336 lines
8.4 KiB
C
336 lines
8.4 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_FOUNDATION_PX_VEC3_H
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#define PX_FOUNDATION_PX_VEC3_H
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/** \addtogroup foundation
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@{
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*/
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#include "foundation/PxMath.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief 3 Element vector class.
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This is a 3-dimensional vector class with public data members.
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*/
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class PxVec3
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{
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public:
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/**
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\brief default constructor leaves data uninitialized.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3() {}
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/**
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\brief Assigns scalar parameter to all elements.
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Useful to initialize to zero or one.
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\param[in] a Value to assign to elements.
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*/
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal a): x(a), y(a), z(a) {}
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/**
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\brief Initializes from 3 scalar parameters.
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\param[in] nx Value to initialize X component.
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\param[in] ny Value to initialize Y component.
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\param[in] nz Value to initialize Z component.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal nx, PxReal ny, PxReal nz): x(nx), y(ny), z(nz) {}
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/**
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\brief Copy ctor.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(const PxVec3& v): x(v.x), y(v.y), z(v.z) {}
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//Operators
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/**
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\brief Assignment operator
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator=(const PxVec3& p) { x = p.x; y = p.y; z = p.z; return *this; }
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/**
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\brief element access
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator[](int index) { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; }
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/**
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\brief element access
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator[](int index) const { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; }
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/**
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\brief returns true if the two vectors are exactly equal.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3&v) const { return x == v.x && y == v.y && z == v.z; }
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/**
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\brief returns true if the two vectors are not exactly equal.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3&v) const { return x != v.x || y != v.y || z != v.z; }
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/**
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\brief tests for exact zero vector
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const { return x==0.0f && y==0.0f && z == 0.0f; }
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/**
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\brief returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
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{
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return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
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}
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/**
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\brief is normalized - used by API parameter validation
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const
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{
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const float unitTolerance = PxReal(1e-4);
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return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
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}
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/**
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\brief returns the squared magnitude
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Avoids calling PxSqrt()!
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const { return x * x + y * y + z * z; }
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/**
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\brief returns the magnitude
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const { return PxSqrt(magnitudeSquared()); }
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/**
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\brief negation
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -() const
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{
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return PxVec3(-x, -y, -z);
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}
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/**
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\brief vector addition
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator +(const PxVec3& v) const { return PxVec3(x + v.x, y + v.y, z + v.z); }
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/**
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\brief vector difference
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -(const PxVec3& v) const { return PxVec3(x - v.x, y - v.y, z - v.z); }
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/**
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\brief scalar post-multiplication
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator *(PxReal f) const { return PxVec3(x * f, y * f, z * f); }
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/**
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\brief scalar division
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator /(PxReal f) const
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{
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f = PxReal(1) / f; // PT: inconsistent notation with operator /=
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return PxVec3(x * f, y * f, z * f);
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}
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/**
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\brief vector addition
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator +=(const PxVec3& v)
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{
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x += v.x;
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y += v.y;
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z += v.z;
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return *this;
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}
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/**
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\brief vector difference
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator -=(const PxVec3& v)
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{
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x -= v.x;
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y -= v.y;
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z -= v.z;
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return *this;
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}
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/**
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\brief scalar multiplication
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator *=(PxReal f)
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{
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x *= f;
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y *= f;
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z *= f;
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return *this;
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}
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/**
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\brief scalar division
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator /=(PxReal f)
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{
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f = 1.0f/f; // PT: inconsistent notation with operator /
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x *= f;
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y *= f;
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z *= f;
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return *this;
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}
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/**
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\brief returns the scalar product of this and other.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxVec3& v) const
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{
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return x * v.x + y * v.y + z * v.z;
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}
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/**
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\brief cross product
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 cross(const PxVec3& v) const
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{
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return PxVec3(y * v.z - z * v.y,
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z * v.x - x * v.z,
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x * v.y - y * v.x);
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}
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/** return a unit vector */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getNormalized() const
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{
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const PxReal m = magnitudeSquared();
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return m>0 ? *this * PxRecipSqrt(m) : PxVec3(0,0,0);
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}
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/**
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\brief normalizes the vector in place
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalize()
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{
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const PxReal m = magnitude();
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if (m>0)
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*this /= m;
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return m;
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}
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/**
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\brief normalizes the vector in place. Does nothing if vector magnitude is under PX_NORMALIZATION_EPSILON.
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Returns vector magnitude if >= PX_NORMALIZATION_EPSILON and 0.0f otherwise.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeSafe()
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{
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const PxReal mag = magnitude();
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if (mag < PX_NORMALIZATION_EPSILON)
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return 0.0f;
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*this *= PxReal(1) / mag;
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return mag;
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}
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/**
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\brief normalizes the vector in place. Asserts if vector magnitude is under PX_NORMALIZATION_EPSILON.
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returns vector magnitude.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeFast()
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{
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const PxReal mag = magnitude();
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PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
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*this *= PxReal(1) / mag;
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return mag;
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}
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/**
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\brief a[i] * b[i], for all i.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3& a) const
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{
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return PxVec3(x*a.x, y*a.y, z*a.z);
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}
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/**
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\brief element-wise minimum
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 minimum(const PxVec3& v) const
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{
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return PxVec3(PxMin(x, v.x), PxMin(y,v.y), PxMin(z,v.z));
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}
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/**
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\brief returns MIN(x, y, z);
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float minElement() const
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{
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return PxMin(x, PxMin(y, z));
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}
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/**
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\brief element-wise maximum
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 maximum(const PxVec3& v) const
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{
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return PxVec3(PxMax(x, v.x), PxMax(y,v.y), PxMax(z,v.z));
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}
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/**
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\brief returns MAX(x, y, z);
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float maxElement() const
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{
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return PxMax(x, PxMax(y, z));
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}
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PxReal x,y,z;
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};
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PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator *(PxReal f, const PxVec3& v)
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{
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return PxVec3(f * v.x, f * v.y, f * v.z);
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}
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif // PX_FOUNDATION_PX_VEC3_H
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