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00010 //
00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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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00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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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
00024 // NVIDIA Corporation.
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 
00031 #ifndef PX_PHYSICS_GEOMUTILS_PX_TRIANGLE
00032 #define PX_PHYSICS_GEOMUTILS_PX_TRIANGLE
00033 
00037 #include "common/PxPhysXCommonConfig.h"
00038 #include "foundation/PxVec3.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00048 class PxTriangle
00049 {
00050     public:
00054     PX_FORCE_INLINE         PxTriangle() {}
00055 
00063     PX_FORCE_INLINE         PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
00064     {
00065         verts[0] = p0;
00066         verts[1] = p1;
00067         verts[2] = p2;
00068     }
00069 
00075     PX_FORCE_INLINE         PxTriangle(const PxTriangle& triangle)
00076     {
00077         verts[0] = triangle.verts[0];
00078         verts[1] = triangle.verts[1];
00079         verts[2] = triangle.verts[2];
00080     }
00081 
00085     PX_FORCE_INLINE         ~PxTriangle() {}
00086 
00090     PX_FORCE_INLINE void operator=(const PxTriangle& triangle)
00091     {
00092         verts[0] = triangle.verts[0];
00093         verts[1] = triangle.verts[1];
00094         verts[2] = triangle.verts[2];
00095     }
00096 
00102     PX_FORCE_INLINE void    normal(PxVec3& _normal) const
00103     {
00104         _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
00105         _normal.normalize();
00106     }
00107 
00113     PX_FORCE_INLINE void    denormalizedNormal(PxVec3& _normal) const
00114     {
00115         _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
00116     }
00117 
00123     PX_FORCE_INLINE PxReal  area() const
00124     {
00125         const PxVec3& p0 = verts[0];
00126         const PxVec3& p1 = verts[1];
00127         const PxVec3& p2 = verts[2];
00128         return ((p0 - p1).cross(p0 - p2)).magnitude() * 0.5f;
00129     }
00130 
00134     PxVec3 pointFromUV(PxReal u, PxReal v) const { return (1.0f-u-v)*verts[0] + u*verts[1] + v*verts[2]; }
00135 
00139     PxVec3      verts[3];
00140 
00141 };
00142 
00143 
00144 #if !PX_DOXYGEN
00145 }
00146 #endif
00147 
00149 #endif