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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 GU_VEC_PLANE_H
#define GU_VEC_PLANE_H
/** \addtogroup geomutils
@{
*/
#include "foundation/PxVec3.h"
#include "foundation/PxPlane.h"
#include "CmPhysXCommon.h"
#include "PsVecMath.h"
/**
\brief Representation of a plane.
Plane equation used: a*x + b*y + c*z + d = 0
*/
namespace physx
{
namespace Gu
{
class PlaneV
{
public:
/**
\brief Constructor
*/
PX_FORCE_INLINE PlaneV()
{
}
/**
\brief Constructor from a normal and a distance
*/
PX_FORCE_INLINE PlaneV(const Ps::aos::FloatVArg nx, const Ps::aos::FloatVArg ny, const Ps::aos::FloatVArg nz, const Ps::aos::FloatVArg _d)
{
set(nx, ny, nz, _d);
}
PX_FORCE_INLINE PlaneV(const PxPlane& plane)
{
using namespace Ps::aos;
const Vec3V _n = V3LoadU(plane.n);
const FloatV _d = FLoad(plane.d);
nd = V4SetW(Vec4V_From_Vec3V(_n), _d);
}
/**
\brief Constructor from three points
*/
PX_FORCE_INLINE PlaneV(const Ps::aos::Vec3VArg p0, const Ps::aos::Vec3VArg p1, const Ps::aos::Vec3VArg p2)
{
set(p0, p1, p2);
}
/**
\brief Constructor from a normal and a distance
*/
PX_FORCE_INLINE PlaneV(const Ps::aos::Vec3VArg _n, const Ps::aos::FloatVArg _d)
{
nd = Ps::aos::V4SetW(Ps::aos::Vec4V_From_Vec3V(_n), _d);
}
/**
\brief Copy constructor
*/
PX_FORCE_INLINE PlaneV(const PlaneV& plane) : nd(plane.nd)
{
}
/**
\brief Destructor
*/
PX_FORCE_INLINE ~PlaneV()
{
}
/**
\brief Sets plane to zero.
*/
PX_FORCE_INLINE PlaneV& setZero()
{
nd = Ps::aos::V4Zero();
return *this;
}
PX_FORCE_INLINE PlaneV& set(const Ps::aos::FloatVArg nx, const Ps::aos::FloatVArg ny, const Ps::aos::FloatVArg nz, const Ps::aos::FloatVArg _d)
{
using namespace Ps::aos;
const Vec3V n= V3Merge(nx, ny, nz);
nd = V4SetW(Vec4V_From_Vec3V(n), _d);
return *this;
}
PX_FORCE_INLINE PlaneV& set(const Ps::aos::Vec3VArg _normal, Ps::aos::FloatVArg _d)
{
nd = Ps::aos::V4SetW(Ps::aos::Vec4V_From_Vec3V(_normal), _d);
return *this;
}
/**
\brief Computes the plane equation from 3 points.
*/
PlaneV& set(const Ps::aos::Vec3VArg p0, const Ps::aos::Vec3VArg p1, const Ps::aos::Vec3VArg p2)
{
using namespace Ps::aos;
const Vec3V edge0 = V3Sub(p1, p0);
const Vec3V edge1 = V3Sub(p2, p0);
const Vec3V n = V3Normalize(V3Cross(edge0, edge1));
// See comments in set() for computation of d
const FloatV d = FNeg(V3Dot(p0, n));
nd = V4SetW(Vec4V_From_Vec3V(n), d);
return *this;
}
/***
\brief Computes distance, assuming plane is normalized
\sa normalize
*/
PX_FORCE_INLINE Ps::aos::FloatV distance(const Ps::aos::Vec3VArg p) const
{
// Valid for plane equation a*x + b*y + c*z + d = 0
using namespace Ps::aos;
const Vec3V n = Vec3V_From_Vec4V(nd);
return FAdd(V3Dot(p, n), V4GetW(nd));
}
PX_FORCE_INLINE Ps::aos::BoolV belongs(const Ps::aos::Vec3VArg p) const
{
using namespace Ps::aos;
const FloatV eps = FLoad(1.0e-7f);
return FIsGrtr(eps, FAbs(distance(p)));
}
/**
\brief projects p into the plane
*/
PX_FORCE_INLINE Ps::aos::Vec3V project(const Ps::aos::Vec3VArg p) const
{
// Pretend p is on positive side of plane, i.e. plane.distance(p)>0.
// To project the point we have to go in a direction opposed to plane's normal, i.e.:
using namespace Ps::aos;
const Vec3V n = Vec3V_From_Vec4V(nd);
return V3Sub(p, V3Scale(n, V4GetW(nd)));
}
PX_FORCE_INLINE Ps::aos::FloatV signedDistanceHessianNormalForm(const Ps::aos::Vec3VArg point) const
{
using namespace Ps::aos;
const Vec3V n = Vec3V_From_Vec4V(nd);
return FAdd(V3Dot(n, point), V4GetW(nd));
}
PX_FORCE_INLINE Ps::aos::Vec3V getNormal() const
{
return Ps::aos::Vec3V_From_Vec4V(nd);
}
PX_FORCE_INLINE Ps::aos::FloatV getSignDist() const
{
return Ps::aos::V4GetW(nd);
}
/**
\brief find an arbitrary point in the plane
*/
PX_FORCE_INLINE Ps::aos::Vec3V pointInPlane() const
{
// Project origin (0,0,0) to plane:
// (0) - normal * distance(0) = - normal * ((p|(0)) + d) = -normal*d
using namespace Ps::aos;
const Vec3V n = Vec3V_From_Vec4V(nd);
return V3Neg(V3Scale(n, V4GetW(nd)));
}
PX_FORCE_INLINE void normalize()
{
using namespace Ps::aos;
const Vec3V n = Vec3V_From_Vec4V(nd);
const FloatV denom = FRecip(V3Length(n));
V4Scale(nd, denom);
}
Ps::aos::Vec4V nd; //!< The normal to the plan , w store the distance from the origin
};
}
}
/** @} */
#endif
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