79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/****************************************************************************
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Copyright (c) 2011-2013,WebJet Business Division,CYOU
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http://www.genesis-3d.com.cn
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#ifndef _PHYSICSUTIL_H_
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#define _PHYSICSUTIL_H_
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#include "math/float3.h"
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#include "PxVec3.h"
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#include "PxVersionNumber.h"
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#include "PxExtended.h"
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#include "PxQuat.h"
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#include "PxMat33.h"
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#include "PxMat44.h"
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namespace App
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{
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struct PhysicsFlag
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{
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enum
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{
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eSL_CCD_FLAG = 1<<31
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};
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};
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inline PxExtendedVec3 Float3ToPxExtended(const Math::float3& v)
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{
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return PxExtendedVec3((Math::scalar)v.x(), (Math::scalar)v.y(), (Math::scalar)v.z());
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}
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inline Math::float3 PxExtendedToFloat3(const PxExtendedVec3& v)
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{
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return Math::float3((Math::scalar)v.x, (Math::scalar)v.y, (Math::scalar)v.z);
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}
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inline PxVec3 Float3ToPxVec(const Math::float3& v)
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{
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return PxVec3((Math::scalar)v.x(), (Math::scalar)v.y(), (Math::scalar)v.z());
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}
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inline Math::float3 PxVecToFloat3(const PxVec3& v)
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{
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return Math::float3((Math::scalar)v.x, (Math::scalar)v.y, (Math::scalar)v.z);
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}
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inline Math::quaternion PxQuatToQuat(const PxQuat& quat)
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{
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return Math::quaternion(quat.x,quat.y,quat.z,quat.w);
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}
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inline PxMat44 RotPosToPxMat( const Math::float3& f3Center,const Math::quaternion& qRotation)
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{
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PxQuat quat(qRotation.x(),qRotation.y(),qRotation.z(),qRotation.w());
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PxMat33 rot(quat);
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PxVec3 trans(f3Center.x(),f3Center.y(),f3Center.z());
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return PxMat44(rot,trans);
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}
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}
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#endif
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