include/foundation/PxVec4.h
File members: include/foundation/PxVec4.h
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// Copyright (c) 2008-2024 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEC4_H
#define PX_VEC4_H
#include "foundation/PxMath.h"
#include "foundation/PxVec3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
template<class Type>
class PxVec4T
{
public:
PX_CUDA_CALLABLE PX_INLINE PxVec4T()
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4T(PxZERO) : x(Type(0.0)), y(Type(0.0)), z(Type(0.0)), w(Type(0.0))
{
}
explicit PX_CUDA_CALLABLE PX_INLINE PxVec4T(Type a) : x(a), y(a), z(a), w(a)
{
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T(Type nx, Type ny, Type nz, Type nw) : x(nx), y(ny), z(nz), w(nw)
{
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T(const PxVec3T<Type>& v, Type nw) : x(v.x), y(v.y), z(v.z), w(nw)
{
}
explicit PX_CUDA_CALLABLE PX_INLINE PxVec4T(const Type v[]) : x(v[0]), y(v[1]), z(v[2]), w(v[3])
{
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T(const PxVec4T& v) : x(v.x), y(v.y), z(v.z), w(v.w)
{
}
// Operators
PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator=(const PxVec4T& p)
{
x = p.x;
y = p.y;
z = p.z;
w = p.w;
return *this;
}
PX_CUDA_CALLABLE PX_INLINE Type& operator[](unsigned int index)
{
PX_ASSERT(index <= 3);
return reinterpret_cast<Type*>(this)[index];
}
PX_CUDA_CALLABLE PX_INLINE const Type& operator[](unsigned int index) const
{
PX_ASSERT(index <= 3);
return reinterpret_cast<const Type*>(this)[index];
}
PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxVec4T& v) const
{
return x == v.x && y == v.y && z == v.z && w == v.w;
}
PX_CUDA_CALLABLE PX_INLINE bool operator!=(const PxVec4T& v) const
{
return x != v.x || y != v.y || z != v.z || w != v.w;
}
PX_CUDA_CALLABLE PX_INLINE bool isZero() const
{
return x == Type(0) && y == Type(0) && z == Type(0) && w == Type(0);
}
PX_CUDA_CALLABLE PX_INLINE bool isFinite() const
{
return PxIsFinite(x) && PxIsFinite(y) && PxIsFinite(z) && PxIsFinite(w);
}
PX_CUDA_CALLABLE PX_INLINE bool isNormalized() const
{
const Type unitTolerance = Type(1e-4);
return isFinite() && PxAbs(magnitude() - Type(1.0)) < unitTolerance;
}
PX_CUDA_CALLABLE PX_INLINE Type magnitudeSquared() const
{
return x * x + y * y + z * z + w * w;
}
PX_CUDA_CALLABLE PX_INLINE Type magnitude() const
{
return PxSqrt(magnitudeSquared());
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T operator-() const
{
return PxVec4T(-x, -y, -z, -w);
}
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);
}
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);
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T operator*(Type f) const
{
return PxVec4T(x * f, y * f, z * f, w * f);
}
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);
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator+=(const PxVec4T& v)
{
x += v.x;
y += v.y;
z += v.z;
w += v.w;
return *this;
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator-=(const PxVec4T& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
w -= v.w;
return *this;
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator*=(Type f)
{
x *= f;
y *= f;
z *= f;
w *= f;
return *this;
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T& operator/=(Type f)
{
f = Type(1.0) / f;
x *= f;
y *= f;
z *= f;
w *= f;
return *this;
}
PX_CUDA_CALLABLE PX_INLINE Type dot(const PxVec4T& v) const
{
return x * v.x + y * v.y + z * v.z + w * v.w;
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T getNormalized() const
{
const Type m = magnitudeSquared();
return m > Type(0.0) ? *this * PxRecipSqrt(m) : PxVec4T(Type(0));
}
PX_CUDA_CALLABLE PX_INLINE Type normalize()
{
const Type m = magnitude();
if(m > Type(0.0))
*this /= m;
return m;
}
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);
}
PX_CUDA_CALLABLE PX_INLINE PxVec4T minimum(const PxVec4T& v) const
{
return PxVec4(PxMin(x, v.x), PxMin(y, v.y), PxMin(z, v.z), PxMin(w, v.w));
}
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