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+// 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_PXVEC3_H
+#define PXFOUNDATION_PXVEC3_H
+
+/** \addtogroup foundation
+@{
+*/
+
+#include "foundation/PxMath.h"
+
+#if !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 zero constructor.
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxZERO r) : x(0.0f), y(0.0f), z(0.0f)
+	{
+		PX_UNUSED(r);
+	}
+
+	/**
+	\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(float 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(float nx, float ny, float 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_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](unsigned int index)
+	{
+		PX_ASSERT(index <= 2);
+
+		return reinterpret_cast<float*>(this)[index];
+	}
+
+	/**
+	\brief element access
+	*/
+	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](unsigned int index) const
+	{
+		PX_ASSERT(index <= 2);
+
+		return reinterpret_cast<const float*>(this)[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 = 1e-4f;
+		return isFinite() && PxAbs(magnitude() - 1) < unitTolerance;
+	}
+
+	/**
+	\brief returns the squared magnitude
+
+	Avoids calling PxSqrt()!
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitudeSquared() const
+	{
+		return x * x + y * y + z * z;
+	}
+
+	/**
+	\brief returns the magnitude
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float 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*(float f) const
+	{
+		return PxVec3(x * f, y * f, z * f);
+	}
+
+	/**
+	\brief scalar division
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator/(float f) const
+	{
+		f = 1.0f / f;
+		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*=(float f)
+	{
+		x *= f;
+		y *= f;
+		z *= f;
+		return *this;
+	}
+	/**
+	\brief scalar division
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator/=(float f)
+	{
+		f = 1.0f / f;
+		x *= f;
+		y *= f;
+		z *= f;
+		return *this;
+	}
+
+	/**
+	\brief returns the scalar product of this and other.
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float 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 float m = magnitudeSquared();
+		return m > 0.0f ? *this * PxRecipSqrt(m) : PxVec3(0, 0, 0);
+	}
+
+	/**
+	\brief normalizes the vector in place
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float normalize()
+	{
+		const float m = magnitude();
+		if(m > 0.0f)
+			*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 float normalizeSafe()
+	{
+		const float mag = magnitude();
+		if(mag < PX_NORMALIZATION_EPSILON)
+			return 0.0f;
+		*this *= 1.0f / 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 float normalizeFast()
+	{
+		const float mag = magnitude();
+		PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
+		*this *= 1.0f / 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));
+	}
+
+	/**
+	\brief returns absolute values of components;
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 abs() const
+	{
+		return PxVec3(PxAbs(x), PxAbs(y), PxAbs(z));
+	}
+
+	float x, y, z;
+};
+
+PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator*(float f, const PxVec3& v)
+{
+	return PxVec3(f * v.x, f * v.y, f * v.z);
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif // #ifndef PXFOUNDATION_PXVEC3_H