plane.icc

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/*
 * lib-gmapkernel : Un noyau de 3-G-cartes et des opérations.
 * Copyright (C) 2004, Moka Team, Université de Poitiers, Laboratoire SIC
 *               http://www.sic.sp2mi.univ-poitiers.fr/
 * Copyright (C) 2009, Guillaume Damiand, CNRS, LIRIS,
 *               guillaume.damiand@liris.cnrs.fr, http://liris.cnrs.fr/
 *
 * This file is part of lib-gmapkernel
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

//******************************************************************************
INLINE
CPlane::CPlane()
  : FNormal(0.0, 0.0, 0.0), FNormalNorm(0.0), FD(0.0)
{
}
//******************************************************************************
INLINE
CPlane::CPlane(TCoordinate Aa, TCoordinate Ab, TCoordinate Ac, TCoordinate Ad)
{
  setPlane(Aa, Ab, Ac, Ad);
}
//******************************************************************************
INLINE
CPlane::CPlane(const CVertex & APoint1,
           const CVertex & APoint2,
           const CVertex & APoint3)
{
  setPlane(APoint1, APoint2, APoint3);
}
//******************************************************************************
INLINE
CPlane::CPlane(const CVertex & ANormal, const CVertex & APoint)
{
  setPlane(ANormal, APoint);
}
//******************************************************************************
INLINE
CPlane::~CPlane()
{
}
//******************************************************************************
INLINE
void CPlane::setPlane(TCoordinate Aa, TCoordinate Ab, TCoordinate Ac, TCoordinate Ad)
{
  FNormal.setXYZ(Aa, Ab, Ac);
  FNormalNorm = FNormal.norm();
  FD = Ad;
}
//******************************************************************************
INLINE
void CPlane::setPlane(const CVertex & APoint1,
              const CVertex & APoint2,
              const CVertex & APoint3)
{
  FNormal = (APoint2 - APoint1) * (APoint3 - APoint1);
  FNormalNorm = FNormal.norm();
  FD = - (APoint1.getX() * FNormal.getX() +
      APoint1.getY() * FNormal.getY() +
      APoint1.getZ() * FNormal.getZ());
}
//******************************************************************************
INLINE
void CPlane::setPlane(const CVertex & ANormal, const CVertex & APoint)
{
  FNormal = ANormal;
  FNormalNorm = FNormal.norm();
  FD = - (APoint.getX() * FNormal.getX() +
      APoint.getY() * FNormal.getY() +
      APoint.getZ() * FNormal.getZ());
}
//******************************************************************************
INLINE
const CVertex & CPlane::getNormal() const
{
  return FNormal;
}
//******************************************************************************
INLINE
TCoordinate CPlane::getNormalNorm() const
{
  return FNormalNorm;
}
//******************************************************************************
INLINE
TCoordinate CPlane::getA() const
{
  return FNormal.getX();
}
//******************************************************************************
INLINE
TCoordinate CPlane::getB() const
{
  return FNormal.getY();
}
//******************************************************************************
INLINE
TCoordinate CPlane::getC() const
{
  return FNormal.getZ();
}
//******************************************************************************
INLINE
TCoordinate CPlane::getD() const
{
  return FD;
}
//******************************************************************************
INLINE
void CPlane::reverseOrientation()
{
  FNormal = -FNormal;
  FD = -FD;
}
//******************************************************************************
INLINE
bool CPlane::isPointOnPlane(const CVertex & APoint) const
{
  return isZero(FNormal.getX() * APoint.getX() +
      FNormal.getY() * APoint.getY() +
      FNormal.getZ() * APoint.getZ() +
      FD);
}
//******************************************************************************
INLINE
TCoordinate CPlane::pointDistance(const CVertex & APoint) const
{
  return (FNormal.getX() * APoint.getX() +
      FNormal.getY() * APoint.getY() +
      FNormal.getZ() * APoint.getZ() +
      FD) / FNormalNorm;
}
//******************************************************************************
INLINE
bool CPlane::getLineIntersection(const CVertex & APoint,
                 const CVertex & ADirection,
                 TCoordinate * AInterParam) const
{
  TCoordinate d = FNormal.dot(ADirection);

  if (d != 0.0) {
    *AInterParam = - (FNormal.dot(APoint) + FD) / d;
  }
  else
    return false;

  return true;
}
//******************************************************************************
INLINE
bool CPlane::getLineIntersection(const CVertex & APoint,
                 const CVertex & ADirection,
                 CVertex * AInter) const
{
  TCoordinate d = FNormal.dot(ADirection);

  if (d != 0.0) {
    d = - (FNormal.dot(APoint) + FD) / d;
    *AInter = APoint + ADirection * d;
  }
  else
    return false;

  return true;
}
//******************************************************************************
INLINE
TProjection CPlane::getBestProjection() const
{
  if (fabs(FNormal.getZ()) > fabs(FNormal.getX())) {
    if (fabs(FNormal.getZ()) > fabs(FNormal.getY()))
      return XY_Proj;
    else
      return XZ_Proj;
  }
  else {
    if (fabs(FNormal.getX()) > fabs(FNormal.getY()))
      return YZ_Proj;
    else
      return XZ_Proj;
  }
}
//******************************************************************************
INLINE
CVertex CPlane::projectPoint(const CVertex & APoint) const
{
  CVertex pt;
  if (getLineIntersection(APoint, getNormal(), &pt))
    return pt;
  else
    return APoint;
}
//******************************************************************************
INLINE
CVertex CPlane::projectPoint(const CVertex & APoint, TProjection AProj) const
{
  switch (AProj) {
  case XY_Proj:
    return CVertex(APoint.getX(), APoint.getY(), 0.0);
  case YZ_Proj:
    return CVertex(APoint.getY(), APoint.getZ(), 0.0);
  case XZ_Proj:
    return CVertex(APoint.getX(), APoint.getZ(), 0.0);
  }

  return APoint;
}
//******************************************************************************
INLINE
CVertex CPlane::unprojectPoint(const CVertex & APoint, TProjection AProj) const
{
  switch (AProj) {
  case XY_Proj:
    assert(FNormal.getZ() != 0.0);
    return CVertex(APoint.getX(),
           APoint.getY(),
           -(APoint.getX() * FNormal.getX() +
             APoint.getY() * FNormal.getY() +
             FD) / FNormal.getZ());
  case YZ_Proj:
    assert(FNormal.getX() != 0.0);
    return CVertex(-(APoint.getX() * FNormal.getY() +
             APoint.getY() * FNormal.getZ() +
             FD) / FNormal.getX(),
           APoint.getX(),
           APoint.getY());
  case XZ_Proj:
    assert(FNormal.getY() != 0.0);
    return CVertex(APoint.getX(),
           -(APoint.getX() * FNormal.getX() +
             APoint.getY() * FNormal.getZ() +
             FD) / FNormal.getY(),
           APoint.getY());
  }

  return APoint;
}
//******************************************************************************