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#ifndef PX_FOUNDATION_PX_TRANSFORM_H
#define PX_FOUNDATION_PX_TRANSFORM_H
/** \addtogroup foundation
  @{
*/

#include "foundation/PxQuat.h"
#include "foundation/PxPlane.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

/*!
\brief class representing a rigid euclidean transform as a quaternion and a vector
*/

class PxTransform
{
public:
	PxQuat q;
	PxVec3 p;

//#define PXTRANSFORM_DEFAULT_CONSTRUCT_NAN

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform() 
#ifdef PXTRANSFORM_DEFAULT_CONSTRUCT_IDENTITY
		: q(0, 0, 0, 1), p(0, 0, 0)
#elif defined(PXTRANSFORM_DEFAULT_CONSTRUCT_NAN)
#define invalid PxSqrt(-1.0f)
		: q(invalid, invalid, invalid, invalid), p(invalid, invalid, invalid)
#undef invalid
#endif
	{
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxVec3& position): q(0, 0, 0, 1), p(position)
	{
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation): q(orientation), p(0, 0, 0)
	{
		PX_ASSERT(orientation.isSane());
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0): q(q0), p(p0) 
	{
		PX_ASSERT(q0.isSane());
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m);	// defined in PxMat44.h
	
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
	{
		PX_ASSERT(x.isSane());
		return transform(x);
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
	{
		PX_ASSERT(isFinite());
		return PxTransform(q.rotateInv(-p),q.getConjugate());
	}


	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
	{
		PX_ASSERT(isFinite());
		return q.rotate(input) + p;
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
	{
		PX_ASSERT(isFinite());
		return q.rotateInv(input-p);
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
	{
		PX_ASSERT(isFinite());
		return q.rotate(input);
	}

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
	{
		PX_ASSERT(isFinite());
		return q.rotateInv(input);
	}

	//! Transform transform to parent (returns compound transform: first src, then *this)
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
	{
		PX_ASSERT(src.isSane());
		PX_ASSERT(isSane());
		// src = [srct, srcr] -> [r*srct + t, r*srcr]
		return PxTransform(q.rotate(src.p) + p, q*src.q);
	}

	/**
	\brief returns true if finite and q is a unit quaternion
	*/

	PX_CUDA_CALLABLE bool isValid() const
	{
		return p.isFinite() && q.isFinite() && q.isUnit();
	}

	/**
	\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error vs isValid
	*/

	PX_CUDA_CALLABLE bool isSane() const
	{
	      return isFinite() && q.isSane();
	}


	/**
	\brief returns true if all elems are finite (not NAN or INF, etc.)
	*/
	PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const { return p.isFinite() && q.isFinite(); }

	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
	{
		PX_ASSERT(src.isSane());
		PX_ASSERT(isFinite());
		// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
		PxQuat qinv = q.getConjugate();
		return PxTransform(qinv.rotate(src.p - p), qinv*src.q);
	}

	PX_CUDA_CALLABLE static PX_FORCE_INLINE PxTransform createIdentity() 
	{ 
		return PxTransform(PxVec3(0)); 
	}

	/**
	\brief transform plane
	*/

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane& plane) const
	{
		PxVec3 transformedNormal = rotate(plane.n);
		return PxPlane(transformedNormal, plane.d - p.dot(transformedNormal));
	}

	/**
	\brief inverse-transform plane
	*/

	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane& plane) const
	{
		PxVec3 transformedNormal = rotateInv(plane.n);
		return PxPlane(transformedNormal, plane.d + p.dot(plane.n));
	}


	/**
	\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
	*/
	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const
	{
		return PxTransform(p, q.getNormalized());
	}

};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif // PX_FOUNDATION_PX_TRANSFORM_H