genesis-3d_engine/Engine/ExtIncludes/physX3/windows/foundation/PxMat44.h

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#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