PhysX SDK 3.2 API Reference: PxPlane.h Source File

PhysX SDK 3.2 API

PxPlane.h

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00026 // Copyright (c) 2008-2012 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_FOUNDATION_PX_PLANE_H
00032 #define PX_FOUNDATION_PX_PLANE_H
00033 
00038 #include "foundation/PxMath.h"
00039 #include "foundation/PxVec3.h"
00040 
00041 #ifndef PX_DOXYGEN
00042 namespace physx
00043 {
00044 #endif
00045 
00051 class PxPlane
00052 {
00053 public:
00057     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
00058     {
00059     }
00060 
00064     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(PxReal nx, PxReal ny, PxReal nz, PxReal distance)
00065         : n(nx, ny, nz)
00066         , d(distance)
00067     {
00068     }
00069 
00073     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, PxReal distance) 
00074         : n(normal)
00075         , d(distance)
00076     {
00077     }
00078 
00079 
00083     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
00084         : n(normal)     
00085         , d(-point.dot(n))      // p satisfies normal.dot(p) + d = 0
00086     {
00087     }
00088 
00092     PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
00093     {
00094         n = (p1 - p0).cross(p2 - p0).getNormalized();
00095         d = -p0.dot(n);
00096     }
00097 
00098     PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal distance(const PxVec3& p) const
00099     {
00100         return p.dot(n) + d;
00101     }
00102 
00103     PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
00104     {
00105         return PxAbs(distance(p)) < (1.0e-7f);
00106     }
00107 
00111     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3 & p) const
00112     {
00113         return p - n * distance(p);
00114     }
00115 
00119     PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
00120     {
00121         return -n*d;
00122     }
00123 
00128     PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
00129     {
00130         PxReal denom = 1.0f / n.magnitude();
00131         n *= denom;
00132         d *= denom;
00133     }
00134 
00135 
00136     PxVec3  n;          
00137     PxReal  d;          
00138 };
00139 
00140 #ifndef PX_DOXYGEN
00141 } // namespace physx
00142 #endif
00143 
00145 #endif
00146 


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