Blame Imath/ImathPlane.h

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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas
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// Digital Ltd. LLC
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// 
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// All rights reserved.
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// 
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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// *       Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// *       Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// *       Neither the name of Industrial Light & Magic nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission. 
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// 
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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///////////////////////////////////////////////////////////////////////////
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#ifndef INCLUDED_IMATHPLANE_H
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#define INCLUDED_IMATHPLANE_H
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//----------------------------------------------------------------------
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//
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//	template class Plane3
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//
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//	The Imath::Plane3<> class represents a half space, so the
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//	normal may point either towards or away from origin.  The
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//	plane P can be represented by Imath::Plane3 as either p or -p
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//	corresponding to the two half-spaces on either side of the
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//	plane. Any function which computes a distance will return
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//	either negative or positive values for the distance indicating
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//	which half-space the point is in. Note that reflection, and
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//	intersection functions will operate as expected.
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//
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//----------------------------------------------------------------------
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#include "ImathVec.h"
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#include "ImathLine.h"
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#include "ImathNamespace.h"
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IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
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template <class T>
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class Plane3
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{
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  public:
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    Vec3<T>			normal;
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    T				distance;
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    Plane3() {}
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    Plane3(const Vec3<T> &normal, T distance);
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    Plane3(const Vec3<T> &point, const Vec3<T> &normal);
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    Plane3(const Vec3<T> &point1,
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	   const Vec3<T> &point2,
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	   const Vec3<T> &point3;;
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    //----------------------
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    //	Various set methods
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    //----------------------
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    void                        set(const Vec3<T> &normal,
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				    T distance);
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    void                        set(const Vec3<T> &point,
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				    const Vec3<T> &normal);
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    void                        set(const Vec3<T> &point1,
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				    const Vec3<T> &point2,
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				    const Vec3<T> &point3 );
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    //----------------------
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    //	Utilities
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    //----------------------
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    bool                        intersect(const Line3<T> &line,
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                                          Vec3<T> &intersection) const;
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    bool                        intersectT(const Line3<T> &line,
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					   T &parameter) const;
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    T				distanceTo(const Vec3<T> &) const;
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    Vec3<T>                     reflectPoint(const Vec3<T> &) const;
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    Vec3<T>                     reflectVector(const Vec3<T> &) const;
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};
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//--------------------
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// Convenient typedefs
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//--------------------
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typedef Plane3<float> Plane3f;
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typedef Plane3<double> Plane3d;
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//---------------
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// Implementation
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//---------------
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template <class T>
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inline Plane3<T>::Plane3(const Vec3<T> &p0,
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			 const Vec3<T> &p1,
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			 const Vec3<T> &p2)
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{
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    set(p0,p1,p2);
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}
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template <class T>
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inline Plane3<T>::Plane3(const Vec3<T> &n, T d)
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{
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    set(n, d);
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}
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template <class T>
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inline Plane3<T>::Plane3(const Vec3<T> &p, const Vec3<T> &n)
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{
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    set(p, n);
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}
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template <class T>
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inline void Plane3<T>::set(const Vec3<T>& point1,
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			   const Vec3<T>& point2,
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			   const Vec3<T>& point3)
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{
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    normal = (point2 - point1) % (point3 - point1);
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    normal.normalize();
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    distance = normal ^ point1;
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}
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template <class T>
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inline void Plane3<T>::set(const Vec3<T>& point, const Vec3<T>& n)
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{
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    normal = n;
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    normal.normalize();
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    distance = normal ^ point;
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}
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template <class T>
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inline void Plane3<T>::set(const Vec3<T>& n, T d)
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{
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    normal = n;
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    normal.normalize();
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    distance = d;
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}
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template <class T>
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inline T Plane3<T>::distanceTo(const Vec3<T> &point) const
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{
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    return (point ^ normal) - distance;
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}
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template <class T>
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inline Vec3<T> Plane3<T>::reflectPoint(const Vec3<T> &point) const
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{
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    return normal * distanceTo(point) * -2.0 + point;
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}
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template <class T>
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inline Vec3<T> Plane3<T>::reflectVector(const Vec3<T> &v) const
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{
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    return normal * (normal ^ v)  * 2.0 - v;
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}
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template <class T>
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inline bool Plane3<T>::intersect(const Line3<T>& line, Vec3<T>& point) const
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{
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    T d = normal ^ line.dir;
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    if ( d == 0.0 ) return false;
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    T t = - ((normal ^ line.pos) - distance) /  d;
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    point = line(t);
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    return true;
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}
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template <class T>
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inline bool Plane3<T>::intersectT(const Line3<T>& line, T &t) const
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{
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    T d = normal ^ line.dir;
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    if ( d == 0.0 ) return false;
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    t = - ((normal ^ line.pos) - distance) /  d;
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    return true;
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}
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template<class T>
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std::ostream &operator<< (std::ostream &o, const Plane3<T> &plane)
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{
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    return o << "(" << plane.normal << ", " << plane.distance
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	     << ")";
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}
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template<class T>
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Plane3<T> operator* (const Plane3<T> &plane, const Matrix44<T> &M)
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{
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    //                        T
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    //	                    -1
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    //	Could also compute M    but that would suck.
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    //
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    Vec3<T> dir1   = Vec3<T> (1, 0, 0) % plane.normal;
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    T dir1Len      = dir1 ^ dir1;
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    Vec3<T> tmp    = Vec3<T> (0, 1, 0) % plane.normal;
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    T tmpLen       = tmp ^ tmp;
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    if (tmpLen > dir1Len)
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    {
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	dir1      = tmp;
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	dir1Len   = tmpLen;
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    }
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    tmp            = Vec3<T> (0, 0, 1) % plane.normal;
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    tmpLen         = tmp ^ tmp;
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    if (tmpLen > dir1Len)
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    {
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	dir1      = tmp;
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    }
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    Vec3<T> dir2   = dir1 % plane.normal;
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    Vec3<T> point  = plane.distance * plane.normal;
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    return Plane3<T> ( point         * M,
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		      (point + dir2) * M,
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		      (point + dir1) * M );
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}
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template<class T>
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Plane3<T> operator- (const Plane3<T> &plane)
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{
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    return Plane3<T>(-plane.normal,-plane.distance);
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}
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IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
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#endif // INCLUDED_IMATHPLANE_H