px3Casts.h

Public Functions

physx::PxBounds3

px3Cast(const Box3F & box)

T

px3Cast(const F & from)

physx::PxTransform

px3Cast(const MatrixF & xfm)

Box3F

px3Cast(const physx::PxBounds3 & bounds)

Point3F

px3Cast(const physx::PxExtendedVec3 & xvec)

QuatF

px3Cast(const physx::PxQuat & quat)

TransformF

px3Cast(const physx::PxTransform & xfm)

Point3F

px3Cast(const physx::PxVec3 & vec)

physx::PxVec3

px3Cast(const Point3F & point)

physx::PxQuat

px3Cast(const QuatF & quat)

Public Functions

px3Cast(const Box3F & box)

px3Cast(const F & from)

px3Cast(const MatrixF & xfm)

px3Cast(const physx::PxBounds3 & bounds)

px3Cast(const physx::PxExtendedVec3 & xvec)

px3Cast(const physx::PxQuat & quat)

px3Cast(const physx::PxTransform & xfm)

px3Cast(const physx::PxVec3 & vec)

px3Cast(const Point3F & point)

px3Cast(const QuatF & quat)

  1
  2//-----------------------------------------------------------------------------
  3// Copyright (c) 2012 GarageGames, LLC
  4//
  5// Permission is hereby granted, free of charge, to any person obtaining a copy
  6// of this software and associated documentation files (the "Software"), to
  7// deal in the Software without restriction, including without limitation the
  8// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  9// sell copies of the Software, and to permit persons to whom the Software is
 10// furnished to do so, subject to the following conditions:
 11//
 12// The above copyright notice and this permission notice shall be included in
 13// all copies or substantial portions of the Software.
 14//
 15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 20// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 21// IN THE SOFTWARE.
 22//-----------------------------------------------------------------------------
 23
 24#ifndef _PX3CASTS_H_
 25#define _PX3CASTS_H_
 26
 27#ifndef _MPOINT3_H_
 28#include "math/mPoint3.h"
 29#endif
 30#ifndef _MMATRIX_H_
 31#include "math/mMatrix.h"
 32#endif
 33#ifndef _MBOX_H_
 34#include "math/mBox.h"
 35#endif
 36#ifndef _MQUAT_H_
 37#include "math/mQuat.h"
 38#endif
 39#ifndef _MTRANSFORM_H_
 40#include "math/mTransform.h"
 41#endif
 42
 43
 44template <class T, class F> inline T px3Cast( const F &from );
 45
 46//-------------------------------------------------------------------------
 47
 48template<>
 49inline Point3F px3Cast( const physx::PxVec3 &vec )
 50{
 51   return Point3F( vec.x, vec.y, vec.z );
 52}
 53
 54template<>
 55inline physx::PxVec3 px3Cast( const Point3F &point )
 56{
 57   return physx::PxVec3( point.x, point.y, point.z );
 58}
 59//-------------------------------------------------------------------------
 60template<>
 61inline QuatF px3Cast( const physx::PxQuat &quat )
 62{
 63   /// The Torque quat has the opposite winding order.
 64   return QuatF( -quat.x, -quat.y, -quat.z, quat.w );
 65}
 66
 67template<>
 68inline physx::PxQuat px3Cast( const QuatF &quat )
 69{
 70   /// The Torque quat has the opposite winding order.
 71   physx::PxQuat result( -quat.x, -quat.y, -quat.z, quat.w );
 72   return result;
 73}
 74//-------------------------------------------------------------------------
 75
 76template<>
 77inline physx::PxExtendedVec3 px3Cast( const Point3F &point )
 78{
 79   return physx::PxExtendedVec3( point.x, point.y, point.z );
 80}
 81
 82template<>
 83inline Point3F px3Cast( const physx::PxExtendedVec3 &xvec )
 84{
 85   return Point3F( xvec.x, xvec.y, xvec.z );
 86}
 87
 88//-------------------------------------------------------------------------
 89
 90template<>
 91inline physx::PxBounds3 px3Cast( const Box3F &box )
 92{
 93   physx::PxBounds3 bounds(px3Cast<physx::PxVec3>(box.minExtents),
 94                     px3Cast<physx::PxVec3>(box.maxExtents));
 95   return bounds;
 96}
 97
 98template<>
 99inline Box3F px3Cast( const physx::PxBounds3 &bounds )
100{
101   return Box3F(  bounds.minimum.x, 
102                  bounds.minimum.y,
103                  bounds.minimum.z,
104                  bounds.maximum.x,
105                  bounds.maximum.y,
106                  bounds.maximum.z );
107}
108
109//-------------------------------------------------------------------------
110
111template<>
112inline physx::PxTransform px3Cast( const MatrixF &xfm )
113{
114   physx::PxTransform out;
115   QuatF q;
116   q.set(xfm);
117   out.q = px3Cast<physx::PxQuat>(q);
118   out.p = px3Cast<physx::PxVec3>(xfm.getPosition());
119   return out;
120}
121
122template<>
123inline TransformF px3Cast(const physx::PxTransform &xfm)
124{
125   TransformF out(px3Cast<Point3F>(xfm.p),AngAxisF(px3Cast<QuatF>(xfm.q)));
126   return out;
127}
128
129template<>
130inline MatrixF px3Cast( const physx::PxTransform &xfm )
131{
132   MatrixF out;
133   TransformF t = px3Cast<TransformF>(xfm);
134   out = t.getMatrix();
135   return out;
136}
137
138#endif //_PX3CASTS_H_
139