PlaneT.hh 8.18 KB
Newer Older
Jan Möbius's avatar
Jan Möbius committed
1 2 3
/*===========================================================================*\
 *                                                                           *
 *                              OpenFlipper                                  *
Jan Möbius's avatar
Jan Möbius committed
4 5 6 7
 *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
 *           Department of Computer Graphics and Multimedia                  *
 *                          All rights reserved.                             *
 *                            www.openflipper.org                            *
Jan Möbius's avatar
Jan Möbius committed
8 9
 *                                                                           *
 *---------------------------------------------------------------------------*
Jan Möbius's avatar
Jan Möbius committed
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38
 * This file is part of OpenFlipper.                                         *
 *---------------------------------------------------------------------------*
 *                                                                           *
 * Redistribution and use in source and binary forms, with or without        *
 * modification, are permitted provided that the following conditions        *
 * are met:                                                                  *
 *                                                                           *
 * 1. Redistributions of source code must retain the above copyright notice, *
 *    this list of conditions and the following disclaimer.                  *
 *                                                                           *
 * 2. Redistributions in binary form must reproduce the above copyright      *
 *    notice, this list of conditions and the following disclaimer in the    *
 *    documentation and/or other materials provided with the distribution.   *
 *                                                                           *
 * 3. Neither the name of the copyright holder nor the names of its          *
 *    contributors may be used to endorse or promote products derived from   *
 *    this software without specific prior written permission.               *
 *                                                                           *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
Jan Möbius's avatar
Jan Möbius committed
39 40 41 42 43
 *                                                                           *
\*===========================================================================*/

/*===========================================================================*\
 *                                                                           *
Jan Möbius's avatar
Jan Möbius committed
44
 *   $Revision$                                                       *
Jan Möbius's avatar
Jan Möbius committed
45 46 47 48
 *   $Author$                                                      *
 *   $Date$                   *
 *                                                                           *
\*===========================================================================*/
Jan Möbius's avatar
 
Jan Möbius committed
49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158




//=============================================================================
//
//  CLASS PlaneT
//
//=============================================================================


#ifndef ACG_PLANE_HH
#define ACG_PLANE_HH


//== INCLUDES =================================================================


#include "../../Math/VectorT.hh"
#include "../../Math/Matrix4x4T.hh"


//== NAMESPACES ===============================================================


namespace ACG {
namespace Geometry {


//== CLASS DEFINITION =========================================================


/** \class PlaneT PlaneT.hh <ACG/Geometry/Types/Plane.hh>

    This class stores a plane in normal form and provides useful
    algorithms for left/right test, itersection, and so on.
**/

template <typename Scalar>
class PlaneT
{
public:

  /// typedefs
  typedef VectorT<Scalar, 3>  Vec3;
  typedef VectorT<Scalar, 4>  Vec4;
  typedef Matrix4x4T<Scalar>  Mat4x4;


  /// constructor: coefficients
  PlaneT( Scalar _a=0, Scalar _b=0, Scalar _c=0, Scalar _d=0 )
    : coeffs_(_a, _b, _c, _d)
  { HNF(); }


  /// constructor: origin and normal
  PlaneT( const Vec3& _o, const Vec3& _n )
    : coeffs_(_n[0], _n[1], _n[2], -(_n|_o))
  { HNF(); }


  /// constructor: 3 points
  PlaneT( const Vec3& _v0, const Vec3& _v1, const Vec3& _v2 )
  {
    Vec3 n = (_v1-_v0) % (_v2-_v0);
    coeffs_ = Vec4(n[0], n[1], n[2], -(n|_v0));
    HNF();
  }


  /// normal vector
  Vec3 normal() const { return Vec3(coeffs_[0], coeffs_[1], coeffs_[2]); }


  /// coeffitients
  const Vec4& coeffs() const { return coeffs_; }


  /// signed distance point-plane
  Scalar distance( const Vec3& _v ) const
  {
    return ( _v[0]*coeffs_[0] +
	     _v[1]*coeffs_[1] +
	     _v[2]*coeffs_[2] +
  	           coeffs_[3] );
  }


  /// predicate: above plane
  bool operator() ( const Vec3& _v ) const { return distance(_v) > 0; }


  // INTERSECTION
  enum IntersectionTarget { Line, LineSegment, Ray };

  // intersect with (infinite) line
  bool intersect_line( const Vec3& _v0, const Vec3& _v1,
		       Vec3& _v, Scalar& _t ) const
  { return intersect(_v0, _v1, _v, _t, Line); }

  // intersect with ray
  bool intersect_ray( const Vec3& _v0, const Vec3& _v1,
		      Vec3& _v, Scalar& _t ) const
  { return intersect(_v0, _v1, _v, _t, Ray); }

  // intersect with line segment
  bool intersect_linesegment( const Vec3& _v0, const Vec3& _v1,
			      Vec3& _v, Scalar& _t ) const
  { return intersect(_v0, _v1, _v, _t, LineSegment); }

159 160 161 162 163 164 165 166 167 168 169
  /**  \brief General intersection function.
    *
    * General intersection between a line/ray and the plane.
    *
    * @param _v0 start vector of the ray
    * @param _v1 end vector of the ray
    * @param _v returned intersection point
    * @param _t returned relative distance from the interection to _v0 compared to _v1
    * @param _target type of intersection to test
    * @return true if an intersection was found
    */
Jan Möbius's avatar
 
Jan Möbius committed
170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
  bool intersect( const Vec3& _v0,
		  const Vec3& _v1,
		  Vec3& _v,
		  Scalar& _t,
		  IntersectionTarget _target )  const
  {
#define SGN(d) ((d>0.0) ? 1 : -1)

    Scalar  d0(distance(_v0)), d1(distance(_v1));
    Scalar  a0(fabs(d0)), a1(fabs(d1));

    // endpoint on plane
    if (a0 < FLT_MIN)  { _v = _v0; _t = 0.0; return true; }
    if (a1 < FLT_MIN)  { _v = _v1; _t = 1.0; return true; }

    // triv accept
    if (SGN(d0) != SGN(d1))
    {
      _t = (a0/(a0+a1));
      _v = _v0*(1.0-_t) + _v1*_t;
      return true;
    }

    // depends on target
    else
    {
      if (_target == LineSegment)  return false;

      if (fabs(d0-d1) < FLT_MIN) return false; // line parallel to plane
      else _t = d0/(d0-d1);

      if (_target == Ray && _t < 0.0)  return false;

      _v = _v0*(1.0-_t) + _v1*_t;
      return true;
    }
#undef SGN
  }


  /// affine transformation of the plane
  bool affine_transformation( const Mat4x4& _M )
  {
    Mat4x4 M(_M);
    if (!M.invert()) return false;
    M.transpone();
    affineTransformation_precomp(M);
    return true;
  }


  /// affine transformation of the plane (M^{-T} precomputed)
  void affine_transformation_precomp( const Mat4x4& _M_inverseTransposed )
  {
    coeffs_ = _M_inverseTransposed*coeffs_;
    HNF();
  }


private:

  void HNF() {
    Scalar n = normal().norm();
    if (n != 0.0) coeffs_ /= n;
  }

  Vec4 coeffs_;
};



typedef PlaneT<float>   Planef;
typedef PlaneT<double>  Planed;


//=============================================================================
} // namespace Geometry
} // namespace ACG
//=============================================================================
#endif // ACG_PLANE_HH defined
//=============================================================================