genesis-3d_engine/Engine/ExtIncludes/physX3/windows/foundation/PxVec3.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_FOUNDATION_PX_VEC3_H
#define PX_FOUNDATION_PX_VEC3_H
/** \addtogroup foundation
@{
*/
#include "foundation/PxMath.h"
#ifndef PX_DOXYGEN
namespace physx
{
#endif
/**
\brief 3 Element vector class.
This is a 3-dimensional vector class with public data members.
*/
class PxVec3
{
public:
/**
\brief default constructor leaves data uninitialized.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3() {}
/**
\brief Assigns scalar parameter to all elements.
Useful to initialize to zero or one.
\param[in] a Value to assign to elements.
*/
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal a): x(a), y(a), z(a) {}
/**
\brief Initializes from 3 scalar parameters.
\param[in] nx Value to initialize X component.
\param[in] ny Value to initialize Y component.
\param[in] nz Value to initialize Z component.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal nx, PxReal ny, PxReal nz): x(nx), y(ny), z(nz) {}
/**
\brief Copy ctor.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(const PxVec3& v): x(v.x), y(v.y), z(v.z) {}
//Operators
/**
\brief Assignment operator
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator=(const PxVec3& p) { x = p.x; y = p.y; z = p.z; return *this; }
/**
\brief element access
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator[](int index) { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; }
/**
\brief element access
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator[](int index) const { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; }
/**
\brief returns true if the two vectors are exactly equal.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3&v) const { return x == v.x && y == v.y && z == v.z; }
/**
\brief returns true if the two vectors are not exactly equal.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3&v) const { return x != v.x || y != v.y || z != v.z; }
/**
\brief tests for exact zero vector
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const { return x==0.0f && y==0.0f && z == 0.0f; }
/**
\brief returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)
*/
PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
{
return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
}
/**
\brief is normalized - used by API parameter validation
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const
{
const float unitTolerance = PxReal(1e-4);
return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
}
/**
\brief returns the squared magnitude
Avoids calling PxSqrt()!
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const { return x * x + y * y + z * z; }
/**
\brief returns the magnitude
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const { return PxSqrt(magnitudeSquared()); }
/**
\brief negation
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -() const
{
return PxVec3(-x, -y, -z);
}
/**
\brief vector addition
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator +(const PxVec3& v) const { return PxVec3(x + v.x, y + v.y, z + v.z); }
/**
\brief vector difference
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -(const PxVec3& v) const { return PxVec3(x - v.x, y - v.y, z - v.z); }
/**
\brief scalar post-multiplication
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator *(PxReal f) const { return PxVec3(x * f, y * f, z * f); }
/**
\brief scalar division
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator /(PxReal f) const
{
f = PxReal(1) / f; // PT: inconsistent notation with operator /=
return PxVec3(x * f, y * f, z * f);
}
/**
\brief vector addition
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator +=(const PxVec3& v)
{
x += v.x;
y += v.y;
z += v.z;
return *this;
}
/**
\brief vector difference
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator -=(const PxVec3& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
return *this;
}
/**
\brief scalar multiplication
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator *=(PxReal f)
{
x *= f;
y *= f;
z *= f;
return *this;
}
/**
\brief scalar division
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator /=(PxReal f)
{
f = 1.0f/f; // PT: inconsistent notation with operator /
x *= f;
y *= f;
z *= f;
return *this;
}
/**
\brief returns the scalar product of this and other.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxVec3& v) const
{
return x * v.x + y * v.y + z * v.z;
}
/**
\brief cross product
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 cross(const PxVec3& v) const
{
return PxVec3(y * v.z - z * v.y,
z * v.x - x * v.z,
x * v.y - y * v.x);
}
/** return a unit vector */
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getNormalized() const
{
const PxReal m = magnitudeSquared();
return m>0 ? *this * PxRecipSqrt(m) : PxVec3(0,0,0);
}
/**
\brief normalizes the vector in place
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalize()
{
const PxReal m = magnitude();
if (m>0)
*this /= m;
return m;
}
/**
\brief normalizes the vector in place. Does nothing if vector magnitude is under PX_NORMALIZATION_EPSILON.
Returns vector magnitude if >= PX_NORMALIZATION_EPSILON and 0.0f otherwise.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeSafe()
{
const PxReal mag = magnitude();
if (mag < PX_NORMALIZATION_EPSILON)
return 0.0f;
*this *= PxReal(1) / mag;
return mag;
}
/**
\brief normalizes the vector in place. Asserts if vector magnitude is under PX_NORMALIZATION_EPSILON.
returns vector magnitude.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeFast()
{
const PxReal mag = magnitude();
PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
*this *= PxReal(1) / mag;
return mag;
}
/**
\brief a[i] * b[i], for all i.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3& a) const
{
return PxVec3(x*a.x, y*a.y, z*a.z);
}
/**
\brief element-wise minimum
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 minimum(const PxVec3& v) const
{
return PxVec3(PxMin(x, v.x), PxMin(y,v.y), PxMin(z,v.z));
}
/**
\brief returns MIN(x, y, z);
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE float minElement() const
{
return PxMin(x, PxMin(y, z));
}
/**
\brief element-wise maximum
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 maximum(const PxVec3& v) const
{
return PxVec3(PxMax(x, v.x), PxMax(y,v.y), PxMax(z,v.z));
}
/**
\brief returns MAX(x, y, z);
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE float maxElement() const
{
return PxMax(x, PxMax(y, z));
}
PxReal x,y,z;
};
PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator *(PxReal f, const PxVec3& v)
{
return PxVec3(f * v.x, f * v.y, f * v.z);
}
#ifndef PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif // PX_FOUNDATION_PX_VEC3_H