source: GTP/trunk/App/Demos/Vis/CHC_revisited/Plane3.cpp @ 2762

#include "Plane3.h"
#include "Matrix4x4.h"


namespace CHCDemo 
{

Plane3::Plane3(const Vector3 &a, const Vector3 &b, const Vector3 &c) 
{
    Vector3 v1 = a - b, v2 = c - b;
    mNormal = Normalize(CrossProd(v2, v1));
    mD = -DotProd(b, mNormal);
}


/*Plane3::Plane3(const Vector3 &normal, float dist): 
mNormal(normal), mD(dist)
{
}*/


Plane3::Plane3(const Vector3 &normal, const Vector3 &point):
mNormal(normal)
{
    mD = -DotProd(normal, point);
}


bool PlaneIntersection(const Plane3 &a, 
                                           const Plane3 &b, 
                                           const Plane3 &c, 
                                           Vector3 &result)
{
        Vector3 sx(a.mNormal.x, b.mNormal.x, c.mNormal.x),
                    sy(a.mNormal.y, b.mNormal.y, c.mNormal.y),
                    sz(a.mNormal.z, b.mNormal.z, c.mNormal.z),
                    sd(a.mD, b.mD, c.mD);

        Matrix4x4 md(a.mNormal, b.mNormal, c.mNormal), mx, my, mz;

        mx.SetColumns(sd, sy, sz);
        my.SetColumns(sx, sd, sz);
        mz.SetColumns(sx, sy, sd);

        const float det = md.Det3x3();

        if (fabs(det) < TRASH)
                return false;

        result.SetValue(mx.Det3x3()/det,
                my.Det3x3()/det,
                mz.Det3x3()/det);

        return true;
}


bool PlaneIntersection(const Plane3 &p1, const Plane3 &p2)
{
        return 
                p1.mNormal.x != p2.mNormal.x ||
                p1.mNormal.y != p2.mNormal.y ||
                p1.mNormal.z != p2.mNormal.z ||
                p1.mD == p2.mD;
}


Vector3 Plane3::FindIntersection(const Vector3 &a,                                                 
                                                                 const Vector3 &b,
                                                                 float *t,
                                                                 bool *coplanar) const 
{
        // line from A to B
        const Vector3 v = b - a; 
        float dv = DotProd(v, mNormal);
    
    if (signum(dv) == 0)
        {
                if (coplanar) (*coplanar) = true;       

                if (t) (*t) = 0;

                return a;
        }
        
        if (coplanar) (*coplanar) = false;

    float u = - Distance(a) / dv;

        if (t) (*t) = u;

    return a + u * v;
}


int Plane3::Side(const Vector3 &v, const float threshold) const 
{
    return signum(Distance(v), threshold);
}


float Plane3::FindT(const Vector3 &a, const Vector3 &b) const 
{         
        const Vector3 v = b - a; // line from A to B
        const float dv = DotProd(v, mNormal);
    
        // does not intersect or coincident
        if (signum(dv) == 0)
                return 0;
        
        return - Distance(a) / dv; 
}


}