PxVec4.h

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#ifndef PXFOUNDATION_PXVEC4_H
#define PXFOUNDATION_PXVEC4_H

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

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxVec4
{
  public:
    PX_CUDA_CALLABLE PX_INLINE PxVec4()
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4(PxZERO r) : x(0.0f), y(0.0f), z(0.0f), w(0.0f)
    {
        PX_UNUSED(r);
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxVec4(float a) : x(a), y(a), z(a), w(a)
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4(float nx, float ny, float nz, float nw) : x(nx), y(ny), z(nz), w(nw)
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4(const PxVec3& v, float nw) : x(v.x), y(v.y), z(v.z), w(nw)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxVec4(const float v[]) : x(v[0]), y(v[1]), z(v[2]), w(v[3])
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4(const PxVec4& v) : x(v.x), y(v.y), z(v.z), w(v.w)
    {
    }

    // Operators

    PX_CUDA_CALLABLE PX_INLINE PxVec4& operator=(const PxVec4& p)
    {
        x = p.x;
        y = p.y;
        z = p.z;
        w = p.w;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE float& operator[](unsigned int index)
    {
        PX_ASSERT(index <= 3);

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

    PX_CUDA_CALLABLE PX_INLINE const float& operator[](unsigned int index) const
    {
        PX_ASSERT(index <= 3);

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

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxVec4& v) const
    {
        return x == v.x && y == v.y && z == v.z && w == v.w;
    }

    PX_CUDA_CALLABLE PX_INLINE bool operator!=(const PxVec4& v) const
    {
        return x != v.x || y != v.y || z != v.z || w != v.w;
    }

    PX_CUDA_CALLABLE PX_INLINE bool isZero() const
    {
        return x == 0 && y == 0 && z == 0 && w == 0;
    }

    PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
    {
        return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z) && PxIsFinite(w);
    }

    PX_CUDA_CALLABLE PX_INLINE bool isNormalized() const
    {
        const float unitTolerance = 1e-4f;
        return isFinite() && PxAbs(magnitude() - 1) < unitTolerance;
    }

    PX_CUDA_CALLABLE PX_INLINE float magnitudeSquared() const
    {
        return x * x + y * y + z * z + w * w;
    }

    PX_CUDA_CALLABLE PX_INLINE float magnitude() const
    {
        return PxSqrt(magnitudeSquared());
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 operator-() const
    {
        return PxVec4(-x, -y, -z, -w);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 operator+(const PxVec4& v) const
    {
        return PxVec4(x + v.x, y + v.y, z + v.z, w + v.w);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 operator-(const PxVec4& v) const
    {
        return PxVec4(x - v.x, y - v.y, z - v.z, w - v.w);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 operator*(float f) const
    {
        return PxVec4(x * f, y * f, z * f, w * f);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 operator/(float f) const
    {
        f = 1.0f / f;
        return PxVec4(x * f, y * f, z * f, w * f);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4& operator+=(const PxVec4& v)
    {
        x += v.x;
        y += v.y;
        z += v.z;
        w += v.w;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4& operator-=(const PxVec4& v)
    {
        x -= v.x;
        y -= v.y;
        z -= v.z;
        w -= v.w;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4& operator*=(float f)
    {
        x *= f;
        y *= f;
        z *= f;
        w *= f;
        return *this;
    }
    PX_CUDA_CALLABLE PX_INLINE PxVec4& operator/=(float f)
    {
        f = 1.0f / f;
        x *= f;
        y *= f;
        z *= f;
        w *= f;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE float dot(const PxVec4& v) const
    {
        return x * v.x + y * v.y + z * v.z + w * v.w;
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 getNormalized() const
    {
        float m = magnitudeSquared();
        return m > 0.0f ? *this * PxRecipSqrt(m) : PxVec4(0, 0, 0, 0);
    }

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

    PX_CUDA_CALLABLE PX_INLINE PxVec4 multiply(const PxVec4& a) const
    {
        return PxVec4(x * a.x, y * a.y, z * a.z, w * a.w);
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 minimum(const PxVec4& v) const
    {
        return PxVec4(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z), PxMin(w, v.w));
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec4 maximum(const PxVec4& v) const
    {
        return PxVec4(PxMax(x, v.x), PxMax(y, v.y), PxMax(z, v.z), PxMax(w, v.w));
    }

    PX_CUDA_CALLABLE PX_INLINE PxVec3 getXYZ() const
    {
        return PxVec3(x, y, z);
    }

    PX_CUDA_CALLABLE PX_INLINE void setZero()
    {
        x = y = z = w = 0.0f;
    }

    float x, y, z, w;
};

PX_CUDA_CALLABLE static PX_INLINE PxVec4 operator*(float f, const PxVec4& v)
{
    return PxVec4(f * v.x, f * v.y, f * v.z, f * v.w);
}

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXVEC4_H