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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 | #ifndef PXFOUNDATION_PXPLANE_H |
31 | #define PXFOUNDATION_PXPLANE_H |
32 | |
33 | /** \addtogroup foundation |
34 | @{ |
35 | */ |
36 | |
37 | #include "foundation/PxMath.h" |
38 | #include "foundation/PxVec3.h" |
39 | |
40 | #if !PX_DOXYGEN |
41 | namespace physx |
42 | { |
43 | #endif |
44 | |
45 | /** |
46 | \brief Representation of a plane. |
47 | |
48 | Plane equation used: n.dot(v) + d = 0 |
49 | */ |
50 | class PxPlane |
51 | { |
52 | public: |
53 | /** |
54 | \brief Constructor |
55 | */ |
56 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane() |
57 | { |
58 | } |
59 | |
60 | /** |
61 | \brief Constructor from a normal and a distance |
62 | */ |
63 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance) |
64 | { |
65 | } |
66 | |
67 | /** |
68 | \brief Constructor from a normal and a distance |
69 | */ |
70 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance) |
71 | { |
72 | } |
73 | |
74 | /** |
75 | \brief Constructor from a point on the plane and a normal |
76 | */ |
77 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal) |
78 | : n(normal), d(-point.dot(v: n)) // p satisfies normal.dot(p) + d = 0 |
79 | { |
80 | } |
81 | |
82 | /** |
83 | \brief Constructor from three points |
84 | */ |
85 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2) |
86 | { |
87 | n = (p1 - p0).cross(v: p2 - p0).getNormalized(); |
88 | d = -p0.dot(v: n); |
89 | } |
90 | |
91 | /** |
92 | \brief returns true if the two planes are exactly equal |
93 | */ |
94 | PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const |
95 | { |
96 | return n == p.n && d == p.d; |
97 | } |
98 | |
99 | PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const |
100 | { |
101 | return p.dot(v: n) + d; |
102 | } |
103 | |
104 | PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const |
105 | { |
106 | return PxAbs(a: distance(p)) < (1.0e-7f); |
107 | } |
108 | |
109 | /** |
110 | \brief projects p into the plane |
111 | */ |
112 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const |
113 | { |
114 | return p - n * distance(p); |
115 | } |
116 | |
117 | /** |
118 | \brief find an arbitrary point in the plane |
119 | */ |
120 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const |
121 | { |
122 | return -n * d; |
123 | } |
124 | |
125 | /** |
126 | \brief equivalent plane with unit normal |
127 | */ |
128 | |
129 | PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize() |
130 | { |
131 | float denom = 1.0f / n.magnitude(); |
132 | n *= denom; |
133 | d *= denom; |
134 | } |
135 | |
136 | PxVec3 n; //!< The normal to the plane |
137 | float d; //!< The distance from the origin |
138 | }; |
139 | |
140 | #if !PX_DOXYGEN |
141 | } // namespace physx |
142 | #endif |
143 | |
144 | /** @} */ |
145 | #endif // #ifndef PXFOUNDATION_PXPLANE_H |
146 | |