352 lines
10 KiB
C
352 lines
10 KiB
C
|
// This code contains NVIDIA Confidential Information and is disclosed to you
|
||
|
|
// under a form of NVIDIA software license agreement provided separately to you.
|
||
|
|
//
|
||
|
|
// Notice
|
||
|
|
// NVIDIA Corporation and its licensors retain all intellectual property and
|
||
|
|
// proprietary rights in and to this software and related documentation and
|
||
|
|
// any modifications thereto. Any use, reproduction, disclosure, or
|
||
|
|
// distribution of this software and related documentation without an express
|
||
|
|
// license agreement from NVIDIA Corporation is strictly prohibited.
|
||
|
|
//
|
||
|
|
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
|
||
|
|
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
|
||
|
|
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
|
||
|
|
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
//
|
||
|
|
// Information and code furnished is believed to be accurate and reliable.
|
||
|
|
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
|
||
|
|
// information or for any infringement of patents or other rights of third parties that may
|
||
|
|
// result from its use. No license is granted by implication or otherwise under any patent
|
||
|
|
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
|
||
|
|
// This code supersedes and replaces all information previously supplied.
|
||
|
|
// NVIDIA Corporation products are not authorized for use as critical
|
||
|
|
// components in life support devices or systems without express written approval of
|
||
|
|
// NVIDIA Corporation.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
|
||
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef PX_FOUNDATION_PX_MAT44_H
|
||
|
|
#define PX_FOUNDATION_PX_MAT44_H
|
||
|
|
/** \addtogroup foundation
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "foundation/PxQuat.h"
|
||
|
|
#include "foundation/PxVec4.h"
|
||
|
|
#include "foundation/PxMat33.h"
|
||
|
|
#include "foundation/PxTransform.h"
|
||
|
|
|
||
|
|
#ifndef 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()
|
||
|
|
{}
|
||
|
|
|
||
|
|
//! 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)
|
||
|
|
{}
|
||
|
|
|
||
|
|
//! Construct from three base vectors and a translation
|
||
|
|
PX_CUDA_CALLABLE PxMat44(const PxVec3& column0, const PxVec3& column1, const PxVec3& column2, const PxVec3& column3)
|
||
|
|
: column0(column0,0), column1(column1,0), column2(column2,0), column3(column3,1)
|
||
|
|
{}
|
||
|
|
|
||
|
|
//! Construct from float[16]
|
||
|
|
explicit PX_CUDA_CALLABLE PX_INLINE PxMat44(PxReal 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 PxReal x = q.x;
|
||
|
|
const PxReal y = q.y;
|
||
|
|
const PxReal z = q.z;
|
||
|
|
const PxReal w = q.w;
|
||
|
|
|
||
|
|
const PxReal x2 = x + x;
|
||
|
|
const PxReal y2 = y + y;
|
||
|
|
const PxReal z2 = z + z;
|
||
|
|
|
||
|
|
const PxReal xx = x2*x;
|
||
|
|
const PxReal yy = y2*y;
|
||
|
|
const PxReal zz = z2*z;
|
||
|
|
|
||
|
|
const PxReal xy = x2*y;
|
||
|
|
const PxReal xz = x2*z;
|
||
|
|
const PxReal xw = x2*w;
|
||
|
|
|
||
|
|
const PxReal yz = y2*z;
|
||
|
|
const PxReal yw = y2*w;
|
||
|
|
const PxReal 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)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PxMat44(const PxMat33& orientation, const PxVec3& position):
|
||
|
|
column0(orientation.column0,0.0f),
|
||
|
|
column1(orientation.column1,0.0f),
|
||
|
|
column2(orientation.column2,0.0f),
|
||
|
|
column3(position,1)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PxMat44(const PxTransform& t)
|
||
|
|
{
|
||
|
|
*this = PxMat44(PxMat33(t.q), t.p);
|
||
|
|
}
|
||
|
|
|
||
|
|
//! 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 const PxMat44& operator=(const PxMat44& other)
|
||
|
|
{
|
||
|
|
column0 = other.column0;
|
||
|
|
column1 = other.column1;
|
||
|
|
column2 = other.column2;
|
||
|
|
column3 = other.column3;
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE static PxMat44 createIdentity()
|
||
|
|
{
|
||
|
|
return PxMat44(
|
||
|
|
PxVec4(1.0f,0.0f,0.0f,0.0f),
|
||
|
|
PxVec4(0.0f,1.0f,0.0f,0.0f),
|
||
|
|
PxVec4(0.0f,0.0f,1.0f,0.0f),
|
||
|
|
PxVec4(0.0f,0.0f,0.0f,1.0f));
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE static PxMat44 createZero()
|
||
|
|
{
|
||
|
|
return PxMat44(PxVec4(0.0f), PxVec4(0.0f), PxVec4(0.0f), PxVec4(0.0f));
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Get transposed matrix
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE 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 PxMat44 operator-() const
|
||
|
|
{
|
||
|
|
return PxMat44(-column0, -column1, -column2, -column3);
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Add
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE 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 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 PxMat44 operator*(PxReal scalar) const
|
||
|
|
{
|
||
|
|
return PxMat44(column0*scalar, column1*scalar, column2*scalar, column3*scalar);
|
||
|
|
}
|
||
|
|
|
||
|
|
friend PxMat44 operator*(PxReal, const PxMat44&);
|
||
|
|
|
||
|
|
//! Matrix multiplication
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE 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*=(PxReal scalar)
|
||
|
|
{
|
||
|
|
column0 *= scalar;
|
||
|
|
column1 *= scalar;
|
||
|
|
column2 *= scalar;
|
||
|
|
column3 *= scalar;
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Element access, mathematical way!
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal operator()(unsigned int row, unsigned int col) const
|
||
|
|
{
|
||
|
|
return (*this)[col][row];
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Element access, mathematical way!
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& 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 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 PxVec3 transform(const PxVec3& other) const
|
||
|
|
{
|
||
|
|
return transform(PxVec4(other,1)).getXYZ();
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Rotate vector by matrix, equal to v' = M*v
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE 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 PxVec3 rotate(const PxVec3& other) const
|
||
|
|
{
|
||
|
|
return rotate(PxVec4(other,1)).getXYZ();
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE PxVec3 getBasis(int num) const
|
||
|
|
{
|
||
|
|
PX_ASSERT(num>=0 && num<3);
|
||
|
|
return (&column0)[num].getXYZ();
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE 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 PxReal* front() const
|
||
|
|
{
|
||
|
|
return &column0.x;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](int num) {return (&column0)[num];}
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](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 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);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif // PX_FOUNDATION_PX_MAT44_H
|