408 lines
9.9 KiB
C
408 lines
9.9 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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 PX_FOUNDATION_PX_QUAT_H
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#define PX_FOUNDATION_PX_QUAT_H
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/** \addtogroup foundation
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@{
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*/
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#include "foundation/PxVec3.h"
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#ifndef 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 This is a quaternion class. For more information on quaternion mathematics
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consult a mathematics source on complex numbers.
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*/
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class PxQuat
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{
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public:
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/**
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\brief Default constructor, does not do any initialization.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat() { }
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/**
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\brief Constructor. Take note of the order of the elements!
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(PxReal nx, PxReal ny, PxReal nz, PxReal nw) : x(nx),y(ny),z(nz),w(nw) {}
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/**
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\brief Creates from angle-axis representation.
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Axis must be normalized!
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Angle is in radians!
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_INLINE PxQuat(PxReal angleRadians, const PxVec3& unitAxis)
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{
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PX_ASSERT(PxAbs(1.0f-unitAxis.magnitude())<1e-3f);
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const PxReal a = angleRadians * 0.5f;
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const PxReal s = PxSin(a);
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w = PxCos(a);
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x = unitAxis.x * s;
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y = unitAxis.y * s;
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z = unitAxis.z * s;
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}
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/**
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\brief Copy ctor.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(const PxQuat& v): x(v.x), y(v.y), z(v.z), w(v.w) {}
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/**
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\brief Creates from orientation matrix.
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\param[in] m Rotation matrix to extract quaternion from.
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*/
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PX_CUDA_CALLABLE PX_INLINE explicit PxQuat(const PxMat33& m); /* defined in PxMat33.h */
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/**
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\brief returns true if all elements are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE bool isFinite() const
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{
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return PxIsFinite(x)
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&& PxIsFinite(y)
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&& PxIsFinite(z)
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&& PxIsFinite(w);
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}
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/**
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\brief returns true if finite and magnitude is close to unit
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*/
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PX_CUDA_CALLABLE bool isUnit() const
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{
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const PxReal unitTolerance = PxReal(1e-4);
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return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
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}
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/**
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\brief returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of error vs isValid
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*/
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PX_CUDA_CALLABLE bool isSane() const
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{
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const PxReal unitTolerance = PxReal(1e-2);
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return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
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}
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/**
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\brief converts this quaternion to angle-axis representation
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*/
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PX_CUDA_CALLABLE PX_INLINE void toRadiansAndUnitAxis(PxReal& angle, PxVec3& axis) const
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{
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const PxReal quatEpsilon = (PxReal(1.0e-8f));
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const PxReal s2 = x*x+y*y+z*z;
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if(s2<quatEpsilon*quatEpsilon) // can't extract a sensible axis
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{
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angle = 0;
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axis = PxVec3(1,0,0);
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}
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else
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{
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const PxReal s = PxRecipSqrt(s2);
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axis = PxVec3(x,y,z) * s;
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angle = PxAbs(w)<quatEpsilon ? PxPi : PxAtan2(s2*s, w) * 2;
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}
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}
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/**
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\brief Gets the angle between this quat and the identity quaternion.
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_INLINE PxReal getAngle() const
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{
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return PxAcos(w) * PxReal(2);
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}
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/**
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\brief Gets the angle between this quat and the argument
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<b>Unit:</b> Radians
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*/
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PX_CUDA_CALLABLE PX_INLINE PxReal getAngle(const PxQuat& q) const
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{
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return PxAcos(dot(q)) * PxReal(2);
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}
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/**
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\brief This is the squared 4D vector length, should be 1 for unit quaternions.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const
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{
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return x*x + y*y + z*z + w*w;
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}
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/**
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\brief returns the scalar product of this and other.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxQuat& v) const
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{
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return x * v.x + y * v.y + z * v.z + w * v.w;
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}
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PX_CUDA_CALLABLE PX_INLINE PxQuat getNormalized() const
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{
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const PxReal s = 1.0f/magnitude();
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return PxQuat(x*s, y*s, z*s, w*s);
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}
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PX_CUDA_CALLABLE PX_INLINE float magnitude() const
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{
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return PxSqrt(magnitudeSquared());
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}
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//modifiers:
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/**
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\brief maps to the closest unit quaternion.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxReal normalize() // convert this PxQuat to a unit quaternion
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{
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const PxReal mag = magnitude();
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if (mag)
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{
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const PxReal imag = PxReal(1) / mag;
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x *= imag;
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y *= imag;
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z *= imag;
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w *= imag;
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}
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return mag;
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}
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/*
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\brief returns the conjugate.
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\note for unit quaternions, this is the inverse.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxQuat getConjugate() const
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{
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return PxQuat(-x,-y,-z,w);
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}
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/*
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\brief returns imaginary part.
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*/
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PX_CUDA_CALLABLE PX_INLINE PxVec3 getImaginaryPart() const
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{
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return PxVec3(x,y,z);
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}
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/** brief computes rotation of x-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector0() const
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{
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// return rotate(PxVec3(1,0,0));
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const PxF32 x2 = x*2.0f;
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const PxF32 w2 = w*2.0f;
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return PxVec3( (w * w2) - 1.0f + x*x2,
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(z * w2) + y*x2,
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(-y * w2) + z*x2);
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}
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/** brief computes rotation of y-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector1() const
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{
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// return rotate(PxVec3(0,1,0));
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const PxF32 y2 = y*2.0f;
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const PxF32 w2 = w*2.0f;
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return PxVec3( (-z * w2) + x*y2,
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(w * w2) - 1.0f + y*y2,
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(x * w2) + z*y2);
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}
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/** brief computes rotation of z-axis */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector2() const
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{
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// return rotate(PxVec3(0,0,1));
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const PxF32 z2 = z*2.0f;
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const PxF32 w2 = w*2.0f;
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return PxVec3( (y * w2) + x*z2,
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(-x * w2) + y*z2,
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(w * w2) - 1.0f + z*z2);
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}
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/**
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rotates passed vec by this (assumed unitary)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3& v) const
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// PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotate(const PxVec3& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = w*w-0.5f;
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const PxF32 dot2 = (x*vx + y*vy +z*vz);
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return PxVec3
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(
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(vx*w2 + (y * vz - z * vy)*w + x*dot2),
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(vy*w2 + (z * vx - x * vz)*w + y*dot2),
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(vz*w2 + (x * vy - y * vx)*w + z*dot2)
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);
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/*
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const PxVec3 qv(x,y,z);
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return (v*(w*w-0.5f) + (qv.cross(v))*w + qv*(qv.dot(v)))*2;
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*/
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}
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/**
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inverse rotates passed vec by this (assumed unitary)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3& v) const
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// PX_CUDA_CALLABLE PX_INLINE const PxVec3 rotateInv(const PxVec3& v) const
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{
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const PxF32 vx = 2.0f*v.x;
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const PxF32 vy = 2.0f*v.y;
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const PxF32 vz = 2.0f*v.z;
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const PxF32 w2 = w*w-0.5f;
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const PxF32 dot2 = (x*vx + y*vy +z*vz);
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return PxVec3
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(
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(vx*w2 - (y * vz - z * vy)*w + x*dot2),
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(vy*w2 - (z * vx - x * vz)*w + y*dot2),
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(vz*w2 - (x * vy - y * vx)*w + z*dot2)
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);
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// const PxVec3 qv(x,y,z);
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// return (v*(w*w-0.5f) - (qv.cross(v))*w + qv*(qv.dot(v)))*2;
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}
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/**
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\brief Assignment operator
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& operator=(const PxQuat& p) { x = p.x; y = p.y; z = p.z; w = p.w; return *this; }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& operator*= (const PxQuat& q)
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{
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const PxReal tx = w*q.x + q.w*x + y*q.z - q.y*z;
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const PxReal ty = w*q.y + q.w*y + z*q.x - q.z*x;
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const PxReal tz = w*q.z + q.w*z + x*q.y - q.x*y;
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w = w*q.w - q.x*x - y*q.y - q.z*z;
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x = tx;
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y = ty;
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z = tz;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& operator+= (const PxQuat& q)
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{
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x+=q.x;
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y+=q.y;
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z+=q.z;
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w+=q.w;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& operator-= (const PxQuat& q)
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{
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x-=q.x;
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y-=q.y;
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z-=q.z;
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w-=q.w;
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return *this;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& operator*= (const PxReal s)
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{
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x*=s;
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y*=s;
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z*=s;
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w*=s;
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return *this;
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}
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/** quaternion multiplication */
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PX_CUDA_CALLABLE PX_INLINE PxQuat operator*(const PxQuat& q) const
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{
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return PxQuat(w*q.x + q.w*x + y*q.z - q.y*z,
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w*q.y + q.w*y + z*q.x - q.z*x,
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w*q.z + q.w*z + x*q.y - q.x*y,
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w*q.w - x*q.x - y*q.y - z*q.z);
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}
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/** quaternion addition */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator+(const PxQuat& q) const
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{
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return PxQuat(x+q.x,y+q.y,z+q.z,w+q.w);
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}
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/** quaternion subtraction */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-() const
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{
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return PxQuat(-x,-y,-z,-w);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-(const PxQuat& q) const
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{
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return PxQuat(x-q.x,y-q.y,z-q.z,w-q.w);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator*(PxReal r) const
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{
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return PxQuat(x*r,y*r,z*r,w*r);
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}
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static PX_CUDA_CALLABLE PX_INLINE PxQuat createIdentity() { return PxQuat(0,0,0,1); }
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/** the quaternion elements */
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PxReal x,y,z,w;
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif // PX_FOUNDATION_PX_QUAT_H
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