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_VEC3_H
++ #define PX_VEC3_H
++
++ #include "foundation/PxMath.h"
++ #include "foundation/PxConstructor.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief 3 Element vector class.
++
++ This is a 3-dimensional vector class with public data members.
++ */
++ template<class Type>
++ class PxVec3T
++ {
++ public:
++
++ /**
++ \brief default constructor leaves data uninitialized.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T()
++ {
++ }
++
++ /**
++ \brief zero constructor.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(PxZERO) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0))
++ {
++ }
++
++ /**
++ \brief Assigns scalar parameter to all elements.
++
++ Useful to initialize to zero or one.
++
++ \param[in] a Value to assign to elements.
++ */
++ explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(Type a) : x(a), y(a), z(a)
++ {
++ }
++
++ /**
++ \brief Initializes from 3 scalar parameters.
++
++ \param[in] nx Value to initialize X component.
++ \param[in] ny Value to initialize Y component.
++ \param[in] nz Value to initialize Z component.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(Type nx, Type ny, Type nz) : x(nx), y(ny), z(nz)
++ {
++ }
++
++ /**
++ \brief Copy ctor.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T(const PxVec3T& v) : x(v.x), y(v.y), z(v.z)
++ {
++ }
++
++ // Operators
++
++ /**
++ \brief Assignment operator
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator=(const PxVec3T& p)
++ {
++ x = p.x;
++ y = p.y;
++ z = p.z;
++ return *this;
++ }
++
++ /**
++ \brief element access
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type& operator[](unsigned int index)
++ {
++ PX_ASSERT(index <= 2);
++ return reinterpret_cast<Type*>(this)[index];
++ }
++
++ /**
++ \brief element access
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE const Type& operator[](unsigned int index) const
++ {
++ PX_ASSERT(index <= 2);
++ return reinterpret_cast<const Type*>(this)[index];
++ }
++
++ /**
++ \brief returns true if the two vectors are exactly equal.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator==(const PxVec3T& v) const
++ {
++ return x == v.x && y == v.y && z == v.z;
++ }
++
++ /**
++ \brief returns true if the two vectors are not exactly equal.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator!=(const PxVec3T& v) const
++ {
++ return x != v.x || y != v.y || z != v.z;
++ }
++
++ /**
++ \brief tests for exact zero vector
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isZero() const
++ {
++ return x == Type(0.0) && y == Type(0.0) && z == Type(0.0);
++ }
++
++ /**
++ \brief returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
++ {
++ return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z);
++ }
++
++ /**
++ \brief is normalized - used by API parameter validation
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isNormalized() const
++ {
++ const float unitTolerance = Type(1e-4); // PT: do we need a different epsilon for float & double?
++ return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
++ }
++
++ /**
++ \brief returns the squared magnitude
++
++ Avoids calling PxSqrt()!
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitudeSquared() const
++ {
++ return x * x + y * y + z * z;
++ }
++
++ /**
++ \brief returns the magnitude
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type magnitude() const
++ {
++ return PxSqrt(magnitudeSquared());
++ }
++
++ /**
++ \brief negation
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator-() const
++ {
++ return PxVec3T(-x, -y, -z);
++ }
++
++ /**
++ \brief vector addition
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator+(const PxVec3T& v) const
++ {
++ return PxVec3T(x + v.x, y + v.y, z + v.z);
++ }
++
++ /**
++ \brief vector difference
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator-(const PxVec3T& v) const
++ {
++ return PxVec3T(x - v.x, y - v.y, z - v.z);
++ }
++
++ /**
++ \brief scalar post-multiplication
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator*(Type f) const
++ {
++ return PxVec3T(x * f, y * f, z * f);
++ }
++
++ /**
++ \brief scalar division
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T operator/(Type f) const
++ {
++ f = Type(1.0) / f;
++ return PxVec3T(x * f, y * f, z * f);
++ }
++
++ /**
++ \brief vector addition
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator+=(const PxVec3T& v)
++ {
++ x += v.x;
++ y += v.y;
++ z += v.z;
++ return *this;
++ }
++
++ /**
++ \brief vector difference
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator-=(const PxVec3T& v)
++ {
++ x -= v.x;
++ y -= v.y;
++ z -= v.z;
++ return *this;
++ }
++
++ /**
++ \brief scalar multiplication
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator*=(Type f)
++ {
++ x *= f;
++ y *= f;
++ z *= f;
++ return *this;
++ }
++ /**
++ \brief scalar division
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T& operator/=(Type f)
++ {
++ f = Type(1.0) / f;
++ x *= f;
++ y *= f;
++ z *= f;
++ return *this;
++ }
++
++ /**
++ \brief returns the scalar product of this and other.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type dot(const PxVec3T& v) const
++ {
++ return x * v.x + y * v.y + z * v.z;
++ }
++
++ /**
++ \brief cross product
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T cross(const PxVec3T& v) const
++ {
++ return PxVec3T(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);
++ }
++
++ /** returns a unit vector */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T getNormalized() const
++ {
++ const Type m = magnitudeSquared();
++ return m > Type(0.0) ? *this * PxRecipSqrt(m) : PxVec3T(Type(0));
++ }
++
++ /**
++ \brief normalizes the vector in place
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalize()
++ {
++ const Type m = magnitude();
++ if(m > Type(0.0))
++ *this /= m;
++ return m;
++ }
++
++ /**
++ \brief normalizes the vector in place. Does nothing if vector magnitude is under PX_NORMALIZATION_EPSILON.
++ Returns vector magnitude if >= PX_NORMALIZATION_EPSILON and 0.0f otherwise.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalizeSafe()
++ {
++ const Type mag = magnitude();
++ if(mag < PX_NORMALIZATION_EPSILON) // PT: do we need a different epsilon for float & double?
++ return Type(0.0);
++ *this *= Type(1.0) / mag;
++ return mag;
++ }
++
++ /**
++ \brief normalizes the vector in place. Asserts if vector magnitude is under PX_NORMALIZATION_EPSILON.
++ returns vector magnitude.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type normalizeFast()
++ {
++ const Type mag = magnitude();
++ PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON); // PT: do we need a different epsilon for float & double?
++ *this *= Type(1.0) / mag;
++ return mag;
++ }
++
++ /**
++ \brief a[i] * b[i], for all i.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T multiply(const PxVec3T& a) const
++ {
++ return PxVec3T(x * a.x, y * a.y, z * a.z);
++ }
++
++ /**
++ \brief element-wise minimum
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T minimum(const PxVec3T& v) const
++ {
++ return PxVec3T(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z));
++ }
++
++ /**
++ \brief returns MIN(x, y, z);
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type minElement() const
++ {
++ return PxMin(x, PxMin(y, z));
++ }
++
++ /**
++ \brief element-wise maximum
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T maximum(const PxVec3T& v) const
++ {
++ return PxVec3T(PxMax(x, v.x), PxMax(y, v.y), PxMax(z, v.z));
++ }
++
++ /**
++ \brief returns MAX(x, y, z);
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE Type maxElement() const
++ {
++ return PxMax(x, PxMax(y, z));
++ }
++
++ /**
++ \brief returns absolute values of components;
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T abs() const
++ {
++ return PxVec3T(PxAbs(x), PxAbs(y), PxAbs(z));
++ }
++
++ Type x, y, z;
++ };
++
++ template<class Type>
++ PX_CUDA_CALLABLE static PX_FORCE_INLINE PxVec3T<Type> operator*(Type f, const PxVec3T<Type>& v)
++ {
++ return PxVec3T<Type>(f * v.x, f * v.y, f * v.z);
++ }
++
++ typedef PxVec3T<float> PxVec3;
++ typedef PxVec3T<double> PxVec3d;
++
++ //! A padded version of PxVec3, to safely load its data using SIMD
++ class PxVec3Padded : public PxVec3
++ {
++ public:
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded() {}
++ PX_CUDA_CALLABLE PX_FORCE_INLINE ~PxVec3Padded() {}
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded(const PxVec3& p) : PxVec3(p) {}
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded(float f) : PxVec3(f) {}
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded(float _x, float _y, float _z) : PxVec3(_x, _y, _z) {}
++
++ /**
++ \brief Assignment operator.
++ To fix this:
++ error: definition of implicit copy assignment operator for 'PxVec3Padded' is deprecated because it has a user-declared destructor [-Werror,-Wdeprecated]
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3Padded& operator=(const PxVec3Padded& p)
++ {
++ x = p.x;
++ y = p.y;
++ z = p.z;
++ return *this;
++ }
++
++ PxU32 padding;
++ };
++ PX_COMPILE_TIME_ASSERT(sizeof(PxVec3Padded) == 16);
++
++ typedef PxVec3Padded PxVec3p;
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif