PxVec3.h

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#ifndef PXFOUNDATION_PXVEC3_H
#define PXFOUNDATION_PXVEC3_H

#include "foundation/PxMath.h"

#if !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(float a) : x(a), y(a), z(a)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3(float nx, float ny, float 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_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](unsigned int index)
    {
        PX_ASSERT(index <= 2);

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

    PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](unsigned int index) const
    {
        PX_ASSERT(index <= 2);

        return reinterpret_cast<const float*>(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 float magnitudeSquared() const
    {
        return x * x + y * y + z * z;
    }

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

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

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

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

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

    PX_CUDA_CALLABLE PX_FORCE_INLINE float normalizeFast()
    {
        const float 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));
    }

    float x, y, z;
};

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

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXVEC3_H