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#ifndef NV_NVFOUNDATION_NVPLANE_H
#define NV_NVFOUNDATION_NVPLANE_H

/** \addtogroup foundation
@{
*/

#include "NvMath.h"
#include "NvVec3.h"

#if !NV_DOXYGEN
namespace nvidia
{
#endif

/**
\brief Representation of a plane.

 Plane equation used: n.dot(v) + d = 0
*/
class NvPlane
{
  public:
	/**
	\brief Constructor
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane()
	{
	}

	/**
	\brief Constructor from a normal and a distance
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
	{
	}

	/**
	\brief Constructor from a normal and a distance
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane(const NvVec3& normal, float distance) : n(normal), d(distance)
	{
	}

	/**
	\brief Constructor from a point on the plane and a normal
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane(const NvVec3& point, const NvVec3& normal)
	: n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
	{
	}

	/**
	\brief Constructor from three points
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvPlane(const NvVec3& p0, const NvVec3& p1, const NvVec3& p2)
	{
		n = (p1 - p0).cross(p2 - p0).getNormalized();
		d = -p0.dot(n);
	}

	/**
	\brief returns true if the two planes are exactly equal
	*/
	NV_CUDA_CALLABLE NV_INLINE bool operator==(const NvPlane& p) const
	{
		return n == p.n && d == p.d;
	}

	NV_CUDA_CALLABLE NV_FORCE_INLINE float distance(const NvVec3& p) const
	{
		return p.dot(n) + d;
	}

	NV_CUDA_CALLABLE NV_FORCE_INLINE bool contains(const NvVec3& p) const
	{
		return NvAbs(distance(p)) < (1.0e-7f);
	}

	/**
	\brief projects p into the plane
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 project(const NvVec3& p) const
	{
		return p - n * distance(p);
	}

	/**
	\brief find an arbitrary point in the plane
	*/
	NV_CUDA_CALLABLE NV_FORCE_INLINE NvVec3 pointInPlane() const
	{
		return -n * d;
	}

	/**
	\brief equivalent plane with unit normal
	*/

	NV_CUDA_CALLABLE NV_FORCE_INLINE void normalize()
	{
		float denom = 1.0f / n.magnitude();
		n *= denom;
		d *= denom;
	}

	NvVec3 n; //!< The normal to the plane
	float d;  //!< The distance from the origin
};

#if !NV_DOXYGEN
} // namespace nvidia
#endif

/** @} */
#endif // #ifndef NV_NVFOUNDATION_NVPLANE_H