{
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}
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//! Assignment operator
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PX_CUDA_CALLABLE PX_INLINE PxMat44& operator=(const PxMat44& other)
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{
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column0 = other.column0;
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column1 = other.column1;
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column2 = other.column2;
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column3 = other.column3;
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return *this;
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}
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//! Get transposed matrix
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 getTranspose() const
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{
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return PxMat44(
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PxVec4(column0.x, column1.x, column2.x, column3.x), PxVec4(column0.y, column1.y, column2.y, column3.y),
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PxVec4(column0.z, column1.z, column2.z, column3.z), PxVec4(column0.w, column1.w, column2.w, column3.w));
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}
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//! Unary minus
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-() const
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{
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return PxMat44(-column0, -column1, -column2, -column3);
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}
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//! Add
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator+(const PxMat44& other) const
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{
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return PxMat44(column0 + other.column0, column1 + other.column1, column2 + other.column2,
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column3 + other.column3);
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}
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//! Subtract
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator-(const PxMat44& other) const
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{
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return PxMat44(column0 - other.column0, column1 - other.column1, column2 - other.column2,
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column3 - other.column3);
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}
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//! Scalar multiplication
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(float scalar) const
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{
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return PxMat44(column0 * scalar, column1 * scalar, column2 * scalar, column3 * scalar);
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}
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friend PxMat44 operator*(float, const PxMat44&);
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//! Matrix multiplication
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 operator*(const PxMat44& other) const
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{
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// Rows from this <dot> columns from other
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// column0 = transform(other.column0) etc
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return PxMat44(transform(other.column0), transform(other.column1), transform(other.column2),
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transform(other.column3));
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}
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// a <op>= b operators
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//! Equals-add
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PX_CUDA_CALLABLE PX_INLINE PxMat44& operator+=(const PxMat44& other)
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{
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column0 += other.column0;
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column1 += other.column1;
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column2 += other.column2;
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column3 += other.column3;
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return *this;
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}
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//! Equals-sub
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PX_CUDA_CALLABLE PX_INLINE PxMat44& operator-=(const PxMat44& other)
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{
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column0 -= other.column0;
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column1 -= other.column1;
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column2 -= other.column2;
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column3 -= other.column3;
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return *this;
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}
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//! Equals scalar multiplication
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PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(float scalar)
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{
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column0 *= scalar;
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column1 *= scalar;
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column2 *= scalar;
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column3 *= scalar;
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return *this;
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}
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//! Equals matrix multiplication
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PX_CUDA_CALLABLE PX_INLINE PxMat44& operator*=(const PxMat44& 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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//! Element access, mathematical way!
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PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
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{
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return (*this)[col][row];
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}
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//! Element access, mathematical way!
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PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
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{
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return (*this)[col][row];
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}
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//! Transform vector by matrix, equal to v' = M*v
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PX_CUDA_CALLABLE PX_INLINE const PxVec4 transform(const PxVec4& other) const
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{
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return column0 * other.x + column1 * other.y + column2 * other.z + column3 * other.w;
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}
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//! Transform vector by matrix, equal to v' = M*v
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PX_CUDA_CALLABLE PX_INLINE const PxVec3 transform(const PxVec3& other) const
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{
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return transform(PxVec4(other, 1.0f)).getXYZ();
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}
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//! Rotate vector by matrix, equal to v' = M*v
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PX_CUDA_CALLABLE PX_INLINE const PxVec4 rotate(const PxVec4& other) const
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{
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return column0 * other.x + column1 * other.y + column2 * other.z; // + column3*0;
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}
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//! Rotate vector by matrix, equal to v' = M*v
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PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& other) const
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{
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return rotate(PxVec4(other, 1.0f)).getXYZ();
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}
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PX_CUDA_CALLABLE PX_INLINE const PxVec3 getBasis(int num) const
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{
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PX_SHARED_ASSERT(num >= 0 && num < 3);
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return (&column0)[num].getXYZ();
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}
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PX_CUDA_CALLABLE PX_INLINE const PxVec3 getPosition() const
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{
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return column3.getXYZ();
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}
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PX_CUDA_CALLABLE PX_INLINE void setPosition(const PxVec3& position)
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{
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column3.x = position.x;
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column3.y = position.y;
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column3.z = position.z;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE const float* front() const
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{
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return &column0.x;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
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{
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return (&column0)[num];
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
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{
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return (&column0)[num];
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}
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PX_CUDA_CALLABLE PX_INLINE void scale(const PxVec4& p)
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{
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column0 *= p.x;
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column1 *= p.y;
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column2 *= p.z;
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column3 *= p.w;
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}
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PX_CUDA_CALLABLE PX_INLINE const PxMat44 inverseRT(void) const
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{
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PxVec3 r0(column0.x, column1.x, column2.x), r1(column0.y, column1.y, column2.y),
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r2(column0.z, column1.z, column2.z);
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return PxMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z));
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}
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PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
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{
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return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite();
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}
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// Data, see above for format!
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PxVec4 column0, column1, column2, column3; // the four base vectors
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};
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// implementation from PxTransform.h
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform::PxTransform(const PxMat44& m)
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{
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PxVec3 column0 = PxVec3(m.column0.x, m.column0.y, m.column0.z);
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PxVec3 column1 = PxVec3(m.column1.x, m.column1.y, m.column1.z);
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PxVec3 column2 = PxVec3(m.column2.x, m.column2.y, m.column2.z);
|
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|
|
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||
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q = PxQuat(PxMat33(column0, column1, column2));
|
||
|
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p = PxVec3(m.column3.x, m.column3.y, m.column3.z);
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|
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}
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||
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|
#if !PX_DOXYGEN
|
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|
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} // namespace physx
|
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|
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#endif
|
||
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/** @} */
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|
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#endif // #ifndef PXFOUNDATION_PXMAT44_H
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