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<a href="PxQuat_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#ifndef PXFOUNDATION_PXQUAT_H</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#define PXFOUNDATION_PXQUAT_H</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>"</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> {</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classPxQuat.html"> 49</a></span> <span class="keyword">class </span><a class="code" href="classPxQuat.html">PxQuat</a></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> {</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc"> 55</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc">PxQuat</a>()</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790"> 60</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790">PxQuat</a>(<a class="code" href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a> r) : x(0.0f), y(0.0f), z(0.0f), w(1.0f)</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  {</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a>(r);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279"> 68</a></span>  <span class="keyword">explicit</span> <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279">PxQuat</a>(<span class="keywordtype">float</span> r) : x(0.0f), y(0.0f), z(0.0f), w(r)</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0"> 75</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0">PxQuat</a>(<span class="keywordtype">float</span> nx, <span class="keywordtype">float</span> ny, <span class="keywordtype">float</span> nz, <span class="keywordtype">float</span> nw) : x(nx), y(ny), z(nz), w(nw)</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812"> 88</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812">PxQuat</a>(<span class="keywordtype">float</span> angleRadians, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& unitAxis)</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(<a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(1.0f - unitAxis.<a class="code" href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">magnitude</a>()) < 1e-3f);</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> a = angleRadians * 0.5f;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> s = <a class="code" href="group__foundation.html#ga98f571cc01fc3aa0e73e215c27ab8069">PxSin</a>(a);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  w = <a class="code" href="group__foundation.html#gacc501523ad3ab46c5a061c4442d10fcf">PxCos</a>(a);</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  x = unitAxis.<a class="code" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">x</a> * s;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  y = unitAxis.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a> * s;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  z = unitAxis.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a> * s;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586"> 102</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586">PxQuat</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& v) : x(v.x), y(v.y), z(v.z), w(v.w)</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxQuat.html">PxQuat</a>(<span class="keyword">const</span> <a class="code" href="classPxMat33.html">PxMat33</a>& m); <span class="comment">/* defined in PxMat33.h */</span></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2"> 116</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2">isIdentity</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">return</span> x==0.0f && y==0.0f && z==0.0f && w==1.0f;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a"> 124</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">isFinite</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(x) && <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(y) && <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(z) && <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(w);</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  }</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544"> 132</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">isUnit</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> unitTolerance = 1e-4f;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">return</span> <a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>() && <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(magnitude() - 1) < unitTolerance;</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567"> 142</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">isSane</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> unitTolerance = 1e-2f;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">return</span> <a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>() && <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(magnitude() - 1) < unitTolerance;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5"> 151</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5">operator==</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)<span class="keyword"> const</span></div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">return</span> x == q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> && y == q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> && z == q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> && w == q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f"> 159</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f">toRadiansAndUnitAxis</a>(<span class="keywordtype">float</span>& angle, <a class="code" href="classPxVec3.html">PxVec3</a>& axis)<span class="keyword"> const</span></div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> quatEpsilon = 1.0e-8f;</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> s2 = x * x + y * y + z * z;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">if</span>(s2 < quatEpsilon * quatEpsilon) <span class="comment">// can't extract a sensible axis</span></div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  {</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  angle = 0.0f;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  axis = <a class="code" href="classPxVec3.html">PxVec3</a>(1.0f, 0.0f, 0.0f);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  {</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> s = <a class="code" href="group__foundation.html#gacd945627f345ba03e83a30387ab99dea">PxRecipSqrt</a>(s2);</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  axis = <a class="code" href="classPxVec3.html">PxVec3</a>(x, y, z) * s;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  angle = <a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(w) < quatEpsilon ? <a class="code" href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a> : <a class="code" href="group__foundation.html#ga3b820cf45fee058a4083d955daa02154">PxAtan2</a>(s2 * s, w) * 2.0f;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473"> 181</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473">getAngle</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#ga0953977efc7599071aefadc35e842f97">PxAcos</a>(w) * 2.0f;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classPxQuat.html#a39039c4e100d0a1f928a8b9cd806df0c"> 191</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a39039c4e100d0a1f928a8b9cd806df0c">getAngle</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)<span class="keyword"> const</span></div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#ga0953977efc7599071aefadc35e842f97">PxAcos</a>(dot(q)) * 2.0f;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classPxQuat.html#a74371f064482934e99ed623e7279d927"> 199</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a74371f064482934e99ed623e7279d927">magnitudeSquared</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">return</span> x * x + y * y + z * z + w * w;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classPxQuat.html#a35d16e1cc27f7dbf1de1910bc846d5e4"> 207</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a35d16e1cc27f7dbf1de1910bc846d5e4">dot</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& v)<span class="keyword"> const</span></div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> x * v.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> + y * v.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> + z * v.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> + w * v.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d"> 212</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d">getNormalized</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> s = 1.0f / magnitude();</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x * s, y * s, z * s, w * s);</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  }</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div><div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classPxQuat.html#a604f79ac9821d365d601242331a80e11"> 218</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a604f79ac9821d365d601242331a80e11">magnitude</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#ga11d5e4e77acad728886b380b5f3806f0">PxSqrt</a>(magnitudeSquared());</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">// modifiers:</span></div><div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classPxQuat.html#a77a42662202126a13f2f9fc12013fe70"> 227</a></span> <span class="comment"></span> <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">float</span> <a class="code" href="classPxQuat.html#a77a42662202126a13f2f9fc12013fe70">normalize</a>() <span class="comment">// convert this PxQuat to a unit quaternion</span></div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  {</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> mag = magnitude();</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">if</span>(mag != 0.0f)</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  {</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> imag = 1.0f / mag;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  x *= imag;</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  y *= imag;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  z *= imag;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  w *= imag;</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  }</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">return</span> mag;</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  }</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="comment">/*</span></div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> \brief returns the conjugate.</span></div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"></span></div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> \note for unit quaternions, this is the inverse.</span></div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"> */</span></div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638"> 247</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">getConjugate</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(-x, -y, -z, w);</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="comment">/*</span></div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"> \brief returns imaginary part.</span></div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"> */</span></div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classPxQuat.html#a84fc51682333705ddf6b604727a84289"> 255</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#a84fc51682333705ddf6b604727a84289">getImaginaryPart</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>(x, y, z);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classPxQuat.html#aa471a180b8a6cd36272d6af18a0da8bc"> 261</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#aa471a180b8a6cd36272d6af18a0da8bc">getBasisVector0</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> x2 = x * 2.0f;</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> w2 = w * 2.0f;</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>((w * w2) - 1.0f + x * x2, (z * w2) + y * x2, (-y * w2) + z * x2);</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  }</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classPxQuat.html#a896c206afb4301300e5361a1cc2a3b24"> 269</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#a896c206afb4301300e5361a1cc2a3b24">getBasisVector1</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> y2 = y * 2.0f;</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> w2 = w * 2.0f;</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>((-z * w2) + x * y2, (w * w2) - 1.0f + y * y2, (x * w2) + z * y2);</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div><div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classPxQuat.html#a5bf50eefab13fb4b9a3967324d688636"> 277</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#a5bf50eefab13fb4b9a3967324d688636">getBasisVector2</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> z2 = z * 2.0f;</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> w2 = w * 2.0f;</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>((y * w2) + x * z2, (-x * w2) + y * z2, (w * w2) - 1.0f + z * z2);</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  }</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> </div><div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1"> 287</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">rotate</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& v)<span class="keyword"> const</span></div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vx = 2.0f * v.<a class="code" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">x</a>;</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vy = 2.0f * v.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a>;</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vz = 2.0f * v.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a>;</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> w2 = w * w - 0.5f;</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dot2 = (x * vx + y * vy + z * vz);</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>((vx * w2 + (y * vz - z * vy) * w + x * dot2), (vy * w2 + (z * vx - x * vz) * w + y * dot2),</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  (vz * w2 + (x * vy - y * vx) * w + z * dot2));</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  }</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div><div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be"> 301</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">rotateInv</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& v)<span class="keyword"> const</span></div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vx = 2.0f * v.<a class="code" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">x</a>;</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vy = 2.0f * v.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a>;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> vz = 2.0f * v.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a>;</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> w2 = w * w - 0.5f;</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dot2 = (x * vx + y * vy + z * vz);</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordflow">return</span> <a class="code" href="classPxVec3.html">PxVec3</a>((vx * w2 - (y * vz - z * vy) * w + x * dot2), (vy * w2 - (z * vx - x * vz) * w + y * dot2),</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  (vz * w2 - (x * vy - y * vx) * w + z * dot2));</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  }</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span> </div><div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classPxQuat.html#a4f3ea9ae559903398b3c973458a6aa11"> 315</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a>& <a class="code" href="classPxQuat.html#a4f3ea9ae559903398b3c973458a6aa11">operator=</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& p)</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  {</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  x = p.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a>;</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  y = p.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a>;</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  z = p.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>;</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  w = p.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div><div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classPxQuat.html#a06c67f76789048d93e5119e2ef7b9451"> 324</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a>& <a class="code" href="classPxQuat.html#a06c67f76789048d93e5119e2ef7b9451">operator*=</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  {</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> tx = w * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * x + y * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> - q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> * z;</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> ty = w * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * y + z * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> - q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> * x;</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> tz = w * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * z + x * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> * y;</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span> </div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  w = w * q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> - q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> * x - y * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> * z;</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  x = tx;</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  y = ty;</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  z = tz;</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  }</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span> </div><div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classPxQuat.html#a2ab2f7c410b2dfeedf984d9c29264c10"> 338</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a>& <a class="code" href="classPxQuat.html#a2ab2f7c410b2dfeedf984d9c29264c10">operator+=</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  {</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  x += q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a>;</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  y += q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a>;</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  z += q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>;</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  w += q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  }</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span> </div><div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classPxQuat.html#a00e4863332f965bb73a8849718062677"> 347</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a>& <a class="code" href="classPxQuat.html#a00e4863332f965bb73a8849718062677">operator-=</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  {</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  x -= q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a>;</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  y -= q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a>;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  z -= q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>;</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  w -= q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>;</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  }</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> </div><div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classPxQuat.html#a293e12f666d5877f0de4b230f119a125"> 356</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a>& <a class="code" href="classPxQuat.html#a293e12f666d5877f0de4b230f119a125">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> s)</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  {</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  x *= s;</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  y *= s;</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  z *= s;</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  w *= s;</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  }</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span> </div><div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classPxQuat.html#a82d800b83a6071b68603a2ec0927f4d7"> 366</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a82d800b83a6071b68603a2ec0927f4d7">operator*</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)<span class="keyword"> const</span></div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(w * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * x + y * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> - q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> * z, w * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * y + z * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> - q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> * x,</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  w * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a> + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> * z + x * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> * y, w * q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a> - x * q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a> - y * q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a> - z * q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>);</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  }</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div><div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="classPxQuat.html#a57313933342c7d62c53ae48543d8c1e3"> 373</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a57313933342c7d62c53ae48543d8c1e3">operator+</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)<span class="keyword"> const</span></div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x + q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a>, y + q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a>, z + q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>, w + q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>);</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  }</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div><div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc"> 379</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc">operator-</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(-x, -y, -z, -w);</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  }</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div><div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classPxQuat.html#a728c5347a5b1ac288bc35c412fe825c6"> 384</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a728c5347a5b1ac288bc35c412fe825c6">operator-</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>& q)<span class="keyword"> const</span></div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x - q.<a class="code" href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">x</a>, y - q.<a class="code" href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">y</a>, z - q.<a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>, w - q.<a class="code" href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">w</a>);</div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span> </div><div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff"> 389</a></span>  <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff">operator*</a>(<span class="keywordtype">float</span> r)<span class="keyword"> const</span></div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">return</span> <a class="code" href="classPxQuat.html">PxQuat</a>(x * r, y * r, z * r, w * r);</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div><div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06"> 395</a></span>  <span class="keywordtype">float</span> x, y, <a class="code" href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">z</a>, w;</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span> };</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span> } <span class="comment">// namespace physx</span></div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> <span class="preprocessor">#endif // #ifndef PXFOUNDATION_PXQUAT_H</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
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<div class="ttc" id="classPxQuat_html_a74371f064482934e99ed623e7279d927"><div class="ttname"><a href="classPxQuat.html#a74371f064482934e99ed623e7279d927">PxQuat::magnitudeSquared</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitudeSquared() const</div><div class="ttdoc">This is the squared 4D vector length, should be 1 for unit quaternions. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:199</div></div>
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<div class="ttc" id="classPxQuat_html_a9ae073fbc5614a4698087370ce591567"><div class="ttname"><a href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">PxQuat::isSane</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isSane() const</div><div class="ttdoc">returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of er...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:142</div></div>
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<div class="ttc" id="classPxQuat_html_a955317d16f9eeb450c4d37d3d8a3f638"><div class="ttname"><a href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">PxQuat::getConjugate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getConjugate() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:247</div></div>
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<div class="ttc" id="classPxQuat_html_a06c67f76789048d93e5119e2ef7b9451"><div class="ttname"><a href="classPxQuat.html#a06c67f76789048d93e5119e2ef7b9451">PxQuat::operator*=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat & operator*=(const PxQuat &q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:324</div></div>
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<div class="ttc" id="classPxQuat_html_a35d16e1cc27f7dbf1de1910bc846d5e4"><div class="ttname"><a href="classPxQuat.html#a35d16e1cc27f7dbf1de1910bc846d5e4">PxQuat::dot</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxQuat &v) const</div><div class="ttdoc">returns the scalar product of this and other. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:207</div></div>
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<div class="ttc" id="classPxQuat_html_ae3b0197aa605d5eca6c0d8af9ad4a473"><div class="ttname"><a href="classPxQuat.html#ae3b0197aa605d5eca6c0d8af9ad4a473">PxQuat::getAngle</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float getAngle() const</div><div class="ttdoc">Gets the angle between this quat and the identity quaternion. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:181</div></div>
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<div class="ttc" id="classPxQuat_html_a293e12f666d5877f0de4b230f119a125"><div class="ttname"><a href="classPxQuat.html#a293e12f666d5877f0de4b230f119a125">PxQuat::operator*=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat & operator*=(const float s)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:356</div></div>
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<div class="ttc" id="group__foundation_html_ga3b820cf45fee058a4083d955daa02154"><div class="ttname"><a href="group__foundation.html#ga3b820cf45fee058a4083d955daa02154">PxAtan2</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAtan2(float x, float y)</div><div class="ttdoc">Arctangent of (x/y) with correct sign. Returns angle between -PI and PI in radians Unit: Radians...</div><div class="ttdef"><b>Definition:</b> PxMath.h:276</div></div>
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<div class="ttc" id="classPxQuat_html_a00e4863332f965bb73a8849718062677"><div class="ttname"><a href="classPxQuat.html#a00e4863332f965bb73a8849718062677">PxQuat::operator-=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat & operator-=(const PxQuat &q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:347</div></div>
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<div class="ttc" id="classPxQuat_html_aa471a180b8a6cd36272d6af18a0da8bc"><div class="ttname"><a href="classPxQuat.html#aa471a180b8a6cd36272d6af18a0da8bc">PxQuat::getBasisVector0</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector0() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:261</div></div>
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<div class="ttc" id="classPxQuat_html_a82d800b83a6071b68603a2ec0927f4d7"><div class="ttname"><a href="classPxQuat.html#a82d800b83a6071b68603a2ec0927f4d7">PxQuat::operator*</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat operator*(const PxQuat &q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:366</div></div>
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<div class="ttc" id="group__foundation_html_gabcd49a429b8119de54375b3538ae8a8d"><div class="ttname"><a href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a></div><div class="ttdeci">static const float PxPi</div><div class="ttdef"><b>Definition:</b> PxMath.h:58</div></div>
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<div class="ttc" id="classPxQuat_html_a57313933342c7d62c53ae48543d8c1e3"><div class="ttname"><a href="classPxQuat.html#a57313933342c7d62c53ae48543d8c1e3">PxQuat::operator+</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator+(const PxQuat &q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:373</div></div>
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<div class="ttc" id="classPxQuat_html_a604f79ac9821d365d601242331a80e11"><div class="ttname"><a href="classPxQuat.html#a604f79ac9821d365d601242331a80e11">PxQuat::magnitude</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float magnitude() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:218</div></div>
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<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
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<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
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<div class="ttc" id="group__foundation_html_ga98f571cc01fc3aa0e73e215c27ab8069"><div class="ttname"><a href="group__foundation.html#ga98f571cc01fc3aa0e73e215c27ab8069">PxSin</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSin(float a)</div><div class="ttdoc">trigonometry – all angles are in radians. </div><div class="ttdef"><b>Definition:</b> PxMath.h:170</div></div>
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<div class="ttc" id="classPxQuat_html_a5bf50eefab13fb4b9a3967324d688636"><div class="ttname"><a href="classPxQuat.html#a5bf50eefab13fb4b9a3967324d688636">PxQuat::getBasisVector2</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector2() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:277</div></div>
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<div class="ttc" id="group__foundation_html_ga07ffc52cd4afa8e797a5fe6e1cb7e17a"><div class="ttname"><a href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a></div><div class="ttdeci">#define PX_SHARED_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> PxSharedAssert.h:39</div></div>
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<div class="ttc" id="classPxQuat_html_a6773bfd82393a8dde22ddef5f0900d06"><div class="ttname"><a href="classPxQuat.html#a6773bfd82393a8dde22ddef5f0900d06">PxQuat::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
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<div class="ttc" id="namespacephysx_1_1intrinsics_html_a28bd12477f3ca0b092c0b9b61bdfaf04"><div class="ttname"><a href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">physx::intrinsics::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite(float a)</div><div class="ttdoc">platform-specific finiteness check (not INF or NAN) </div><div class="ttdef"><b>Definition:</b> PxUnixIntrinsics.h:127</div></div>
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<div class="ttc" id="classPxQuat_html_a896c206afb4301300e5361a1cc2a3b24"><div class="ttname"><a href="classPxQuat.html#a896c206afb4301300e5361a1cc2a3b24">PxQuat::getBasisVector1</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getBasisVector1() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:269</div></div>
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<div class="ttc" id="group__foundation_html_ga11d5e4e77acad728886b380b5f3806f0"><div class="ttname"><a href="group__foundation.html#ga11d5e4e77acad728886b380b5f3806f0">PxSqrt</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxSqrt(float a)</div><div class="ttdoc">Square root. </div><div class="ttdef"><b>Definition:</b> PxMath.h:144</div></div>
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||
<div class="ttc" id="classPxQuat_html_a77a42662202126a13f2f9fc12013fe70"><div class="ttname"><a href="classPxQuat.html#a77a42662202126a13f2f9fc12013fe70">PxQuat::normalize</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float normalize()</div><div class="ttdoc">maps to the closest unit quaternion. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:227</div></div>
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<div class="ttc" id="classPxVec3_html_a29958700f50da2204edc519b47706a05"><div class="ttname"><a href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
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<div class="ttc" id="classPxQuat_html_a84fb33d995ed4e6a26ac3f22523f0b54"><div class="ttname"><a href="classPxQuat.html#a84fb33d995ed4e6a26ac3f22523f0b54">PxQuat::w</a></div><div class="ttdeci">float w</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
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<div class="ttc" id="classPxQuat_html_ac7275be0f2d9162cff34b2d43f2ab179"><div class="ttname"><a href="classPxQuat.html#ac7275be0f2d9162cff34b2d43f2ab179">PxQuat::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
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<div class="ttc" id="classPxQuat_html_a76203602f99b2d3cac069e2fe239daff"><div class="ttname"><a href="classPxQuat.html#a76203602f99b2d3cac069e2fe239daff">PxQuat::operator*</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator*(float r) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:389</div></div>
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<div class="ttc" id="group__foundation_html_gacd945627f345ba03e83a30387ab99dea"><div class="ttname"><a href="group__foundation.html#gacd945627f345ba03e83a30387ab99dea">PxRecipSqrt</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxRecipSqrt(float a)</div><div class="ttdoc">reciprocal square root. </div><div class="ttdef"><b>Definition:</b> PxMath.h:156</div></div>
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<div class="ttc" id="group__foundation_html_gacc501523ad3ab46c5a061c4442d10fcf"><div class="ttname"><a href="group__foundation.html#gacc501523ad3ab46c5a061c4442d10fcf">PxCos</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxCos(float a)</div><div class="ttdoc">Cosine of an angle (Unit: Radians) </div><div class="ttdef"><b>Definition:</b> PxMath.h:182</div></div>
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<div class="ttc" id="classPxQuat_html_affc77743ed2c2cd3a90749de917187b0"><div class="ttname"><a href="classPxQuat.html#affc77743ed2c2cd3a90749de917187b0">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(float nx, float ny, float nz, float nw)</div><div class="ttdoc">Constructor. Take note of the order of the elements! </div><div class="ttdef"><b>Definition:</b> PxQuat.h:75</div></div>
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<div class="ttc" id="classPxQuat_html_ab364d7ce854065cd32b2dbbd8d30e279"><div class="ttname"><a href="classPxQuat.html#ab364d7ce854065cd32b2dbbd8d30e279">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(float r)</div><div class="ttdoc">Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:68</div></div>
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<div class="ttc" id="classPxQuat_html_a89bd359f188b7d164be0d5f1caf0745f"><div class="ttname"><a href="classPxQuat.html#a89bd359f188b7d164be0d5f1caf0745f">PxQuat::toRadiansAndUnitAxis</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE void toRadiansAndUnitAxis(float &angle, PxVec3 &axis) const</div><div class="ttdoc">converts this quaternion to angle-axis representation </div><div class="ttdef"><b>Definition:</b> PxQuat.h:159</div></div>
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||
<div class="ttc" id="classPxVec3_html_a5f7512ff35bdf6f8f5cff4dbdd1bcdd0"><div class="ttname"><a href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">PxVec3::magnitude</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitude() const</div><div class="ttdoc">returns the magnitude </div><div class="ttdef"><b>Definition:</b> PxVec3.h:183</div></div>
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<div class="ttc" id="group__foundation_html_gaf72e1dce9e874da7b92cbc0ea5e4e30d"><div class="ttname"><a href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)</div><div class="ttdoc">abs returns the absolute value of its argument. </div><div class="ttdef"><b>Definition:</b> PxMath.h:107</div></div>
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<div class="ttc" id="classPxQuat_html_afac7f63b57840965157cf720bb6faddc"><div class="ttname"><a href="classPxQuat.html#afac7f63b57840965157cf720bb6faddc">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat()</div><div class="ttdoc">Default constructor, does not do any initialization. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:55</div></div>
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||
<div class="ttc" id="classPxQuat_html_a35ac53818eeab314fc2888542b969544"><div class="ttname"><a href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isUnit() const</div><div class="ttdoc">returns true if finite and magnitude is close to unit </div><div class="ttdef"><b>Definition:</b> PxQuat.h:132</div></div>
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||
<div class="ttc" id="classPxQuat_html_a8ba7d546fb84bd2628887c998bcadf9d"><div class="ttname"><a href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d">PxQuat::getNormalized</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getNormalized() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:212</div></div>
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||
<div class="ttc" id="classPxQuat_html_a39039c4e100d0a1f928a8b9cd806df0c"><div class="ttname"><a href="classPxQuat.html#a39039c4e100d0a1f928a8b9cd806df0c">PxQuat::getAngle</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE float getAngle(const PxQuat &q) const</div><div class="ttdoc">Gets the angle between this quat and the argument. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:191</div></div>
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||
<div class="ttc" id="classPxQuat_html_a84fc51682333705ddf6b604727a84289"><div class="ttname"><a href="classPxQuat.html#a84fc51682333705ddf6b604727a84289">PxQuat::getImaginaryPart</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxVec3 getImaginaryPart() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:255</div></div>
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||
<div class="ttc" id="classPxMat33_html"><div class="ttname"><a href="classPxMat33.html">PxMat33</a></div><div class="ttdoc">3x3 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat33.h:90</div></div>
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||
<div class="ttc" id="group__foundation_html_ga9727af514012bc32f852e20278a7b04e"><div class="ttname"><a href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE void PX_UNUSED(T const &)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:466</div></div>
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||
<div class="ttc" id="PxVec3_8h_html"><div class="ttname"><a href="PxVec3_8h.html">PxVec3.h</a></div></div>
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<div class="ttc" id="group__foundation_html_gad6de0f4af98c5c5280b8fe695dc87318"><div class="ttname"><a href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)</div><div class="ttdoc">returns true if the passed number is a finite floating point number as opposed to INF...</div><div class="ttdef"><b>Definition:</b> PxMath.h:292</div></div>
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||
<div class="ttc" id="classPxQuat_html_af03e9e7917ffe907effa610f7d314fa5"><div class="ttname"><a href="classPxQuat.html#af03e9e7917ffe907effa610f7d314fa5">PxQuat::operator==</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxQuat &q) const</div><div class="ttdoc">returns true if the two quaternions are exactly equal </div><div class="ttdef"><b>Definition:</b> PxQuat.h:151</div></div>
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||
<div class="ttc" id="classPxQuat_html_ae12a02d9cb43b5e2c7dc083563cf1586"><div class="ttname"><a href="classPxQuat.html#ae12a02d9cb43b5e2c7dc083563cf1586">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat(const PxQuat &v)</div><div class="ttdoc">Copy ctor. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:102</div></div>
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<div class="ttc" id="classPxQuat_html_a0988cef7bc3fbdcd8cf37974c5edd611"><div class="ttname"><a href="classPxQuat.html#a0988cef7bc3fbdcd8cf37974c5edd611">PxQuat::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> PxQuat.h:395</div></div>
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||
<div class="ttc" id="classPxQuat_html_a96cdb8dff7a2ed40a71912edf19dd812"><div class="ttname"><a href="classPxQuat.html#a96cdb8dff7a2ed40a71912edf19dd812">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat(float angleRadians, const PxVec3 &unitAxis)</div><div class="ttdoc">Creates from angle-axis representation. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:88</div></div>
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<div class="ttc" id="classPxQuat_html_a2bafc323c17556f69e17ffccdd127dd1"><div class="ttname"><a href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">PxQuat::rotate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3 &v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:287</div></div>
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<div class="ttc" id="classPxQuat_html_a728c5347a5b1ac288bc35c412fe825c6"><div class="ttname"><a href="classPxQuat.html#a728c5347a5b1ac288bc35c412fe825c6">PxQuat::operator-</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-(const PxQuat &q) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:384</div></div>
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||
<div class="ttc" id="classPxQuat_html_a2ab2f7c410b2dfeedf984d9c29264c10"><div class="ttname"><a href="classPxQuat.html#a2ab2f7c410b2dfeedf984d9c29264c10">PxQuat::operator+=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat & operator+=(const PxQuat &q)</div><div class="ttdef"><b>Definition:</b> PxQuat.h:338</div></div>
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<div class="ttc" id="group__foundation_html_ga70160ca5bbafef277790b3e0f12baf38"><div class="ttname"><a href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a></div><div class="ttdeci">PxIDENTITY</div><div class="ttdef"><b>Definition:</b> Px.h:82</div></div>
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||
<div class="ttc" id="classPxQuat_html_a13d4cf835204d37e90fecef45659c790"><div class="ttname"><a href="classPxQuat.html#a13d4cf835204d37e90fecef45659c790">PxQuat::PxQuat</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat(PxIDENTITY r)</div><div class="ttdoc">identity constructor </div><div class="ttdef"><b>Definition:</b> PxQuat.h:60</div></div>
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<div class="ttc" id="classPxQuat_html_a1c665c57310b414f973f7d90d6b89c2a"><div class="ttname"><a href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">PxQuat::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isFinite() const</div><div class="ttdoc">returns true if all elements are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxQuat.h:124</div></div>
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<div class="ttc" id="classPxQuat_html_a50b0642427a4315f14657d15094d35b2"><div class="ttname"><a href="classPxQuat.html#a50b0642427a4315f14657d15094d35b2">PxQuat::isIdentity</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const</div><div class="ttdoc">returns true if quat is identity </div><div class="ttdef"><b>Definition:</b> PxQuat.h:116</div></div>
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||
<div class="ttc" id="classPxQuat_html_a3f2432f5a2682489eb889ea178f364be"><div class="ttname"><a href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">PxQuat::rotateInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3 &v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:301</div></div>
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<div class="ttc" id="group__foundation_html_ga0953977efc7599071aefadc35e842f97"><div class="ttname"><a href="group__foundation.html#ga0953977efc7599071aefadc35e842f97">PxAcos</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAcos(float f)</div><div class="ttdoc">Arccosine. Returns angle between 0 and PI in radians Unit: Radians. </div><div class="ttdef"><b>Definition:</b> PxMath.h:236</div></div>
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<div class="ttc" id="classPxVec3_html_a50d67b162b99b904c3f362ad0415dbca"><div class="ttname"><a href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
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<div class="ttc" id="classPxQuat_html_a4f3ea9ae559903398b3c973458a6aa11"><div class="ttname"><a href="classPxQuat.html#a4f3ea9ae559903398b3c973458a6aa11">PxQuat::operator=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat & operator=(const PxQuat &p)</div><div class="ttdoc">Assignment operator. </div><div class="ttdef"><b>Definition:</b> PxQuat.h:315</div></div>
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<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
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<div class="ttc" id="classPxQuat_html_af0c6a6ccadc858a504d9efb9d516ddbc"><div class="ttname"><a href="classPxQuat.html#af0c6a6ccadc858a504d9efb9d516ddbc">PxQuat::operator-</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat operator-() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:379</div></div>
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<div class="ttc" id="group__foundation_html_ga6e444d58dbf1459261fadc9b79594f63"><div class="ttname"><a href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a></div><div class="ttdeci">#define PX_CUDA_CALLABLE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:460</div></div>
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<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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<div class="ttc" id="classPxVec3_html_a391194bca8291161c06254f4ac2b6ada"><div class="ttname"><a href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
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