158 lines
4.1 KiB
C++
158 lines
4.1 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_TRIANGLE_H
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#define PX_TRIANGLE_H
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxVec3.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Triangle class.
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*/
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class PxTriangle
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{
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public:
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/**
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\brief Constructor
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*/
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PX_FORCE_INLINE PxTriangle() {}
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/**
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\brief Constructor
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\param[in] p0 Point 0
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\param[in] p1 Point 1
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\param[in] p2 Point 2
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*/
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PX_FORCE_INLINE PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
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{
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verts[0] = p0;
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verts[1] = p1;
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verts[2] = p2;
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}
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/**
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\brief Copy constructor
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\param[in] triangle Tri to copy
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*/
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PX_FORCE_INLINE PxTriangle(const PxTriangle& triangle)
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{
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verts[0] = triangle.verts[0];
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verts[1] = triangle.verts[1];
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verts[2] = triangle.verts[2];
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}
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/**
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\brief Destructor
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*/
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PX_FORCE_INLINE ~PxTriangle() {}
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/**
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\brief Assignment operator
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*/
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PX_FORCE_INLINE void operator=(const PxTriangle& triangle)
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{
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verts[0] = triangle.verts[0];
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verts[1] = triangle.verts[1];
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verts[2] = triangle.verts[2];
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}
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/**
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\brief Compute the normal of the Triangle.
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\param[out] _normal Triangle normal.
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*/
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PX_FORCE_INLINE void normal(PxVec3& _normal) const
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{
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_normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
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_normal.normalize();
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}
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/**
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\brief Compute the unnormalized normal of the triangle.
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\param[out] _normal Triangle normal (not normalized).
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*/
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PX_FORCE_INLINE void denormalizedNormal(PxVec3& _normal) const
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{
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_normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
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}
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/**
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\brief Compute the area of the triangle.
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\return Area of the triangle.
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*/
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PX_FORCE_INLINE PxReal area() const
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{
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const PxVec3& p0 = verts[0];
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const PxVec3& p1 = verts[1];
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const PxVec3& p2 = verts[2];
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return ((p0 - p1).cross(p0 - p2)).magnitude() * 0.5f;
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}
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/**
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\return Computes a point on the triangle from u and v barycentric coordinates.
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*/
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PX_FORCE_INLINE PxVec3 pointFromUV(PxReal u, PxReal v) const
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{
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return (1.0f-u-v)*verts[0] + u*verts[1] + v*verts[2];
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}
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/**
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\brief Array of Vertices.
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*/
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PxVec3 verts[3];
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};
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//! A padded version of PxTriangle, to safely load its data using SIMD
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class PxTrianglePadded : public PxTriangle
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{
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public:
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PX_FORCE_INLINE PxTrianglePadded() {}
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PX_FORCE_INLINE ~PxTrianglePadded() {}
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PxU32 padding;
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};
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#if !PX_DOXYGEN
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}
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#endif
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/** @} */
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#endif
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