246 lines
7.4 KiB
C++
246 lines
7.4 KiB
C++
// Copyright (C) 2002-2012 Nikolaus Gebhardt
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// This file is part of the "Irrlicht Engine".
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// For conditions of distribution and use, see copyright notice in irrlicht.h
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#ifndef __IRR_PLANE_3D_H_INCLUDED__
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#define __IRR_PLANE_3D_H_INCLUDED__
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#include "irrMath.h"
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#include "vector3d.h"
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namespace irr
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{
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namespace core
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{
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//! Enumeration for intersection relations of 3d objects
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enum EIntersectionRelation3D
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{
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ISREL3D_FRONT = 0,
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ISREL3D_BACK,
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ISREL3D_PLANAR,
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ISREL3D_SPANNING,
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ISREL3D_CLIPPED
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};
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//! Template plane class with some intersection testing methods.
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/** It has to be ensured, that the normal is always normalized. The constructors
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and setters of this class will not ensure this automatically. So any normal
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passed in has to be normalized in advance. No change to the normal will be
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made by any of the class methods.
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*/
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template <class T>
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class plane3d
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{
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public:
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// Constructors
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plane3d(): Normal(0,1,0) { recalculateD(vector3d<T>(0,0,0)); }
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plane3d(const vector3d<T>& MPoint, const vector3d<T>& Normal) : Normal(Normal) { recalculateD(MPoint); }
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plane3d(T px, T py, T pz, T nx, T ny, T nz) : Normal(nx, ny, nz) { recalculateD(vector3d<T>(px, py, pz)); }
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plane3d(const vector3d<T>& point1, const vector3d<T>& point2, const vector3d<T>& point3)
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{ setPlane(point1, point2, point3); }
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plane3d(const vector3d<T> & normal, const T d) : Normal(normal), D(d) { }
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// operators
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inline bool operator==(const plane3d<T>& other) const { return (equals(D, other.D) && Normal==other.Normal);}
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inline bool operator!=(const plane3d<T>& other) const { return !(*this == other);}
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// functions
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void setPlane(const vector3d<T>& point, const vector3d<T>& nvector)
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{
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Normal = nvector;
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recalculateD(point);
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}
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void setPlane(const vector3d<T>& nvect, T d)
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{
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Normal = nvect;
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D = d;
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}
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void setPlane(const vector3d<T>& point1, const vector3d<T>& point2, const vector3d<T>& point3)
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{
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// creates the plane from 3 memberpoints
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Normal = (point2 - point1).crossProduct(point3 - point1);
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Normal.normalize();
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recalculateD(point1);
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}
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//! Get an intersection with a 3d line.
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/** \param lineVect Vector of the line to intersect with.
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\param linePoint Point of the line to intersect with.
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\param outIntersection Place to store the intersection point, if there is one.
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\return True if there was an intersection, false if there was not.
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*/
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bool getIntersectionWithLine(const vector3d<T>& linePoint,
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const vector3d<T>& lineVect,
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vector3d<T>& outIntersection) const
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{
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T t2 = Normal.dotProduct(lineVect);
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if (t2 == 0)
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return false;
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T t =- (Normal.dotProduct(linePoint) + D) / t2;
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outIntersection = linePoint + (lineVect * t);
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return true;
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}
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//! Get percentage of line between two points where an intersection with this plane happens.
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/** Only useful if known that there is an intersection.
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\param linePoint1 Point1 of the line to intersect with.
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\param linePoint2 Point2 of the line to intersect with.
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\return Where on a line between two points an intersection with this plane happened.
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For example, 0.5 is returned if the intersection happened exactly in the middle of the two points.
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*/
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f32 getKnownIntersectionWithLine(const vector3d<T>& linePoint1,
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const vector3d<T>& linePoint2) const
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{
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vector3d<T> vect = linePoint2 - linePoint1;
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T t2 = (f32)Normal.dotProduct(vect);
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return (f32)-((Normal.dotProduct(linePoint1) + D) / t2);
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}
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//! Get an intersection with a 3d line, limited between two 3d points.
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/** \param linePoint1 Point 1 of the line.
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\param linePoint2 Point 2 of the line.
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\param outIntersection Place to store the intersection point, if there is one.
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\return True if there was an intersection, false if there was not.
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*/
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bool getIntersectionWithLimitedLine(
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const vector3d<T>& linePoint1,
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const vector3d<T>& linePoint2,
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vector3d<T>& outIntersection) const
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{
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return (getIntersectionWithLine(linePoint1, linePoint2 - linePoint1, outIntersection) &&
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outIntersection.isBetweenPoints(linePoint1, linePoint2));
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}
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//! Classifies the relation of a point to this plane.
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/** \param point Point to classify its relation.
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\return ISREL3D_FRONT if the point is in front of the plane,
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ISREL3D_BACK if the point is behind of the plane, and
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ISREL3D_PLANAR if the point is within the plane. */
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EIntersectionRelation3D classifyPointRelation(const vector3d<T>& point) const
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{
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const T d = Normal.dotProduct(point) + D;
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if (d < -ROUNDING_ERROR_f32)
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return ISREL3D_BACK;
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if (d > ROUNDING_ERROR_f32)
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return ISREL3D_FRONT;
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return ISREL3D_PLANAR;
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}
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//! Recalculates the distance from origin by applying a new member point to the plane.
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void recalculateD(const vector3d<T>& MPoint)
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{
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D = - MPoint.dotProduct(Normal);
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}
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//! Gets a member point of the plane.
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vector3d<T> getMemberPoint() const
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{
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return Normal * -D;
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}
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//! Tests if there is an intersection with the other plane
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/** \return True if there is a intersection. */
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bool existsIntersection(const plane3d<T>& other) const
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{
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vector3d<T> cross = other.Normal.crossProduct(Normal);
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return cross.getLength() > core::ROUNDING_ERROR_f32;
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}
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//! Intersects this plane with another.
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/** \param other Other plane to intersect with.
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\param outLinePoint Base point of intersection line.
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\param outLineVect Vector of intersection.
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\return True if there is a intersection, false if not. */
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bool getIntersectionWithPlane(const plane3d<T>& other,
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vector3d<T>& outLinePoint,
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vector3d<T>& outLineVect) const
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{
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const T fn00 = Normal.getLength();
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const T fn01 = Normal.dotProduct(other.Normal);
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const T fn11 = other.Normal.getLength();
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const f64 det = fn00*fn11 - fn01*fn01;
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if (fabs(det) < ROUNDING_ERROR_f64 )
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return false;
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const f64 invdet = 1.0 / det;
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const f64 fc0 = (fn11*-D + fn01*other.D) * invdet;
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const f64 fc1 = (fn00*-other.D + fn01*D) * invdet;
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outLineVect = Normal.crossProduct(other.Normal);
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outLinePoint = Normal*(T)fc0 + other.Normal*(T)fc1;
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return true;
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}
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//! Get the intersection point with two other planes if there is one.
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bool getIntersectionWithPlanes(const plane3d<T>& o1,
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const plane3d<T>& o2, vector3d<T>& outPoint) const
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{
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vector3d<T> linePoint, lineVect;
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if (getIntersectionWithPlane(o1, linePoint, lineVect))
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return o2.getIntersectionWithLine(linePoint, lineVect, outPoint);
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return false;
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}
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//! Test if the triangle would be front or backfacing from any point.
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/** Thus, this method assumes a camera position from
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which the triangle is definitely visible when looking into
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the given direction.
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Note that this only works if the normal is Normalized.
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Do not use this method with points as it will give wrong results!
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\param lookDirection: Look direction.
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\return True if the plane is front facing and
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false if it is backfacing. */
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bool isFrontFacing(const vector3d<T>& lookDirection) const
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{
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const f32 d = Normal.dotProduct(lookDirection);
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return F32_LOWER_EQUAL_0 ( d );
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}
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//! Get the distance to a point.
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/** Note that this only works if the normal is normalized. */
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T getDistanceTo(const vector3d<T>& point) const
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{
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return point.dotProduct(Normal) + D;
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}
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//! Normal vector of the plane.
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vector3d<T> Normal;
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//! Distance from origin.
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T D;
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};
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//! Typedef for a f32 3d plane.
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typedef plane3d<f32> plane3df;
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//! Typedef for an integer 3d plane.
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typedef plane3d<s32> plane3di;
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} // end namespace core
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} // end namespace irr
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#endif
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