NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxPlane.h Source File

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+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+00029 
+00030 #ifndef PXFOUNDATION_PXPLANE_H
+00031 #define PXFOUNDATION_PXPLANE_H
+00032 
+00037 #include "foundation/PxMath.h"
+00038 #include "foundation/PxVec3.h"
+00039 
+00040 #if !PX_DOXYGEN
+00041 namespace physx
+00042 {
+00043 #endif
+00044 
+00050 class PxPlane
+00051 {
+00052   public:
+00056     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
+00057     {
+00058     }
+00059 
+00063     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
+00064     {
+00065     }
+00066 
+00070     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
+00071     {
+00072     }
+00073 
+00077     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
+00078     : n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
+00079     {
+00080     }
+00081 
+00085     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
+00086     {
+00087         n = (p1 - p0).cross(p2 - p0).getNormalized();
+00088         d = -p0.dot(n);
+00089     }
+00090 
+00094     PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const
+00095     {
+00096         return n == p.n && d == p.d;
+00097     }
+00098 
+00099     PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const
+00100     {
+00101         return p.dot(n) + d;
+00102     }
+00103 
+00104     PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
+00105     {
+00106         return PxAbs(distance(p)) < (1.0e-7f);
+00107     }
+00108 
+00112     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
+00113     {
+00114         return p - n * distance(p);
+00115     }
+00116 
+00120     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
+00121     {
+00122         return -n * d;
+00123     }
+00124 
+00129     PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
+00130     {
+00131         float denom = 1.0f / n.magnitude();
+00132         n *= denom;
+00133         d *= denom;
+00134     }
+00135 
+00136     PxVec3 n; 
+00137     float d;  
+00138 };
+00139 
+00140 #if !PX_DOXYGEN
+00141 } // namespace physx
+00142 #endif
+00143 
+00145 #endif // #ifndef PXFOUNDATION_PXPLANE_H
+