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3 | // modification, are permitted provided that the following conditions |
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7 | // * Redistributions in binary form must reproduce the above copyright |
8 | // notice, this list of conditions and the following disclaimer in the |
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10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
11 | // contributors may be used to endorse or promote products derived |
12 | // from this software without specific prior written permission. |
13 | // |
14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_GEOMUTILS_PX_TRIANGLE |
32 | #define PX_PHYSICS_GEOMUTILS_PX_TRIANGLE |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | |
37 | #include "common/PxPhysXCommonConfig.h" |
38 | #include "foundation/PxVec3.h" |
39 | |
40 | #if !PX_DOXYGEN |
41 | namespace physx |
42 | { |
43 | #endif |
44 | |
45 | /** |
46 | \brief Triangle class. |
47 | */ |
48 | class PxTriangle |
49 | { |
50 | public: |
51 | /** |
52 | \brief Constructor |
53 | */ |
54 | PX_FORCE_INLINE PxTriangle() {} |
55 | |
56 | /** |
57 | \brief Constructor |
58 | |
59 | \param[in] p0 Point 0 |
60 | \param[in] p1 Point 1 |
61 | \param[in] p2 Point 2 |
62 | */ |
63 | PX_FORCE_INLINE PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2) |
64 | { |
65 | verts[0] = p0; |
66 | verts[1] = p1; |
67 | verts[2] = p2; |
68 | } |
69 | |
70 | /** |
71 | \brief Copy constructor |
72 | |
73 | \param[in] triangle Tri to copy |
74 | */ |
75 | PX_FORCE_INLINE PxTriangle(const PxTriangle& triangle) |
76 | { |
77 | verts[0] = triangle.verts[0]; |
78 | verts[1] = triangle.verts[1]; |
79 | verts[2] = triangle.verts[2]; |
80 | } |
81 | |
82 | /** |
83 | \brief Destructor |
84 | */ |
85 | PX_FORCE_INLINE ~PxTriangle() {} |
86 | |
87 | /** |
88 | \brief Assignment operator |
89 | */ |
90 | PX_FORCE_INLINE void operator=(const PxTriangle& triangle) |
91 | { |
92 | verts[0] = triangle.verts[0]; |
93 | verts[1] = triangle.verts[1]; |
94 | verts[2] = triangle.verts[2]; |
95 | } |
96 | |
97 | /** |
98 | \brief Compute the normal of the Triangle. |
99 | |
100 | \param[out] _normal Triangle normal. |
101 | */ |
102 | PX_FORCE_INLINE void normal(PxVec3& _normal) const |
103 | { |
104 | _normal = (verts[1]-verts[0]).cross(v: verts[2]-verts[0]); |
105 | _normal.normalize(); |
106 | } |
107 | |
108 | /** |
109 | \brief Compute the unnormalized normal of the triangle. |
110 | |
111 | \param[out] _normal Triangle normal (not normalized). |
112 | */ |
113 | PX_FORCE_INLINE void denormalizedNormal(PxVec3& _normal) const |
114 | { |
115 | _normal = (verts[1]-verts[0]).cross(v: verts[2]-verts[0]); |
116 | } |
117 | |
118 | /** |
119 | \brief Compute the area of the triangle. |
120 | |
121 | \return Area of the triangle. |
122 | */ |
123 | PX_FORCE_INLINE PxReal area() const |
124 | { |
125 | const PxVec3& p0 = verts[0]; |
126 | const PxVec3& p1 = verts[1]; |
127 | const PxVec3& p2 = verts[2]; |
128 | return ((p0 - p1).cross(v: p0 - p2)).magnitude() * 0.5f; |
129 | } |
130 | |
131 | /** |
132 | \return Computes a point on the triangle from u and v barycentric coordinates. |
133 | */ |
134 | PxVec3 pointFromUV(PxReal u, PxReal v) const { return (1.0f-u-v)*verts[0] + u*verts[1] + v*verts[2]; } |
135 | |
136 | /** |
137 | \brief Array of Vertices. |
138 | */ |
139 | PxVec3 verts[3]; |
140 | |
141 | }; |
142 | |
143 | |
144 | #if !PX_DOXYGEN |
145 | } |
146 | #endif |
147 | |
148 | /** @} */ |
149 | #endif |
150 | |