123 lines
3.7 KiB
C++
123 lines
3.7 KiB
C++
// 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_PHYSICS_NX_MESHSCALE
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#define PX_PHYSICS_NX_MESHSCALE
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommon.h"
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#include "foundation/PxMat33.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 A class expressing a nonuniform scaling transformation.
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The scaling is along arbitrary axes that are specified by PxMeshScale::rotation.
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\note Currently only positive scale values are supported.
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@see PxConvexMeshGeometry PxTriangleMeshGeometry
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*/
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class PxMeshScale
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{
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public:
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/**
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\brief Constructor initializes to identity scale.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(PxVec3(1.0f, 1.0f, 1.0f)), rotation(PxQuat::createIdentity())
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{
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}
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/**
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\brief Constructor to initialize to arbitrary scaling.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r)
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{
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PX_ASSERT(r.isUnit());
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scale = s;
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rotation = r;
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}
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/**
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\brief Returns true if the scaling is an identity transformation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const
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{
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return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f);
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}
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/**
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\brief Returns the inverse of this scaling transformation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale getInverse() const
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{
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return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotation);
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}
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/**
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\brief Returns the identity scaling transformation.
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*/
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale createIdentity()
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{
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return PxMeshScale(PxVec3(1.0f, 1.0f, 1.0f),PxQuat::createIdentity());
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}
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/**
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\brief Converts this transformation to a 3x3 matrix representation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const
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{
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PxMat33 rot(rotation);
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PxMat33 trans = rot.getTranspose();
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trans.column0 *= scale[0];
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trans.column1 *= scale[1];
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trans.column2 *= scale[2];
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return trans * rot;
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}
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PxVec3 scale; //!< A nonuniform scaling
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PxQuat rotation; //!< The orientation of the scaling axes
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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
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