395 lines
8.6 KiB
C
395 lines
8.6 KiB
C
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//
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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_PXVEC3_H
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#define PXFOUNDATION_PXVEC3_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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#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 3 Element vector class.
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This is a 3-dimensional vector class with public data members.
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*/
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class PxVec3
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{
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public:
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/**
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\brief default constructor leaves data uninitialized.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3()
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{
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}
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/**
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\brief zero constructor.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxZERO r) : x(0.0f), y(0.0f), z(0.0f)
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{
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PX_UNUSED(r);
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}
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/**
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\brief Assigns scalar parameter to all elements.
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Useful to initialize to zero or one.
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\param[in] a Value to assign to elements.
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*/
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(float a) : x(a), y(a), z(a)
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{
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}
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/**
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\brief Initializes from 3 scalar parameters.
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\param[in] nx Value to initialize X component.
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\param[in] ny Value to initialize Y component.
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\param[in] nz Value to initialize Z component.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(float nx, float ny, float nz) : x(nx), y(ny), z(nz)
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{
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}
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/**
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\brief Copy ctor.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(const PxVec3& v) : x(v.x), y(v.y), z(v.z)
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{
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}
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// Operators
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/**
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\brief Assignment operator
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator=(const PxVec3& p)
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{
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x = p.x;
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y = p.y;
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z = p.z;
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return *this;
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}
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/**
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\brief element access
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](unsigned int index)
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{
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PX_SHARED_ASSERT(index <= 2);
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return reinterpret_cast<float*>(this)[index];
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}
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/**
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\brief element access
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](unsigned int index) const
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{
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PX_SHARED_ASSERT(index <= 2);
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return reinterpret_cast<const float*>(this)[index];
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}
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/**
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\brief returns true if the two vectors are exactly equal.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3& v) const
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{
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return x == v.x && y == v.y && z == v.z;
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}
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/**
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\brief returns true if the two vectors are not exactly equal.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3& v) const
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{
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return x != v.x || y != v.y || z != v.z;
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}
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/**
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\brief tests for exact zero vector
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const
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{
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return x == 0.0f && y == 0.0f && z == 0.0f;
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}
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/**
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\brief returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)
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*/
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PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
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{
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return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
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}
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/**
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\brief is normalized - used by API parameter validation
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const
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{
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const float unitTolerance = 1e-4f;
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return isFinite() && PxAbs(magnitude() - 1) < unitTolerance;
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}
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/**
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\brief returns the squared magnitude
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Avoids calling PxSqrt()!
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitudeSquared() const
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{
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return x * x + y * y + z * z;
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}
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/**
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\brief returns the magnitude
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitude() const
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{
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return PxSqrt(magnitudeSquared());
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}
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/**
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\brief negation
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator-() const
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{
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return PxVec3(-x, -y, -z);
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}
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/**
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\brief vector addition
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator+(const PxVec3& v) const
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{
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return PxVec3(x + v.x, y + v.y, z + v.z);
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}
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/**
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\brief vector difference
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator-(const PxVec3& v) const
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{
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return PxVec3(x - v.x, y - v.y, z - v.z);
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}
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/**
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\brief scalar post-multiplication
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator*(float f) const
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{
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return PxVec3(x * f, y * f, z * f);
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}
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/**
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\brief scalar division
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator/(float f) const
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{
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f = 1.0f / f;
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return PxVec3(x * f, y * f, z * f);
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}
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/**
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\brief vector addition
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator+=(const PxVec3& v)
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{
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x += v.x;
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y += v.y;
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z += v.z;
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return *this;
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}
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/**
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\brief vector difference
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator-=(const PxVec3& v)
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{
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x -= v.x;
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y -= v.y;
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z -= v.z;
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return *this;
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}
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/**
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\brief scalar multiplication
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator*=(float f)
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{
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x *= f;
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y *= f;
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z *= f;
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return *this;
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}
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/**
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\brief scalar division
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator/=(float f)
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{
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f = 1.0f / f;
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x *= f;
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y *= f;
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z *= f;
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return *this;
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}
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/**
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\brief returns the scalar product of this and other.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxVec3& v) const
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{
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return x * v.x + y * v.y + z * v.z;
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}
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/**
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\brief cross product
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 cross(const PxVec3& v) const
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{
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return PxVec3(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);
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}
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/** return a unit vector */
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getNormalized() const
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{
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const float m = magnitudeSquared();
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return m > 0.0f ? *this * PxRecipSqrt(m) : PxVec3(0, 0, 0);
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}
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/**
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\brief normalizes the vector in place
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float normalize()
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{
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const float m = magnitude();
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if(m > 0.0f)
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*this /= m;
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return m;
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}
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/**
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\brief normalizes the vector in place. Does nothing if vector magnitude is under PX_NORMALIZATION_EPSILON.
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Returns vector magnitude if >= PX_NORMALIZATION_EPSILON and 0.0f otherwise.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float normalizeSafe()
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{
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const float mag = magnitude();
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if(mag < PX_NORMALIZATION_EPSILON)
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return 0.0f;
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*this *= 1.0f / mag;
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return mag;
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}
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/**
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\brief normalizes the vector in place. Asserts if vector magnitude is under PX_NORMALIZATION_EPSILON.
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returns vector magnitude.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float normalizeFast()
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{
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const float mag = magnitude();
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PX_SHARED_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
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*this *= 1.0f / mag;
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return mag;
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}
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/**
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\brief a[i] * b[i], for all i.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3& a) const
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{
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return PxVec3(x * a.x, y * a.y, z * a.z);
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}
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/**
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\brief element-wise minimum
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 minimum(const PxVec3& v) const
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{
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return PxVec3(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z));
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}
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/**
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\brief returns MIN(x, y, z);
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float minElement() const
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{
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return PxMin(x, PxMin(y, z));
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}
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/**
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\brief element-wise maximum
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 maximum(const PxVec3& v) const
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{
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return PxVec3(PxMax(x, v.x), PxMax(y, v.y), PxMax(z, v.z));
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}
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/**
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\brief returns MAX(x, y, z);
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float maxElement() const
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{
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return PxMax(x, PxMax(y, z));
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}
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/**
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\brief returns absolute values of components;
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 abs() const
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{
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return PxVec3(PxAbs(x), PxAbs(y), PxAbs(z));
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}
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float x, y, z;
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};
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PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator*(float f, const PxVec3& v)
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{
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return PxVec3(f * v.x, f * v.y, f * v.z);
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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_PXVEC3_H
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