PxVec3.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_VEC3_H
#define PX_VEC3_H
 
#include "foundation/PxMath.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
template<class Type>
class PxVec3T
{
  public:
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T()
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(PxZERO) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0))
    {
    }
 
    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(Type a) : x(a), y(a), z(a)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(Type nx, Type ny, Type nz) : x(nx), y(ny), z(nz)
    {
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(const PxVec3T& v) : x(v.x), y(v.y), z(v.z)
    {
    }
 
    // Operators
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator=(const PxVec3T& p)
    {
        x = p.x;
        y = p.y;
        z = p.z;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type& operator[](unsigned int index)
    {
        PX_ASSERT(index <= 2);
        return reinterpret_cast<Type*>(this)[index];
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE const Type& operator[](unsigned int index) const
    {
        PX_ASSERT(index <= 2);
        return reinterpret_cast<const Type*>(this)[index];
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3T& v) const
    {
        return x == v.x && y == v.y && z == v.z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3T& v) const
    {
        return x != v.x || y != v.y || z != v.z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const
    {
        return x == Type(0.0) && y == Type(0.0) && z == Type(0.0);
    }
 
    PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
    {
        return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const
    {
        const float unitTolerance = Type(1e-4); // PT: do we need a different epsilon for float & double?
        return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitudeSquared() const
    {
        return x * x + y * y + z * z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitude() const
    {
        return PxSqrt(magnitudeSquared());
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator-() const
    {
        return PxVec3T(-x, -y, -z);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator+(const PxVec3T& v) const
    {
        return PxVec3T(x + v.x, y + v.y, z + v.z);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator-(const PxVec3T& v) const
    {
        return PxVec3T(x - v.x, y - v.y, z - v.z);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator*(Type f) const
    {
        return PxVec3T(x * f, y * f, z * f);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator/(Type f) const
    {
        f = Type(1.0) / f;
        return PxVec3T(x * f, y * f, z * f);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator+=(const PxVec3T& v)
    {
        x += v.x;
        y += v.y;
        z += v.z;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator-=(const PxVec3T& v)
    {
        x -= v.x;
        y -= v.y;
        z -= v.z;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator*=(Type f)
    {
        x *= f;
        y *= f;
        z *= f;
        return *this;
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator/=(Type f)
    {
        f = Type(1.0) / f;
        x *= f;
        y *= f;
        z *= f;
        return *this;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type dot(const PxVec3T& v) const
    {
        return x * v.x + y * v.y + z * v.z;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T cross(const PxVec3T& v) const
    {
        return PxVec3T(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T getNormalized() const
    {
        const Type m = magnitudeSquared();
        return m > Type(0.0) ? *this * PxRecipSqrt(m) : PxVec3T(Type(0));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalize()
    {
        const Type m = magnitude();
        if(m > Type(0.0))
            *this /= m;
        return m;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalizeSafe()
    {
        const Type mag = magnitude();
        if(mag < PX_NORMALIZATION_EPSILON)  // PT: do we need a different epsilon for float & double?
            return Type(0.0);
        *this *= Type(1.0) / mag;
        return mag;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalizeFast()
    {
        const Type mag = magnitude();
        PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON); // PT: do we need a different epsilon for float & double?
        *this *= Type(1.0) / mag;
        return mag;
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T multiply(const PxVec3T& a) const
    {
        return PxVec3T(x * a.x, y * a.y, z * a.z);
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T minimum(const PxVec3T& v) const
    {
        return PxVec3T(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type minElement() const
    {
        return PxMin(x, PxMin(y, z));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T maximum(const PxVec3T& v) const
    {
        return PxVec3T(PxMax(x, v.x), PxMax(y, v.y), PxMax(z, v.z));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE Type maxElement() const
    {
        return PxMax(x, PxMax(y, z));
    }
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T abs() const
    {
        return PxVec3T(PxAbs(x), PxAbs(y), PxAbs(z));
    }
 
    Type    x, y, z;
};
 
template<class Type>
PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3T<Type> operator*(Type f, const PxVec3T<Type>& v)
{
    return PxVec3T<Type>(f * v.x, f * v.y, f * v.z);
}
 
typedef PxVec3T<float>  PxVec3;
typedef PxVec3T<double> PxVec3d;
 
class PxVec3Padded : public PxVec3
{
    public:
    PX_FORCE_INLINE PxVec3Padded()                              {}
    PX_FORCE_INLINE ~PxVec3Padded()                             {}
    PX_FORCE_INLINE PxVec3Padded(const PxVec3& p) : PxVec3(p)   {}
    PX_FORCE_INLINE PxVec3Padded(float f) : PxVec3(f)           {}
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded& operator=(const PxVec3Padded& p)
    {
        x = p.x;
        y = p.y;
        z = p.z;
        return *this;
    }
 
    PxU32   padding;
};
PX_COMPILE_TIME_ASSERT(sizeof(PxVec3Padded) == 16);
 
typedef PxVec3Padded    PxVec3p;
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif