+++ /dev/null
-///////////////////////////////////////////////////////////////////////////
-//
-// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
-// Digital Ltd. LLC
-//
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are
-// met:
-// * Redistributions of source code must retain the above copyright
-// notice, this list of conditions and the following disclaimer.
-// * 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.
-// * Neither the name of Industrial Light & Magic 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
-// OWNER 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.
-//
-///////////////////////////////////////////////////////////////////////////
-
-
-
-#ifndef INCLUDED_IMATHPLANE_H
-#define INCLUDED_IMATHPLANE_H
-
-//----------------------------------------------------------------------
-//
-// template class Plane3
-//
-// The Imath::Plane3<> class represents a half space, so the
-// normal may point either towards or away from origin. The
-// plane P can be represented by Imath::Plane3 as either p or -p
-// corresponding to the two half-spaces on either side of the
-// plane. Any function which computes a distance will return
-// either negative or positive values for the distance indicating
-// which half-space the point is in. Note that reflection, and
-// intersection functions will operate as expected.
-//
-//----------------------------------------------------------------------
-
-#include "ImathVec.h"
-#include "ImathLine.h"
-
-namespace Imath {
-
-
-template <class T>
-class Plane3
-{
- public:
-
- Vec3<T> normal;
- T distance;
-
- Plane3() {}
- Plane3(const Vec3<T> &normal, T distance);
- Plane3(const Vec3<T> &point, const Vec3<T> &normal);
- Plane3(const Vec3<T> &point1,
- const Vec3<T> &point2,
- const Vec3<T> &point3);
-
- //----------------------
- // Various set methods
- //----------------------
-
- void set(const Vec3<T> &normal,
- T distance);
-
- void set(const Vec3<T> &point,
- const Vec3<T> &normal);
-
- void set(const Vec3<T> &point1,
- const Vec3<T> &point2,
- const Vec3<T> &point3 );
-
- //----------------------
- // Utilities
- //----------------------
-
- bool intersect(const Line3<T> &line,
- Vec3<T> &intersection) const;
-
- bool intersectT(const Line3<T> &line,
- T ¶meter) const;
-
- T distanceTo(const Vec3<T> &) const;
-
- Vec3<T> reflectPoint(const Vec3<T> &) const;
- Vec3<T> reflectVector(const Vec3<T> &) const;
-};
-
-
-//--------------------
-// Convenient typedefs
-//--------------------
-
-typedef Plane3<float> Plane3f;
-typedef Plane3<double> Plane3d;
-
-
-//---------------
-// Implementation
-//---------------
-
-template <class T>
-inline Plane3<T>::Plane3(const Vec3<T> &p0,
- const Vec3<T> &p1,
- const Vec3<T> &p2)
-{
- set(p0,p1,p2);
-}
-
-template <class T>
-inline Plane3<T>::Plane3(const Vec3<T> &n, T d)
-{
- set(n, d);
-}
-
-template <class T>
-inline Plane3<T>::Plane3(const Vec3<T> &p, const Vec3<T> &n)
-{
- set(p, n);
-}
-
-template <class T>
-inline void Plane3<T>::set(const Vec3<T>& point1,
- const Vec3<T>& point2,
- const Vec3<T>& point3)
-{
- normal = (point2 - point1) % (point3 - point1);
- normal.normalize();
- distance = normal ^ point1;
-}
-
-template <class T>
-inline void Plane3<T>::set(const Vec3<T>& point, const Vec3<T>& n)
-{
- normal = n;
- normal.normalize();
- distance = normal ^ point;
-}
-
-template <class T>
-inline void Plane3<T>::set(const Vec3<T>& n, T d)
-{
- normal = n;
- normal.normalize();
- distance = d;
-}
-
-template <class T>
-inline T Plane3<T>::distanceTo(const Vec3<T> &point) const
-{
- return (point ^ normal) - distance;
-}
-
-template <class T>
-inline Vec3<T> Plane3<T>::reflectPoint(const Vec3<T> &point) const
-{
- return normal * distanceTo(point) * -2.0 + point;
-}
-
-
-template <class T>
-inline Vec3<T> Plane3<T>::reflectVector(const Vec3<T> &v) const
-{
- return normal * (normal ^ v) * 2.0 - v;
-}
-
-
-template <class T>
-inline bool Plane3<T>::intersect(const Line3<T>& line, Vec3<T>& point) const
-{
- T d = normal ^ line.dir;
- if ( d == 0.0 ) return false;
- T t = - ((normal ^ line.pos) - distance) / d;
- point = line(t);
- return true;
-}
-
-template <class T>
-inline bool Plane3<T>::intersectT(const Line3<T>& line, T &t) const
-{
- T d = normal ^ line.dir;
- if ( d == 0.0 ) return false;
- t = - ((normal ^ line.pos) - distance) / d;
- return true;
-}
-
-template<class T>
-std::ostream &operator<< (std::ostream &o, const Plane3<T> &plane)
-{
- return o << "(" << plane.normal << ", " << plane.distance
- << ")";
-}
-
-template<class T>
-Plane3<T> operator* (const Plane3<T> &plane, const Matrix44<T> &M)
-{
- // T
- // -1
- // Could also compute M but that would suck.
- //
-
- Vec3<T> dir1 = Vec3<T> (1, 0, 0) % plane.normal;
- T dir1Len = dir1 ^ dir1;
-
- Vec3<T> tmp = Vec3<T> (0, 1, 0) % plane.normal;
- T tmpLen = tmp ^ tmp;
-
- if (tmpLen > dir1Len)
- {
- dir1 = tmp;
- dir1Len = tmpLen;
- }
-
- tmp = Vec3<T> (0, 0, 1) % plane.normal;
- tmpLen = tmp ^ tmp;
-
- if (tmpLen > dir1Len)
- {
- dir1 = tmp;
- }
-
- Vec3<T> dir2 = dir1 % plane.normal;
- Vec3<T> point = plane.distance * plane.normal;
-
- return Plane3<T> ( point * M,
- (point + dir2) * M,
- (point + dir1) * M );
-}
-
-template<class T>
-Plane3<T> operator- (const Plane3<T> &plane)
-{
- return Plane3<T>(-plane.normal,-plane.distance);
-}
-
-
-} // namespace Imath
-
-#endif
projects / opencv / blobdiff