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

Revision 639, 1.6 KB checked in by mattausch, 19 years ago (diff)
Line 
1#ifndef _Plane3_H__
2#define _Plane3_H__
3
4#include "Vector3.h"
5
6 
7/** 3D Plane */
8class Plane3 {
9public:
10
11  Vector3 mNormal;
12  float mD;
13 
14  Plane3() {}
15 
16  Plane3(const Vector3 &a,
17                 const Vector3 &b,
18                 const Vector3 &c
19         ) {
20    Vector3 v1=a-b, v2=c-b;
21    mNormal = Normalize(CrossProd(v2,v1));
22    mD = -DotProd(b, mNormal);
23  }
24
25  Plane3(const Vector3 &normal,
26                 const Vector3 &point
27                 ):mNormal(normal)
28  {
29    mD = -DotProd(normal, point);
30  }
31
32  void ReverseOrientation()
33  {
34          mNormal *= -1;
35          mD *= -1;
36  }
37
38  float Distance(const Vector3 &v) const {
39    return DotProd(v, mNormal) + mD;
40  }
41
42  /** Returns 1 if v is on front side, -1 if on back side, 0 if on plane.
43  */
44  int Side(const Vector3 &v, const float threshold = 1e-6) const;
45
46  /** Finds intersection of line segment between points a and b with plane.
47          @param a start point
48          @param b end point
49          @param t if not NULL, returns parameter value of intersections
50          @param coplanar if not NULL, returns true if plane and line segments are coplanar.
51  */
52  Vector3 FindIntersection(const Vector3 &a,
53                                                   const Vector3 &b,
54                                                   float *t = NULL,
55                                                   bool *coplanar = NULL) const;
56 
57  /** Finds value of intersection parameter t on line segment from a to b.
58      @returns 0 if coplanar, else parameter t
59  */
60  float FindT(const Vector3 &a, const Vector3 &b) const;
61
62  friend bool
63  PlaneIntersection(const Plane3 &a, const Plane3 &b, const Plane3 &c, Vector3 &result);
64 
65  friend ostream &operator<<(ostream &s, const Plane3 p) {
66    s<<p.mNormal<<" "<<p.mD;
67    return s;
68  }
69
70 
71};
72 
73
74
75
76#endif
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