Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_PLANE_H
++ #define PX_PLANE_H
++
++
++ #include "foundation/PxTransform.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Representation of a plane.
++
++ Plane equation used: n.dot(v) + d = 0
++ */
++ class PxPlane
++ {
++ public:
++ /**
++ \brief Constructor
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane()
++ {
++ }
++
++ /**
++ \brief Constructor from a normal and a distance
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(float nx, float ny, float nz, float distance) : n(nx, ny, nz), d(distance)
++ {
++ }
++
++ /**
++ \brief Constructor from a normal and a distance
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane(const PxVec3& normal, float distance) : n(normal), d(distance)
++ {
++ }
++
++ /**
++ \brief Constructor from a point on the plane and a normal
++ */
++ 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
++ {
++ }
++
++ /**
++ \brief Constructor from three points
++ */
++ 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);
++ }
++
++ /**
++ \brief returns true if the two planes are exactly equal
++ */
++ 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);
++ }
++
++ /**
++ \brief projects p into the plane
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 project(const PxVec3& p) const
++ {
++ return p - n * distance(p);
++ }
++
++ /**
++ \brief find an arbitrary point in the plane
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 pointInPlane() const
++ {
++ return -n * d;
++ }
++
++ /**
++ \brief equivalent plane with unit normal
++ */
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void normalize()
++ {
++ float denom = 1.0f / n.magnitude();
++ n *= denom;
++ d *= denom;
++ }
++
++ /**
++ \brief transform plane
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxTransform& pose) const
++ {
++ const PxVec3 transformedNormal = pose.rotate(n);
++ return PxPlane(transformedNormal, d - pose.p.dot(transformedNormal));
++ }
++
++ /**
++ \brief inverse-transform plane
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxTransform& pose) const
++ {
++ const PxVec3 transformedNormal = pose.rotateInv(n);
++ return PxPlane(transformedNormal, d + pose.p.dot(n));
++ }
++
++ PxVec3 n; //!< The normal to the plane
++ float d; //!< The distance from the origin
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif
++