PxPlane.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
#ifndef PX_PLANE_H
#define PX_PLANE_H
 
#include "foundation/PxTransform.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxPlane
{
  public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
    {
    }
 
    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
    {
    }
 
    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);
    }
 
    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);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
    {
        return p - n * distance(p);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
    {
        return -n * d;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
    {
        float denom = 1.0f / n.magnitude();
        n *= denom;
        d *= denom;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxTransform& pose) const
    {
        const PxVec3 transformedNormal = pose.rotate(n);
        return PxPlane(transformedNormal, d - pose.p.dot(transformedNormal));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxTransform& pose) const
    {
        const PxVec3 transformedNormal = pose.rotateInv(n);
        return PxPlane(transformedNormal, d + pose.p.dot(n));
    }
 
    PxVec3 n; 
    float d;  
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif