1/*
2 * Copyright (c) 2008-2015, NVIDIA CORPORATION. All rights reserved.
3 *
4 * NVIDIA CORPORATION and its licensors retain all intellectual property
5 * and proprietary rights in and to this software, related documentation
6 * and any modifications thereto. Any use, reproduction, disclosure or
7 * distribution of this software and related documentation without an express
8 * license agreement from NVIDIA CORPORATION is strictly prohibited.
9 */
10// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
11// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
12
13
14#ifndef PX_PHYSICS_GEOMUTILS_PX_TRIANGLE
15#define PX_PHYSICS_GEOMUTILS_PX_TRIANGLE
16/** \addtogroup geomutils
17 @{
18*/
19
20#include "common/PxPhysXCommonConfig.h"
21#include "foundation/PxVec3.h"
22
23#ifndef PX_DOXYGEN
24namespace physx
25{
26#endif
27
28/**
29\brief Triangle class.
30*/
31class PxTriangle
32{
33 public:
34 /**
35 \brief Constructor
36 */
37 PX_FORCE_INLINE PxTriangle() {}
38
39 /**
40 \brief Constructor
41
42 \param[in] p0 Point 0
43 \param[in] p1 Point 1
44 \param[in] p2 Point 2
45 */
46 PX_FORCE_INLINE PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
47 {
48 verts[0] = p0;
49 verts[1] = p1;
50 verts[2] = p2;
51 }
52
53 /**
54 \brief Copy constructor
55
56 \param[in] triangle Tri to copy
57 */
58 PX_FORCE_INLINE PxTriangle(const PxTriangle& triangle)
59 {
60 verts[0] = triangle.verts[0];
61 verts[1] = triangle.verts[1];
62 verts[2] = triangle.verts[2];
63 }
64
65 /**
66 \brief Destructor
67 */
68 PX_FORCE_INLINE ~PxTriangle() {}
69
70 /**
71 \brief Array of Vertices.
72 */
73 PxVec3 verts[3];
74
75 /**
76 \brief Compute the normal of the Triangle.
77
78 \param[out] _normal Triangle normal.
79 */
80 PX_FORCE_INLINE void normal(PxVec3& _normal) const
81 {
82 _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
83 _normal.normalize();
84 }
85
86 /**
87 \brief Compute the unnormalized normal of the triangle.
88
89 \param[out] _normal Triangle normal (not normalized).
90 */
91#ifdef __SPU__
92 void denormalizedNormal(PxVec3& _normal) const
93#else
94 PX_FORCE_INLINE void denormalizedNormal(PxVec3& _normal) const
95#endif
96 {
97 _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
98 }
99
100 /**
101 \brief Compute the area of the triangle.
102
103 \return Area of the triangle.
104 */
105 PX_FORCE_INLINE PxReal area() const
106 {
107 const PxVec3& p0 = verts[0];
108 const PxVec3& p1 = verts[1];
109 const PxVec3& p2 = verts[2];
110 return ((p0 - p1).cross(p0 - p2)).magnitude() * 0.5f;
111 }
112
113};
114
115
116#ifndef PX_DOXYGEN
117}
118#endif
119
120/** @} */
121#endif
122