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_VEC4_H
++ #define PX_VEC4_H
++
++ #include "foundation/PxMath.h"
++ #include "foundation/PxVec3.h"
++
++ /**
++ \brief 4 Element vector class.
++
++ This is a 4-dimensional vector class with public data members.
++ */
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ template<class Type>
++ class PxVec4T
++ {
++ public:
++ /**
++ \brief default constructor leaves data uninitialized.
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T()
++ {
++ }
++
++ /**
++ \brief zero constructor.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4T(PxZERO) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0)), w(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_INLINE PxVec4T(Type a) : x(a), y(a), z(a), w(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.
++ \param[in] nw Value to initialize W component.
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T(Type nx, Type ny, Type nz, Type nw) : x(nx), y(ny), z(nz), w(nw)
++ {
++ }
++
++ /**
++ \brief Initializes from 3 scalar parameters.
++
++ \param[in] v Value to initialize the X, Y, and Z components.
++ \param[in] nw Value to initialize W component.
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T(const PxVec3T<Type>& v, Type nw) : x(v.x), y(v.y), z(v.z), w(nw)
++ {
++ }
++
++ /**
++ \brief Initializes from an array of scalar parameters.
++
++ \param[in] v Value to initialize with.
++ */
++ explicit PX_CUDA_CALLABLE PX_INLINE PxVec4T(const Type v[]) : x(v[0]), y(v[1]), z(v[2]), w(v[3])
++ {
++ }
++
++ /**
++ \brief Copy ctor.
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T(const PxVec4T& v) : x(v.x), y(v.y), z(v.z), w(v.w)
++ {
++ }
++
++ // Operators
++
++ /**
++ \brief Assignment operator
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator=(const PxVec4T& p)
++ {
++ x = p.x;
++ y = p.y;
++ z = p.z;
++ w = p.w;
++ return *this;
++ }
++
++ /**
++ \brief element access
++ */
++ PX_CUDA_CALLABLE PX_INLINE Type& operator[](unsigned int index)
++ {
++ PX_ASSERT(index <= 3);
++ return reinterpret_cast<Type*>(this)[index];
++ }
++
++ /**
++ \brief element access
++ */
++ PX_CUDA_CALLABLE PX_INLINE const Type& operator[](unsigned int index) const
++ {
++ PX_ASSERT(index <= 3);
++ return reinterpret_cast<const Type*>(this)[index];
++ }
++
++ /**
++ \brief returns true if the two vectors are exactly equal.
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxVec4T& v) const
++ {
++ return x == v.x && y == v.y && z == v.z && w == v.w;
++ }
++
++ /**
++ \brief returns true if the two vectors are not exactly equal.
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool operator!=(const PxVec4T& v) const
++ {
++ return x != v.x || y != v.y || z != v.z || w != v.w;
++ }
++
++ /**
++ \brief tests for exact zero vector
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool isZero() const
++ {
++ return x == Type(0) && y == Type(0) && z == Type(0) && w == Type(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) && PxIsFinite(w);
++ }
++
++ /**
++ \brief is normalized - used by API parameter validation
++ */
++ PX_CUDA_CALLABLE PX_INLINE bool isNormalized() const
++ {
++ const Type unitTolerance = Type(1e-4);
++ return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
++ }
++
++ /**
++ \brief returns the squared magnitude
++
++ Avoids calling PxSqrt()!
++ */
++ PX_CUDA_CALLABLE PX_INLINE Type magnitudeSquared() const
++ {
++ return x * x + y * y + z * z + w * w;
++ }
++
++ /**
++ \brief returns the magnitude
++ */
++ PX_CUDA_CALLABLE PX_INLINE Type magnitude() const
++ {
++ return PxSqrt(magnitudeSquared());
++ }
++
++ /**
++ \brief negation
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T operator-() const
++ {
++ return PxVec4T(-x, -y, -z, -w);
++ }
++
++ /**
++ \brief vector addition
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T operator+(const PxVec4T& v) const
++ {
++ return PxVec4T(x + v.x, y + v.y, z + v.z, w + v.w);
++ }
++
++ /**
++ \brief vector difference
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T operator-(const PxVec4T& v) const
++ {
++ return PxVec4T(x - v.x, y - v.y, z - v.z, w - v.w);
++ }
++
++ /**
++ \brief scalar post-multiplication
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T operator*(Type f) const
++ {
++ return PxVec4T(x * f, y * f, z * f, w * f);
++ }
++
++ /**
++ \brief scalar division
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T operator/(Type f) const
++ {
++ f = Type(1.0) / f;
++ return PxVec4T(x * f, y * f, z * f, w * f);
++ }
++
++ /**
++ \brief vector addition
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator+=(const PxVec4T& v)
++ {
++ x += v.x;
++ y += v.y;
++ z += v.z;
++ w += v.w;
++ return *this;
++ }
++
++ /**
++ \brief vector difference
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator-=(const PxVec4T& v)
++ {
++ x -= v.x;
++ y -= v.y;
++ z -= v.z;
++ w -= v.w;
++ return *this;
++ }
++
++ /**
++ \brief scalar multiplication
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator*=(Type f)
++ {
++ x *= f;
++ y *= f;
++ z *= f;
++ w *= f;
++ return *this;
++ }
++ /**
++ \brief scalar division
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator/=(Type f)
++ {
++ f = Type(1.0) / f;
++ x *= f;
++ y *= f;
++ z *= f;
++ w *= f;
++ return *this;
++ }
++
++ /**
++ \brief returns the scalar product of this and other.
++ */
++ PX_CUDA_CALLABLE PX_INLINE Type dot(const PxVec4T& v) const
++ {
++ return x * v.x + y * v.y + z * v.z + w * v.w;
++ }
++
++ /** returns a unit vector */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T getNormalized() const
++ {
++ const Type m = magnitudeSquared();
++ return m > Type(0.0) ? *this * PxRecipSqrt(m) : PxVec4T(Type(0));
++ }
++
++ /**
++ \brief normalizes the vector in place
++ */
++ PX_CUDA_CALLABLE PX_INLINE Type normalize()
++ {
++ const Type m = magnitude();
++ if(m > Type(0.0))
++ *this /= m;
++ return m;
++ }
++
++ /**
++ \brief a[i] * b[i], for all i.
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T multiply(const PxVec4T& a) const
++ {
++ return PxVec4T(x * a.x, y * a.y, z * a.z, w * a.w);
++ }
++
++ /**
++ \brief element-wise minimum
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T minimum(const PxVec4T& v) const
++ {
++ return PxVec4T(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z), PxMin(w, v.w));
++ }
++
++ /**
++ \brief element-wise maximum
++ */
++ PX_CUDA_CALLABLE PX_INLINE PxVec4T maximum(const PxVec4T& v) const
++ {
++ return PxVec4T(PxMax(x, v.x), PxMax(y, v.y), PxMax(z, v.z), PxMax(w, v.w));
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxVec3T<Type> getXYZ() const
++ {
++ return PxVec3T<Type>(x, y, z);
++ }
++
++ Type x, y, z, w;
++ };
++
++ template<class Type>
++ PX_CUDA_CALLABLE static PX_INLINE PxVec4T<Type> operator*(Type f, const PxVec4T<Type>& v)
++ {
++ return PxVec4T<Type>(f * v.x, f * v.y, f * v.z, f * v.w);
++ }
++
++ typedef PxVec4T<float> PxVec4;
++ typedef PxVec4T<double> PxVec4d;
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif
++