source: GTP/trunk/Lib/Vis/Preprocessing/src/Plane3.cpp @ 639

#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;
}


Vector3 Plane3::FindIntersection(const Vector3 &a,                                                 
                                                                 const Vector3 &b,
                                                                 float *t,
                                                                 bool *coplanar) const 
{
    const Vector3 v = b - a; // line from A to B
    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; // TODO: could be done more efficiently
    
        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; // TODO: could be done more efficiently
}