Steve Pham
38261d0800
* Updated all copyright headers to split the longer original copyright line into 2 shorter lines Signed-off-by: Steve Pham <spham@amazon.com>
81 lines
2.7 KiB
C
81 lines
2.7 KiB
C
/*
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* Copyright (c) Contributors to the Open 3D Engine Project.
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* For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#pragma once
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#include <PxPhysicsAPI.h>
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#include <AzCore/Math/Quaternion.h>
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#include <AzCore/Math/Vector3.h>
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#include <AzCore/Math/Aabb.h>
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#include <AzCore/Math/Transform.h>
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inline physx::PxVec3 PxMathConvert(const AZ::Vector3& lyVec)
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{
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return physx::PxVec3(lyVec.GetX(), lyVec.GetY(), lyVec.GetZ());
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}
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inline AZ::Vector3 PxMathConvert(const physx::PxVec3& pxVec)
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{
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return AZ::Vector3(pxVec.x, pxVec.y, pxVec.z);
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}
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inline AZ::Vector4 PxMathConvert(const physx::PxVec4& pxVec)
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{
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return AZ::Vector4(pxVec.x, pxVec.y, pxVec.z, pxVec.w);
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}
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inline physx::PxQuat PxMathConvert(const AZ::Quaternion& lyQuat)
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{
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return physx::PxQuat(lyQuat.GetX(), lyQuat.GetY(), lyQuat.GetZ(), lyQuat.GetW());
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}
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inline AZ::Quaternion PxMathConvert(const physx::PxQuat& pxQuat)
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{
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return AZ::Quaternion(pxQuat.x, pxQuat.y, pxQuat.z, pxQuat.w);
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}
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inline AZ::Aabb PxMathConvert(const physx::PxBounds3& bounds)
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{
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return AZ::Aabb::CreateFromMinMax(PxMathConvert(bounds.minimum), PxMathConvert(bounds.maximum));
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}
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inline physx::PxTransform PxMathConvert(const AZ::Transform& lyTransform)
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{
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AZ::Quaternion lyQuat = lyTransform.GetRotation();
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AZ::Vector3 lyVec3 = lyTransform.GetTranslation();
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return physx::PxTransform(PxMathConvert(lyVec3),
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PxMathConvert(lyQuat).getNormalized());
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}
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inline AZ::Transform PxMathConvert(const physx::PxTransform& pxTransform)
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{
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return AZ::Transform::CreateFromQuaternionAndTranslation(PxMathConvert(pxTransform.q), PxMathConvert(pxTransform.p));
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}
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inline physx::PxTransform PxMathConvert(const AZ::Vector3& position, const AZ::Quaternion& rotation)
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{
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return physx::PxTransform(PxMathConvert(position), PxMathConvert(rotation));
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}
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/// Conversion for PhysX extended (double precision) vector.
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/// This is used by PhysX for example in character controller position to deal with large co-ordinates.
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/// Note this converts to the lower precision AZ::Vector3.
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inline AZ::Vector3 PxMathConvertExtended(const physx::PxExtendedVec3& pxVec)
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{
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return AZ::Vector3(static_cast<float>(pxVec.x), static_cast<float>(pxVec.y), static_cast<float>(pxVec.z));
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}
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/// Conversion for PhysX extended (double precision) vector.
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/// This is used by PhysX for example in character controller position to deal with large co-ordinates.
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/// Note this converts from the lower precision AZ::Vector3.
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inline physx::PxExtendedVec3 PxMathConvertExtended(const AZ::Vector3& lyVec)
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{
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return physx::PxExtendedVec3(lyVec.GetX(), lyVec.GetY(), lyVec.GetZ());
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}
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