147 lines
3.7 KiB
C++
147 lines
3.7 KiB
C++
// 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_PLANE_H
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#define PX_FOUNDATION_PX_PLANE_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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#include "foundation/PxVec3.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 Representation of a plane.
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Plane equation used: n.dot(v) + d = 0
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*/
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class PxPlane
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{
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public:
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/**
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\brief Constructor
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
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{
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}
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/**
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\brief Constructor from a normal and a distance
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(PxReal nx, PxReal ny, PxReal nz, PxReal distance)
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: n(nx, ny, nz)
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, d(distance)
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{
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}
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/**
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\brief Constructor from a normal and a distance
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, PxReal distance)
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: n(normal)
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, d(distance)
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{
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}
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/**
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\brief Constructor from a point on the plane and a normal
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
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: n(normal)
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, d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
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{
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}
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/**
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\brief Constructor from three points
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
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{
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n = (p1 - p0).cross(p2 - p0).getNormalized();
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d = -p0.dot(n);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal distance(const PxVec3& p) const
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{
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return p.dot(n) + d;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
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{
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return PxAbs(distance(p)) < (1.0e-7f);
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}
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/**
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\brief projects p into the plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3 & p) const
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{
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return p - n * distance(p);
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}
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/**
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\brief find an arbitrary point in the plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
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{
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return -n*d;
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}
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/**
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\brief equivalent plane with unit normal
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
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{
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PxReal denom = 1.0f / n.magnitude();
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n *= denom;
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d *= denom;
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}
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PxVec3 n; //!< The normal to the plane
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PxReal d; //!< The distance from the origin
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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
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