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Diffstat (limited to 'PxShared/include/foundation/PxPlane.h')
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diff --git a/PxShared/include/foundation/PxPlane.h b/PxShared/include/foundation/PxPlane.h new file mode 100644 index 00000000..2b4671f7 --- /dev/null +++ b/PxShared/include/foundation/PxPlane.h @@ -0,0 +1,145 @@ +// This code contains NVIDIA Confidential Information and is disclosed to you +// under a form of NVIDIA software license agreement provided separately to you. +// +// Notice +// NVIDIA Corporation and its licensors retain all intellectual property and +// proprietary rights in and to this software and related documentation and +// any modifications thereto. Any use, reproduction, disclosure, or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA Corporation is strictly prohibited. +// +// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES +// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO +// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, +// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. +// +// Information and code furnished is believed to be accurate and reliable. +// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such +// information or for any infringement of patents or other rights of third parties that may +// result from its use. No license is granted by implication or otherwise under any patent +// or patent rights of NVIDIA Corporation. Details are subject to change without notice. +// This code supersedes and replaces all information previously supplied. +// NVIDIA Corporation products are not authorized for use as critical +// components in life support devices or systems without express written approval of +// NVIDIA Corporation. +// +// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved. +// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. +// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. + +#ifndef PXFOUNDATION_PXPLANE_H +#define PXFOUNDATION_PXPLANE_H + +/** \addtogroup foundation +@{ +*/ + +#include "foundation/PxMath.h" +#include "foundation/PxVec3.h" + +#if !PX_DOXYGEN +namespace physx +{ +#endif + +/** +\brief Representation of a plane. + + Plane equation used: n.dot(v) + d = 0 +*/ +class PxPlane +{ + public: + /** + \brief Constructor + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane() + { + } + + /** + \brief Constructor from a normal and a distance + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance) + { + } + + /** + \brief Constructor from a normal and a distance + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance) + { + } + + /** + \brief Constructor from a point on the plane and a normal + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal) + : n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0 + { + } + + /** + \brief Constructor from three points + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2) + { + n = (p1 - p0).cross(p2 - p0).getNormalized(); + d = -p0.dot(n); + } + + /** + \brief returns true if the two planes are exactly equal + */ + PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const + { + return n == p.n && d == p.d; + } + + PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const + { + return p.dot(n) + d; + } + + PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const + { + return PxAbs(distance(p)) < (1.0e-7f); + } + + /** + \brief projects p into the plane + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const + { + return p - n * distance(p); + } + + /** + \brief find an arbitrary point in the plane + */ + PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const + { + return -n * d; + } + + /** + \brief equivalent plane with unit normal + */ + + PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize() + { + float denom = 1.0f / n.magnitude(); + n *= denom; + d *= denom; + } + + PxVec3 n; //!< The normal to the plane + float d; //!< The distance from the origin +}; + +#if !PX_DOXYGEN +} // namespace physx +#endif + +/** @} */ +#endif // #ifndef PXFOUNDATION_PXPLANE_H |