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pxshared/include/foundation/PxPlane.h

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+#ifndef PXFOUNDATION_PXPLANE_H
+#define PXFOUNDATION_PXPLANE_H
+
+/** \addtogroup foundation
+@{
+*/
+
+#include "foundation/PxMath.h"
+#include "foundation/PxVec3.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/**
+\brief Representation of a plane.
+
+ Plane equation used: n.dot(v) + d = 0
+*/
+class PxPlane
+{
+  public:
+	/**
+	\brief Constructor
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
+	{
+	}
+
+	/**
+	\brief Constructor from a normal and a distance
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
+	{
+	}
+
+	/**
+	\brief Constructor from a normal and a distance
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
+	{
+	}
+
+	/**
+	\brief Constructor from a point on the plane and a normal
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
+	: n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
+	{
+	}
+
+	/**
+	\brief Constructor from three points
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
+	{
+		n = (p1 - p0).cross(p2 - p0).getNormalized();
+		d = -p0.dot(n);
+	}
+
+	/**
+	\brief returns true if the two planes are exactly equal
+	*/
+	PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const
+	{
+		return n == p.n && d == p.d;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const
+	{
+		return p.dot(n) + d;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
+	{
+		return PxAbs(distance(p)) < (1.0e-7f);
+	}
+
+	/**
+	\brief projects p into the plane
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
+	{
+		return p - n * distance(p);
+	}
+
+	/**
+	\brief find an arbitrary point in the plane
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
+	{
+		return -n * d;
+	}
+
+	/**
+	\brief equivalent plane with unit normal
+	*/
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
+	{
+		float denom = 1.0f / n.magnitude();
+		n *= denom;
+		d *= denom;
+	}
+
+	PxVec3 n; //!< The normal to the plane
+	float d;  //!< The distance from the origin
+};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif // #ifndef PXFOUNDATION_PXPLANE_H