146 lines
3.8 KiB
C++
146 lines
3.8 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PXFOUNDATION_PXPLANE_H
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#define PXFOUNDATION_PXPLANE_H
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/** \addtogroup foundation
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@{
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*/
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#include "foundation/PxMath.h"
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#include "foundation/PxVec3.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Representation of a plane.
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Plane equation used: n.dot(v) + d = 0
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*/
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class PxPlane
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{
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public:
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/**
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\brief Constructor
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
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{
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}
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/**
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\brief Constructor from a normal and a distance
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
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{
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}
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/**
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\brief Constructor from a normal and a distance
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
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{
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}
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/**
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\brief Constructor from a point on the plane and a normal
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
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: n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
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{
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}
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/**
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\brief Constructor from three points
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
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{
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n = (p1 - p0).cross(p2 - p0).getNormalized();
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d = -p0.dot(n);
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}
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/**
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\brief returns true if the two planes are exactly equal
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*/
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PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const
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{
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return n == p.n && d == p.d;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const
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{
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return p.dot(n) + d;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
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{
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return PxAbs(distance(p)) < (1.0e-7f);
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}
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/**
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\brief projects p into the plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
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{
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return p - n * distance(p);
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}
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/**
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\brief find an arbitrary point in the plane
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
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{
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return -n * d;
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}
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/**
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\brief equivalent plane with unit normal
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
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{
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float denom = 1.0f / n.magnitude();
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n *= denom;
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d *= denom;
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}
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PxVec3 n; //!< The normal to the plane
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float d; //!< The distance from the origin
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif // #ifndef PXFOUNDATION_PXPLANE_H
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