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49 lines
2.0 KiB
C++
49 lines
2.0 KiB
C++
/****************************************************************************
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Copyright (c) 2020-2022 Xiamen Yaji Software Co., Ltd.
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http://www.cocos.com
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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 engine source code (the "Software"), a limited,
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worldwide, royalty-free, non-assignable, revocable and non-exclusive license
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to use Cocos Creator solely to develop games on your target platforms. You shall
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not use Cocos Creator software for developing other software or tools that's
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used for developing games. You are not granted to publish, distribute,
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sublicense, and/or sell copies of Cocos Creator.
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The software or tools in this License Agreement are licensed, not sold.
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Xiamen Yaji Software Co., Ltd. reserves all rights not expressly granted to you.
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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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#include "physics/physx/PhysXUtils.h"
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namespace cc {
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namespace physics {
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void pxSetFromTwoVectors(physx::PxQuat &out, const physx::PxVec3 &a, const physx::PxVec3 &b) {
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float dot = a.dot(b);
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if (dot < -0.999999) {
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physx::PxVec3 c = (physx::PxVec3{1., 0., 0.}).cross(a);
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if (c.magnitude() < 0.000001) c = (physx::PxVec3{0., 1., 0.}).cross(a);
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c.normalize();
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out = physx::PxQuat(physx::PxPi, c);
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} else if (dot > 0.999999) {
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out = physx::PxQuat{physx::PxIdentity};
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} else {
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physx::PxVec3 c = a.cross(b);
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out = physx::PxQuat{c.x, c.y, c.z, 1 + dot};
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out.normalize();
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}
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}
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} // namespace physics
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} // namespace cc
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