ExtVec3.h

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#ifndef EXT_VEC3_H
#define EXT_VEC3_H
 
#include "foundation/PxMath.h"
#include "foundation/PxVec3.h"
 
namespace physx
{
    namespace Ext
    {
        //3D vector class with double precision
        class Vec3
        {
        public:
            PxF64 x;
            PxF64 y;
            PxF64 z;
 
            PX_FORCE_INLINE Vec3() : x(0), y(0), z(0) {}
 
            PX_FORCE_INLINE Vec3(const Vec3 &other) { x = other.x; y = other.y; z = other.z; }
 
            PX_FORCE_INLINE Vec3(PxF64 x_, PxF64 y_, PxF64 z_) : x(x_), y(y_), z(z_)
            {}
 
            PX_FORCE_INLINE Vec3(PxF32 x_, PxF32 y_, PxF32 z_) : x(PxF64(x_)), y(PxF64(y_)), z(PxF64(z_))
            {}
 
            PX_FORCE_INLINE void set(PxF64 xCoord, PxF64 yCoord, PxF64 zCoord)
            {
                x = xCoord;
                y = yCoord;
                z = zCoord;
            }
 
            PX_FORCE_INLINE PxVec3 toFloat() const
            {
                return PxVec3(PxF32(x), PxF32(y), PxF32(z));
            }
 
            PX_FORCE_INLINE Vec3 max(const Vec3& lhs) const
            {
                return Vec3(PxMax(x, lhs.x), PxMax(y, lhs.y), PxMax(z, lhs.z));
            }
 
            PX_FORCE_INLINE Vec3 min(const Vec3& lhs) const
            {
                return Vec3(PxMin(x, lhs.x), PxMin(y, lhs.y), PxMin(z, lhs.z));
            }
 
            PX_FORCE_INLINE PxF64 magnitudeSquared() const
            {
                return x * x + y * y + z * z;
            }
 
            PX_FORCE_INLINE PxF64 magnitude() const
            {
                return PxSqrt(x * x + y * y + z * z);
            }
 
            PX_FORCE_INLINE Vec3 getNormalized() const
            {
                PxF64 s = magnitudeSquared();
                if (s == 0)
                    return *this;
                s = 1.0 / PxSqrt(s);
                return Vec3(s * x, s * y, s * z);
            }
 
            PX_FORCE_INLINE PxF64 dot(const Vec3& rhs) const
            {
                return x * rhs.x + y * rhs.y + z * rhs.z;
            }
 
            PX_FORCE_INLINE Vec3 cross(const Vec3& v) const
            {
                return Vec3(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);
            }
 
            PX_FORCE_INLINE Vec3 operator+(const Vec3& v) const
            {
                return Vec3(x + v.x, y + v.y, z + v.z);
            }
 
            PX_FORCE_INLINE Vec3 operator-(const Vec3& v) const
            {
                return Vec3(x - v.x, y - v.y, z - v.z);
            }
 
            PX_FORCE_INLINE Vec3 operator*(const PxF64& v) const
            {
                return Vec3(x * v, y * v, z * v);
            }
 
            PX_FORCE_INLINE Vec3 operator/(const PxF64& v) const
            {
                PxF64 inv = 1.0 / v;
                return Vec3(x * inv, y * inv, z * inv);
            }
 
            PX_FORCE_INLINE Vec3& operator+=(const Vec3& v)
            {
                x += v.x;
                y += v.y;
                z += v.z;
                return *this;
            }
 
            PX_FORCE_INLINE Vec3& operator-=(const Vec3& v)
            {
                x -= v.x;
                y -= v.y;
                z -= v.z;
                return *this;
            }
 
            PX_FORCE_INLINE Vec3& operator*=(PxF64 f)
            {
                x *= f;
                y *= f;
                z *= f;
                return *this;
            }
 
            PX_FORCE_INLINE Vec3& operator/=(PxF64 f)
            {
                f = 1.0 / f;
                x *= f;
                y *= f;
                z *= f;
                return *this;
            }
 
            PX_FORCE_INLINE PxF64& operator[](PxU32 index)
            {
                PX_ASSERT(index <= 2);
 
                return reinterpret_cast<PxF64*>(this)[index];
            }
 
            PX_FORCE_INLINE const PxF64& operator[](PxU32 index) const
            {
                PX_ASSERT(index <= 2);
 
                return reinterpret_cast<const PxF64*>(this)[index];
            }
        };
 
        // ---------------------------------------------------------------------------------
        struct Bounds3 {
            Bounds3() {}
            Bounds3(const Vec3 &min, const Vec3 &max) : minimum(min), maximum(max) {}
 
            void setEmpty() {
                minimum = Vec3(PX_MAX_F64, PX_MAX_F64, PX_MAX_F64);
                maximum = Vec3(-PX_MAX_F64, -PX_MAX_F64, -PX_MAX_F64);
            }
 
            Vec3 getDimensions() const {
                return maximum - minimum;
            }
 
            void include(const Vec3 &p) {
                minimum = minimum.min(p);
                maximum = maximum.max(p);
            }
 
            void include(const Bounds3 &b) {
                minimum = minimum.min(b.minimum);
                maximum = maximum.max(b.maximum);
            }
            void expand(double d) {
                minimum -= Vec3(d, d, d);
                maximum += Vec3(d, d, d);
            }
            Vec3 minimum, maximum;
        };
    }
}
 
#endif