PxPlane.h
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29 
30 #ifndef PXFOUNDATION_PXPLANE_H
31 #define PXFOUNDATION_PXPLANE_H
32 
37 #include "foundation/PxMath.h"
38 #include "foundation/PxVec3.h"
39 
40 #if !PX_DOXYGEN
41 namespace physx
42 {
43 #endif
44 
50 class PxPlane
51 {
52  public:
57  {
58  }
59 
63  PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
64  {
65  }
66 
70  PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
71  {
72  }
73 
77  PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
78  : n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
79  {
80  }
81 
85  PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
86  {
87  n = (p1 - p0).cross(p2 - p0).getNormalized();
88  d = -p0.dot(n);
89  }
90 
95  {
96  return n == p.n && d == p.d;
97  }
98 
100  {
101  return p.dot(n) + d;
102  }
103 
105  {
106  return PxAbs(distance(p)) < (1.0e-7f);
107  }
108 
113  {
114  return p - n * distance(p);
115  }
116 
121  {
122  return -n * d;
123  }
124 
130  {
131  float denom = 1.0f / n.magnitude();
132  n *= denom;
133  d *= denom;
134  }
135 
137  float d;
138 };
139 
140 #if !PX_DOXYGEN
141 } // namespace physx
142 #endif
143 
145 #endif // #ifndef PXFOUNDATION_PXPLANE_H
Definition: GuContactBuffer.h:37
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3 &p) const
projects p into the plane
Definition: PxPlane.h:112
PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxVec3 &v) const
returns the scalar product of this and other.
Definition: PxVec3.h:276
float d
The distance from the origin.
Definition: PxPlane.h:137
#define PX_FORCE_INLINE
Definition: PxPreprocessor.h:364
Representation of a plane.
Definition: PxPlane.h:50
PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3 &p) const
Definition: PxPlane.h:104
PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3 &p) const
Definition: PxPlane.h:99
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3 &normal, float distance)
Constructor from a normal and a distance.
Definition: PxPlane.h:70
PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
equivalent plane with unit normal
Definition: PxPlane.h:129
PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)
abs returns the absolute value of its argument.
Definition: PxMath.h:107
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance)
Constructor from a normal and a distance.
Definition: PxPlane.h:63
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
Constructor.
Definition: PxPlane.h:56
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3 &point, const PxVec3 &normal)
Constructor from a point on the plane and a normal.
Definition: PxPlane.h:77
PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane &p) const
returns true if the two planes are exactly equal
Definition: PxPlane.h:94
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
find an arbitrary point in the plane
Definition: PxPlane.h:120
PxVec3 n
The normal to the plane.
Definition: PxPlane.h:136
#define PX_INLINE
Definition: PxPreprocessor.h:349
#define PX_CUDA_CALLABLE
Definition: PxPreprocessor.h:473
3 Element vector class.
Definition: PxVec3.h:49
PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3 &p0, const PxVec3 &p1, const PxVec3 &p2)
Constructor from three points.
Definition: PxPlane.h:85