PxPlane.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_FOUNDATION_PX_PLANE_H
#define PX_FOUNDATION_PX_PLANE_H

#include "foundation/PxMath.h"
#include "foundation/PxVec3.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxPlane
{
public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(PxReal nx, PxReal ny, PxReal nz, PxReal distance)
        : n(nx, ny, nz)
        , d(distance)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, PxReal 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 PxReal 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()
    {
        PxReal denom = 1.0f / n.magnitude();
        n *= denom;
        d *= denom;
    }


    PxVec3  n;          
    PxReal  d;          
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif