root/juggler/tags/1.0.7/Math/vjPlane.h

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 *
 * VR Juggler is (C) Copyright 1998, 1999, 2000, 2001, 2002
 *   by Iowa State University
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 * Original Authors:
 *   Allen Bierbaum, Christopher Just,
 *   Patrick Hartling, Kevin Meinert,
 *   Carolina Cruz-Neira, Albert Baker
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#ifndef _VJ_PLANE_H_
#define _VJ_PLANE_H_
//#pragma once

#include <vjConfig.h>
#include <Kernel/vjDebug.h>
#include <Math/vjVec3.h>
#include <Math/vjSeg.h>


//: sgPlane: Defines a geometrical plane.
//
// All points on the plane satify the equation dot(Pt,Normal) = offset
// normal is assumed to be normalized
//
// pg. 309 Computer Graphics 2nd Edition Hearn Baker
// N dot P = -D
//
class vjPlane
{
public:
        vjPlane()
        {}
        
        //: Create a plane containing the given points.
        void makePts(const vjVec3& pt1, const vjVec3& pt2, const vjVec3& pt3);
                
        //: Create a plane given a normal and a point
   void makeNormPt(const vjVec3& _pt, const vjVec3& norm);
        
        
        //: Intersects the plane with a given segment.
        //! RETURNS: TRUE if there is a hit (within the seg).
   //+         *t = distance "down" the segment to the hit.
   //
        //! PRE: seg.dir must be normalized
        bool isect(vjSeg& seg, float* t);
                
        
        //: Intersects the plane with the line defined
        // by the given segment
        //
        // seg - seg that represents the line to isect
        // t   - the t value of the isect
        bool isectLine(const vjSeg& seg, float* t);
        
        //: Find nearest pt on the plane
        //! RETURN: distance to the point (d)
        //+ If d is positive, pt lies on same side as normal
        //+ If d is negative, pt lies on opposite side from normal
        //+ if d is "near" zero, pt is on the plane
        float findNearestPt(const vjVec3& pt, vjVec3& nearPt);
        
public:
        vjVec3  normal;     // N or Just Normal
        float   offset;     // D or offset
};


/******************************************************
               INLINES
 ******************************************************/

/// Create a plane containing the given points.
inline
void vjPlane::makePts(const vjVec3& pt1, const vjVec3& pt2, const vjVec3& pt3)
{
    vjVec3 vec12(pt2-pt1);
    vjVec3 vec13(pt3-pt1);

    normal = vec12.cross(vec13);

    normal.normalize();
    offset = -1.0f * (pt1.dot(normal)); // Graphics Gems I: Page 390
}

inline
void vjPlane::makeNormPt(const vjVec3& norm, const vjVec3& _pt)
{
    normal = norm;
    offset = -(_pt.dot(normal));
}



// Finds the point on the plane nearest to pt.
// Returns the nearest point in nearPt
inline
float vjPlane::findNearestPt(const vjVec3& pt, vjVec3& nearPt)
{
        // GGI: P 297
                // GGII: Pg 223
        vjASSERT(normal.isNormalized());                // Assert: Normalized
        float dist_to_plane(0.0);
        dist_to_plane = offset+normal.dot(pt);          // Distance to plane
        nearPt = pt - (normal*dist_to_plane);
        return dist_to_plane;
}

// Intersects the plane with the line defined
// by the given segment
//
// seg - seg that represents the line to isect
// t   - the t value of the isect
inline
bool vjPlane::isectLine(const vjSeg& seg, float* t)
{
        // GGI: Pg 299
        // Lu = seg.pos;
        // Lv = seg.dir;
        // Jn = normal;
        // Jd = offset;
        
        float denom = normal.dot(seg.dir);
        if(VJ_IS_ZERO(denom))
      return false;
        else
        {
      *t = - (offset+ normal.dot(seg.pos))/(denom);
      return true;
        }
}

// Intersects the plane with a given segment.
// Returns TRUE if there is a hit (within the seg).
// Also returns the distance "down" the segment of the hit in t.
//
// PRE: seg.dir must be normalized
inline
bool vjPlane::isect(vjSeg& seg, float* t)
{
        if(!isectLine(seg, t))
      return false;           // Plane and seg are parallel
        
   if(seg.tValueOnSeg(*t))
      return true;
   else
      return false;
}





#endif