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  // Copyright (c) 2008-2014 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_PHYSICS_GEOMUTILS_PX_TRIANGLE
  #define PX_PHYSICS_GEOMUTILS_PX_TRIANGLE
  /** \addtogroup geomutils
    @{
  */
  
  #include "common/PxPhysXCommonConfig.h"
  #include "foundation/PxVec3.h"
  
  #ifndef 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 Array of Vertices.
  	*/
  	PxVec3		verts[3];
  
  	/**
  	\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).
  	*/
  #ifdef __SPU__
  	void	denormalizedNormal(PxVec3& _normal) const
  #else
  	PX_FORCE_INLINE	void	denormalizedNormal(PxVec3& _normal) const
  #endif
  	{
  		_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;
  	}
  
  };
  
  
  #ifndef PX_DOXYGEN
  }
  #endif
  
  /** @} */
  #endif
  