PxVec3.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_VEC3_H
#define PX_FOUNDATION_PX_VEC3_H

#include "foundation/PxMath.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif


class PxVec3
{
public:

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3() {}

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxZERO r): x(0.0f), y(0.0f), z(0.0f) 
    {
        PX_UNUSED(r);
    }


    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal a): x(a), y(a), z(a) {}

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(PxReal nx, PxReal ny, PxReal nz): x(nx), y(ny), z(nz) {}

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(const PxVec3& v): x(v.x), y(v.y), z(v.z) {}

    //Operators

    PX_CUDA_CALLABLE PX_FORCE_INLINE    PxVec3& operator=(const PxVec3& p)          { x = p.x; y = p.y; z = p.z;    return *this;       }

    PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator[](int index)
    {
        PX_ASSERT(index>=0 && index<=2);

        return reinterpret_cast<PxReal*>(this)[index];
    }
    
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal& operator[](unsigned int index)
    {
        PX_ASSERT(index<=2);

        return reinterpret_cast<PxReal*>(this)[index];
    }

    PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator[](int index) const
    {
        PX_ASSERT(index>=0 && index<=2);

        return reinterpret_cast<const PxReal*>(this)[index];
    }
    
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxReal& operator[](unsigned int index) const
    {
        PX_ASSERT(index<=2);

        return reinterpret_cast<const PxReal*>(this)[index];
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3&v) const  { return x == v.x && y == v.y && z == v.z; }

    PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3&v) const  { return x != v.x || y != v.y || z != v.z; }

    PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero()  const                   { return x==0.0f && y==0.0f && z == 0.0f;           }

    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 = 1e-4f;
        return isFinite() && PxAbs(magnitude()-1)<unitTolerance;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitudeSquared() const        {   return x * x + y * y + z * z;                   }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal magnitude() const               {   return PxSqrt(magnitudeSquared());      }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -() const
    {
        return PxVec3(-x, -y, -z);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator +(const PxVec3& v) const       {   return PxVec3(x + v.x, y + v.y, z + v.z);   }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator -(const PxVec3& v) const       {   return PxVec3(x - v.x, y - v.y, z - v.z);   }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator *(PxReal f) const              {   return PxVec3(x * f, y * f, z * f);         }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 operator /(PxReal f) const
    {
        f = 1.0f / f;
        return PxVec3(x * f, y * f, z * f);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator +=(const PxVec3& v)
    {
        x += v.x;
        y += v.y;
        z += v.z;
        return *this;
    }
    
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator -=(const PxVec3& v)
    {
        x -= v.x;
        y -= v.y;
        z -= v.z;
        return *this;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator *=(PxReal f)
    {
        x *= f;
        y *= f;
        z *= f;
        return *this;
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator /=(PxReal f)
    {
        f = 1.0f/f;
        x *= f;
        y *= f;
        z *= f;
        return *this;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal dot(const PxVec3& v) const      
    {   
        return x * v.x + y * v.y + z * v.z;             
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 cross(const PxVec3& v) const
    {
        return PxVec3(y * v.z - z * v.y, 
                      z * v.x - x * v.z, 
                      x * v.y - y * v.x);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getNormalized() const
    {
        const PxReal m = magnitudeSquared();
        return m>0.0f ? *this * PxRecipSqrt(m) : PxVec3(0,0,0);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalize()
    {
        const PxReal m = magnitude();
        if (m>0.0f) 
            *this /= m;
        return m;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeSafe()
    {
        const PxReal mag = magnitude();
        if (mag < PX_NORMALIZATION_EPSILON)
            return 0.0f;
        *this *= 1.0f / mag;
        return mag;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal normalizeFast()
    {
        const PxReal mag = magnitude();
        PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
        *this *= 1.0f / mag;
        return mag;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3& a) const
    {
        return PxVec3(x*a.x, y*a.y, z*a.z);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 minimum(const PxVec3& v) const
    { 
        return PxVec3(PxMin(x, v.x), PxMin(y,v.y), PxMin(z,v.z));   
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float minElement() const
    {
        return PxMin(x, PxMin(y, z));
    }
    
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 maximum(const PxVec3& v) const
    { 
        return PxVec3(PxMax(x, v.x), PxMax(y,v.y), PxMax(z,v.z));   
    } 

    PX_CUDA_CALLABLE PX_FORCE_INLINE float maxElement() const
    {
        return PxMax(x, PxMax(y, z));
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 abs()   const
    {
        return PxVec3(PxAbs(x), PxAbs(y), PxAbs(z));
    }


    PxReal x,y,z;
};

PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3 operator *(PxReal f, const PxVec3& v)
{
    return PxVec3(f * v.x, f * v.y, f * v.z);
}

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif // PX_FOUNDATION_PX_VEC3_H