00001 // 00002 // Redistribution and use in source and binary forms, with or without 00003 // modification, are permitted provided that the following conditions 00004 // are met: 00005 // * Redistributions of source code must retain the above copyright 00006 // notice, this list of conditions and the following disclaimer. 00007 // * Redistributions in binary form must reproduce the above copyright 00008 // notice, this list of conditions and the following disclaimer in the 00009 // documentation and/or other materials provided with the distribution. 00010 // * Neither the name of NVIDIA CORPORATION nor the names of its 00011 // contributors may be used to endorse or promote products derived 00012 // from this software without specific prior written permission. 00013 // 00014 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY 00015 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00016 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00017 // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 00018 // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00019 // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00020 // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00021 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY 00022 // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00023 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00024 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 // 00026 // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. 00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. 00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. 00029 00030 00031 #ifndef PX_PHYSICS_GEOMUTILS_PX_TRIANGLE 00032 #define PX_PHYSICS_GEOMUTILS_PX_TRIANGLE 00033 00037 #include "common/PxPhysXCommonConfig.h" 00038 #include "foundation/PxVec3.h" 00039 00040 #if !PX_DOXYGEN 00041 namespace physx 00042 { 00043 #endif 00044 00048 class PxTriangle 00049 { 00050 public: 00054 PX_FORCE_INLINE PxTriangle() {} 00055 00063 PX_FORCE_INLINE PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2) 00064 { 00065 verts[0] = p0; 00066 verts[1] = p1; 00067 verts[2] = p2; 00068 } 00069 00075 PX_FORCE_INLINE PxTriangle(const PxTriangle& triangle) 00076 { 00077 verts[0] = triangle.verts[0]; 00078 verts[1] = triangle.verts[1]; 00079 verts[2] = triangle.verts[2]; 00080 } 00081 00085 PX_FORCE_INLINE ~PxTriangle() {} 00086 00090 PX_FORCE_INLINE void operator=(const PxTriangle& triangle) 00091 { 00092 verts[0] = triangle.verts[0]; 00093 verts[1] = triangle.verts[1]; 00094 verts[2] = triangle.verts[2]; 00095 } 00096 00102 PX_FORCE_INLINE void normal(PxVec3& _normal) const 00103 { 00104 _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]); 00105 _normal.normalize(); 00106 } 00107 00113 PX_FORCE_INLINE void denormalizedNormal(PxVec3& _normal) const 00114 { 00115 _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]); 00116 } 00117 00123 PX_FORCE_INLINE PxReal area() const 00124 { 00125 const PxVec3& p0 = verts[0]; 00126 const PxVec3& p1 = verts[1]; 00127 const PxVec3& p2 = verts[2]; 00128 return ((p0 - p1).cross(p0 - p2)).magnitude() * 0.5f; 00129 } 00130 00134 PxVec3 pointFromUV(PxReal u, PxReal v) const { return (1.0f-u-v)*verts[0] + u*verts[1] + v*verts[2]; } 00135 00139 PxVec3 verts[3]; 00140 00141 }; 00142 00143 00144 #if !PX_DOXYGEN 00145 } 00146 #endif 00147 00149 #endif