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00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
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00025 //
00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
00029 
00030 #ifndef PXFOUNDATION_PXPLANE_H
00031 #define PXFOUNDATION_PXPLANE_H
00032 
00037 #include "foundation/PxMath.h"
00038 #include "foundation/PxVec3.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00050 class PxPlane
00051 {
00052   public:
00056     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
00057     {
00058     }
00059 
00063     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
00064     {
00065     }
00066 
00070     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
00071     {
00072     }
00073 
00077     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
00078     : n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
00079     {
00080     }
00081 
00085     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
00086     {
00087         n = (p1 - p0).cross(p2 - p0).getNormalized();
00088         d = -p0.dot(n);
00089     }
00090 
00094     PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const
00095     {
00096         return n == p.n && d == p.d;
00097     }
00098 
00099     PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const
00100     {
00101         return p.dot(n) + d;
00102     }
00103 
00104     PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
00105     {
00106         return PxAbs(distance(p)) < (1.0e-7f);
00107     }
00108 
00112     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
00113     {
00114         return p - n * distance(p);
00115     }
00116 
00120     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
00121     {
00122         return -n * d;
00123     }
00124 
00129     PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
00130     {
00131         float denom = 1.0f / n.magnitude();
00132         n *= denom;
00133         d *= denom;
00134     }
00135 
00136     PxVec3 n; 
00137     float d;  
00138 };
00139 
00140 #if !PX_DOXYGEN
00141 } // namespace physx
00142 #endif
00143 
00145 #endif // #ifndef PXFOUNDATION_PXPLANE_H