1//
2// Redistribution and use in source and binary forms, with or without
3// modification, are permitted provided that the following conditions
4// are met:
5// * Redistributions of source code must retain the above copyright
6// notice, this list of conditions and the following disclaimer.
7// * Redistributions in binary form must reproduce the above copyright
8// notice, this list of conditions and the following disclaimer in the
9// documentation and/or other materials provided with the distribution.
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
15// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
17// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
18// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
19// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
20// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
21// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
22// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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#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
41namespace physx
42{
43#endif
44
45/**
46\brief Representation of a plane.
47
48 Plane equation used: n.dot(v) + d = 0
49*/
50class 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

source code of qtquick3dphysics/src/3rdparty/PhysX/pxshared/include/foundation/PxPlane.h