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_TRIANGLE_H
++ #define PX_TRIANGLE_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxVec3.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Triangle class.
++ */
++ class PxTriangle
++ {
++ public:
++ /**
++ \brief Constructor
++ */
++ PX_FORCE_INLINE PxTriangle() {}
++
++ /**
++ \brief Constructor
++
++ \param[in] p0 Point 0
++ \param[in] p1 Point 1
++ \param[in] p2 Point 2
++ */
++ PX_FORCE_INLINE PxTriangle(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2)
++ {
++ verts[0] = p0;
++ verts[1] = p1;
++ verts[2] = p2;
++ }
++
++ /**
++ \brief Copy constructor
++
++ \param[in] triangle Tri to copy
++ */
++ PX_FORCE_INLINE PxTriangle(const PxTriangle& triangle)
++ {
++ verts[0] = triangle.verts[0];
++ verts[1] = triangle.verts[1];
++ verts[2] = triangle.verts[2];
++ }
++
++ /**
++ \brief Destructor
++ */
++ PX_FORCE_INLINE ~PxTriangle() {}
++
++ /**
++ \brief Assignment operator
++ */
++ PX_FORCE_INLINE void operator=(const PxTriangle& triangle)
++ {
++ verts[0] = triangle.verts[0];
++ verts[1] = triangle.verts[1];
++ verts[2] = triangle.verts[2];
++ }
++
++ /**
++ \brief Compute the normal of the Triangle.
++
++ \param[out] _normal Triangle normal.
++ */
++ PX_FORCE_INLINE void normal(PxVec3& _normal) const
++ {
++ _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
++ _normal.normalize();
++ }
++
++ /**
++ \brief Compute the unnormalized normal of the triangle.
++
++ \param[out] _normal Triangle normal (not normalized).
++ */
++ PX_FORCE_INLINE void denormalizedNormal(PxVec3& _normal) const
++ {
++ _normal = (verts[1]-verts[0]).cross(verts[2]-verts[0]);
++ }
++
++ /**
++ \brief Compute the area of the triangle.
++
++ \return Area of the triangle.
++ */
++ PX_FORCE_INLINE PxReal area() const
++ {
++ const PxVec3& p0 = verts[0];
++ const PxVec3& p1 = verts[1];
++ const PxVec3& p2 = verts[2];
++ return ((p0 - p1).cross(p0 - p2)).magnitude() * 0.5f;
++ }
++
++ /**
++ \return Computes a point on the triangle from u and v barycentric coordinates.
++ */
++ PX_FORCE_INLINE PxVec3 pointFromUV(PxReal u, PxReal v) const
++ {
++ return (1.0f-u-v)*verts[0] + u*verts[1] + v*verts[2];
++ }
++
++ /**
++ \brief Array of Vertices.
++ */
++ PxVec3 verts[3];
++ };
++
++ //! A padded version of PxTriangle, to safely load its data using SIMD
++ class PxTrianglePadded : public PxTriangle
++ {
++ public:
++ PX_FORCE_INLINE PxTrianglePadded() {}
++ PX_FORCE_INLINE ~PxTrianglePadded() {}
++ PxU32 padding;
++ };
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif