source: GTP/trunk/Lib/Vis/Preprocessing/src/Plane3.cpp @ 256

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




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);
  
  double det = md.Det3x3();

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

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