PxPlane.h

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#ifndef PXFOUNDATION_PXPLANE_H
#define PXFOUNDATION_PXPLANE_H

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

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxPlane
{
  public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& point, const PxVec3& normal)
    : n(normal), d(-point.dot(n)) // p satisfies normal.dot(p) + d = 0
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
    {
        n = (p1 - p0).cross(p2 - p0).getNormalized();
        d = -p0.dot(n);
    }

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxPlane& p) const
    {
        return n == p.n && d == p.d;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float distance(const PxVec3& p) const
    {
        return p.dot(n) + d;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& p) const
    {
        return PxAbs(distance(p)) < (1.0e-7f);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
    {
        return p - n * distance(p);
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
    {
        return -n * d;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
    {
        float denom = 1.0f / n.magnitude();
        n *= denom;
        d *= denom;
    }

    PxVec3 n; 
    float d;  
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXPLANE_H