PxVec3.h
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All rights reserved. 00029 00030 00031 #ifndef PX_FOUNDATION_PX_VEC3_H 00032 #define PX_FOUNDATION_PX_VEC3_H 00033 00038 #include "foundation/PxMath.h" 00039 00040 #ifndef PX_DOXYGEN 00041 namespace physx 00042 { 00043 #endif 00044 00045 00051 class PxVec3 00052 { 00053 public: 00054 00058 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3() {} 00059 00067 explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal a): x(a), y(a), z(a) {} 00068 00076 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal nx, PxReal ny, PxReal nz): x(nx), y(ny), z(nz) {} 00077 00081 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(const PxVec3& v): x(v.x), y(v.y), z(v.z) {} 00082 00083 //Operators 00084 00088 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator=(const PxVec3& p) { x = p.x; y = p.y; z = p.z; return *this; } 00089 00093 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator[](int index) { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; } 00094 00098 PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator[](int index) const { PX_ASSERT(index>=0 && index<=2); return (&x)[index]; } 00099 00103 PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3&v) const { return x == v.x && y == v.y && z == v.z; } 00104 00108 PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3&v) const { return x != v.x || y != v.y || z != v.z; } 00109 00113 PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const { return x==0.0f && y==0.0f && z == 0.0f; } 00114 00118 PX_CUDA_CALLABLE PX_INLINE bool isFinite() const 00119 { 00120 return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z); 00121 } 00122 00126 PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const 00127 { 00128 const float unitTolerance = PxReal(1e-4); 00129 return isFinite() && PxAbs(magnitude()-1)<unitTolerance; 00130 } 00131 00137 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const { return x * x + y * y + z * z; } 00138 00142 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const { return PxSqrt(magnitudeSquared()); } 00143 00147 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -() const 00148 { 00149 return PxVec3(-x, -y, -z); 00150 } 00151 00155 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator +(const PxVec3& v) const { return PxVec3(x + v.x, y + v.y, z + v.z); } 00156 00160 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -(const PxVec3& v) const { return PxVec3(x - v.x, y - v.y, z - v.z); } 00161 00165 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator *(PxReal f) const { return PxVec3(x * f, y * f, z * f); } 00166 00170 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator /(PxReal f) const 00171 { 00172 f = PxReal(1) / f; // PT: inconsistent notation with operator /= 00173 return PxVec3(x * f, y * f, z * f); 00174 } 00175 00179 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator +=(const PxVec3& v) 00180 { 00181 x += v.x; 00182 y += v.y; 00183 z += v.z; 00184 return *this; 00185 } 00186 00190 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator -=(const PxVec3& v) 00191 { 00192 x -= v.x; 00193 y -= v.y; 00194 z -= v.z; 00195 return *this; 00196 } 00197 00201 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator *=(PxReal f) 00202 { 00203 x *= f; 00204 y *= f; 00205 z *= f; 00206 return *this; 00207 } 00211 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator /=(PxReal f) 00212 { 00213 f = 1.0f/f; // PT: inconsistent notation with operator / 00214 x *= f; 00215 y *= f; 00216 z *= f; 00217 return *this; 00218 } 00219 00223 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxVec3& v) const 00224 { 00225 return x * v.x + y * v.y + z * v.z; 00226 } 00227 00231 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 cross(const PxVec3& v) const 00232 { 00233 return PxVec3(y * v.z - z * v.y, 00234 z * v.x - x * v.z, 00235 x * v.y - y * v.x); 00236 } 00237 00240 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getNormalized() const 00241 { 00242 const PxReal m = magnitudeSquared(); 00243 return m>0 ? *this * PxRecipSqrt(m) : PxVec3(0,0,0); 00244 } 00245 00249 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalize() 00250 { 00251 const PxReal m = magnitude(); 00252 if (m>0) 00253 *this /= m; 00254 return m; 00255 } 00256 00261 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeSafe() 00262 { 00263 const PxReal mag = magnitude(); 00264 if (mag < PX_NORMALIZATION_EPSILON) 00265 return 0.0f; 00266 *this *= PxReal(1) / mag; 00267 return mag; 00268 } 00269 00274 PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeFast() 00275 { 00276 const PxReal mag = magnitude(); 00277 PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON); 00278 *this *= PxReal(1) / mag; 00279 return mag; 00280 } 00281 00285 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3& a) const 00286 { 00287 return PxVec3(x*a.x, y*a.y, z*a.z); 00288 } 00289 00293 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 minimum(const PxVec3& v) const 00294 { 00295 return PxVec3(PxMin(x, v.x), PxMin(y,v.y), PxMin(z,v.z)); 00296 } 00297 00301 PX_CUDA_CALLABLE PX_FORCE_INLINE float minElement() const 00302 { 00303 return PxMin(x, PxMin(y, z)); 00304 } 00305 00309 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 maximum(const PxVec3& v) const 00310 { 00311 return PxVec3(PxMax(x, v.x), PxMax(y,v.y), PxMax(z,v.z)); 00312 } 00313 00317 PX_CUDA_CALLABLE PX_FORCE_INLINE float maxElement() const 00318 { 00319 return PxMax(x, PxMax(y, z)); 00320 } 00321 00322 PxReal x,y,z; 00323 }; 00324 00325 PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator *(PxReal f, const PxVec3& v) 00326 { 00327 return PxVec3(f * v.x, f * v.y, f * v.z); 00328 } 00329 00330 #ifndef PX_DOXYGEN 00331 } // namespace physx 00332 #endif 00333 00335 #endif // PX_FOUNDATION_PX_VEC3_H
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