363 lines
14 KiB
C++
363 lines
14 KiB
C++
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
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*
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* This library is open source and may be redistributed and/or modified under
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* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
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* (at your option) any later version. The full license is in LICENSE file
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* included with this distribution, and on the openscenegraph.org website.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* OpenSceneGraph Public License for more details.
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*/
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#ifndef OSG_PLANE
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#define OSG_PLANE 1
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#include <osg/Config>
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#include <osg/Export>
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#include <osg/Vec3>
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#include <osg/Vec4>
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#include <osg/Matrix>
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#include <osg/BoundingSphere>
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#include <osg/BoundingBox>
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#include <vector>
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namespace osg {
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/** @brief A plane class. It can be used to represent an infinite plane.
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*
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* The infinite plane is described by an implicit plane equation a*x+b*y+c*z+d = 0. Though it is not mandatory that
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* a^2+b^2+c^2 = 1 is fulfilled in general some methods require it (@see osg::Plane::distance). */
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class OSG_EXPORT Plane
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{
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public:
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#ifdef OSG_USE_FLOAT_PLANE
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/** Type of Plane class.*/
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typedef float value_type;
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typedef Vec3f Vec3_type;
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typedef Vec4f Vec4_type;
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#else
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/** Type of Plane class.*/
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typedef double value_type;
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typedef Vec3d Vec3_type;
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typedef Vec4d Vec4_type;
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#endif
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/** Number of vector components. */
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enum { num_components = 3 };
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/// Default constructor
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/** The default constructor initializes all values to zero.
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* @warning Although the method osg::Plane::valid() will return true after the default constructors call the plane
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* is mathematically invalid! Default data do not describe a valid plane. */
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inline Plane() { _fv[0]=0.0; _fv[1]=0.0; _fv[2]=0.0; _fv[3]=0.0; _lowerBBCorner = 0; _upperBBCorner = 0; }
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inline Plane(const Plane& pl) { set(pl); }
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/// Constructor
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/** The plane is described as a*x+b*y+c*z+d = 0.
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* @remark You may call osg::Plane::MakeUnitLength afterwards if the passed values are not normalized. */
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inline Plane(value_type a,value_type b,value_type c,value_type d) { set(a,b,c,d); }
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/// Constructor
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/** The plane can also be described as vec*[x,y,z,1].
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* @remark You may call osg::Plane::MakeUnitLength afterwards if the passed values are not normalized. */
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inline Plane(const Vec4f& vec) { set(vec); }
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/// Constructor
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/** The plane can also be described as vec*[x,y,z,1].
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* @remark You may call osg::Plane::MakeUnitLength afterwards if the passed values are not normalized. */
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inline Plane(const Vec4d& vec) { set(vec); }
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/// Constructor
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/** This constructor initializes the internal values directly without any checking or manipulation.
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* @param norm The normal of the plane.
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* @param d The negative distance from the point of origin to the plane.
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* @remark You may call osg::Plane::MakeUnitLength afterwards if the passed normal was not normalized. */
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inline Plane(const Vec3_type& norm,value_type d) { set(norm,d); }
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/// Constructor
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/** This constructor calculates from the three points describing an infinite plane the internal values.
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* @param v1 Point in the plane.
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* @param v2 Point in the plane.
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* @param v3 Point in the plane.
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* @remark After this constructor call the plane's normal is normalized in case the three points described a mathematically
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* valid plane.
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* @remark The normal is determined by building the cross product of (v2-v1) ^ (v3-v2). */
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inline Plane(const Vec3_type& v1, const Vec3_type& v2, const Vec3_type& v3) { set(v1,v2,v3); }
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/// Constructor
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/** This constructor initializes the internal values directly without any checking or manipulation.
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* @param norm The normal of the plane.
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* @param point A point of the plane.
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* @remark You may call osg::Plane::MakeUnitLength afterwards if the passed normal was not normalized. */
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inline Plane(const Vec3_type& norm, const Vec3_type& point) { set(norm,point); }
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inline Plane& operator = (const Plane& pl)
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{
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if (&pl==this) return *this;
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set(pl);
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return *this;
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}
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inline void set(const Plane& pl) { _fv[0]=pl._fv[0]; _fv[1]=pl._fv[1]; _fv[2]=pl._fv[2]; _fv[3]=pl._fv[3]; calculateUpperLowerBBCorners(); }
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inline void set(value_type a, value_type b, value_type c, value_type d) { _fv[0]=a; _fv[1]=b; _fv[2]=c; _fv[3]=d; calculateUpperLowerBBCorners(); }
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inline void set(const Vec4f& vec) { set(vec[0],vec[1],vec[2],vec[3]); }
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inline void set(const Vec4d& vec) { set(vec[0],vec[1],vec[2],vec[3]); }
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inline void set(const Vec3_type& norm, double d) { set(norm[0],norm[1],norm[2],d); }
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inline void set(const Vec3_type& v1, const Vec3_type& v2, const Vec3_type& v3)
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{
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Vec3_type norm = (v2-v1)^(v3-v2);
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value_type length = norm.length();
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if (length>1e-6) norm/= length;
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else norm.set(0.0,0.0,0.0);
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set(norm[0],norm[1],norm[2],-(v1*norm));
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}
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inline void set(const Vec3_type& norm, const Vec3_type& point)
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{
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value_type d = -norm[0]*point[0] - norm[1]*point[1] - norm[2]*point[2];
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set(norm[0],norm[1],norm[2],d);
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}
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/** flip/reverse the orientation of the plane.*/
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inline void flip()
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{
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_fv[0] = -_fv[0];
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_fv[1] = -_fv[1];
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_fv[2] = -_fv[2];
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_fv[3] = -_fv[3];
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calculateUpperLowerBBCorners();
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}
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/** This method multiplies the coefficients of the plane equation with a constant factor so that the
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* equation a^2+b^2+c^2 = 1 holds. */
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inline void makeUnitLength()
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{
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value_type inv_length = 1.0 / sqrt(_fv[0]*_fv[0] + _fv[1]*_fv[1]+ _fv[2]*_fv[2]);
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_fv[0] *= inv_length;
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_fv[1] *= inv_length;
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_fv[2] *= inv_length;
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_fv[3] *= inv_length;
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}
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/** calculate the upper and lower bounding box corners to be used
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* in the intersect(BoundingBox&) method for speeding calculations.*/
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inline void calculateUpperLowerBBCorners()
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{
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_upperBBCorner = (_fv[0]>=0.0?1:0) |
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(_fv[1]>=0.0?2:0) |
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(_fv[2]>=0.0?4:0);
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_lowerBBCorner = (~_upperBBCorner)&7;
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}
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/// Checks if all internal values describing the plane have valid numbers
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/** @warning This method does not check if the plane is mathematically correctly described!
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* @remark The only case where all elements have valid numbers and the plane description is invalid occurs if the plane's normal
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* is zero. */
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inline bool valid() const { return !isNaN(); }
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inline bool isNaN() const { return osg::isNaN(_fv[0]) || osg::isNaN(_fv[1]) || osg::isNaN(_fv[2]) || osg::isNaN(_fv[3]); }
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inline bool operator == (const Plane& plane) const { return _fv[0]==plane._fv[0] && _fv[1]==plane._fv[1] && _fv[2]==plane._fv[2] && _fv[3]==plane._fv[3]; }
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inline bool operator != (const Plane& plane) const { return _fv[0]!=plane._fv[0] || _fv[1]!=plane._fv[1] || _fv[2]!=plane._fv[2] || _fv[3]!=plane._fv[3]; }
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/** A plane is said to be smaller than another plane if the first non-identical element of the internal array is smaller than the
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* corresponding element of the other plane. */
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inline bool operator < (const Plane& plane) const
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{
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if (_fv[0]<plane._fv[0]) return true;
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else if (_fv[0]>plane._fv[0]) return false;
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else if (_fv[1]<plane._fv[1]) return true;
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else if (_fv[1]>plane._fv[1]) return false;
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else if (_fv[2]<plane._fv[2]) return true;
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else if (_fv[2]>plane._fv[2]) return false;
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else return (_fv[3]<plane._fv[3]);
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}
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inline value_type* ptr() { return _fv; }
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inline const value_type* ptr() const { return _fv; }
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inline Vec4_type asVec4() const { return Vec4_type(_fv[0],_fv[1],_fv[2],_fv[3]); }
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inline value_type& operator [] (unsigned int i) { return _fv[i]; }
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inline value_type operator [] (unsigned int i) const { return _fv[i]; }
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inline Vec3_type getNormal() const { return Vec3_type(_fv[0],_fv[1],_fv[2]); }
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/** Calculate the distance between a point and the plane.
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* @remark This method only leads to real distance values if the plane's norm is 1.
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* @sa osg::Plane::makeUnitLength */
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inline float distance(const osg::Vec3f& v) const
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{
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return _fv[0]*v.x()+
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_fv[1]*v.y()+
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_fv[2]*v.z()+
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_fv[3];
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}
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/** Calculate the distance between a point and the plane.
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* @remark This method only leads to real distance values if the plane's norm is 1.
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* @sa osg::Plane::makeUnitLength */
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inline double distance(const osg::Vec3d& v) const
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{
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return _fv[0]*v.x()+
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_fv[1]*v.y()+
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_fv[2]*v.z()+
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_fv[3];
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}
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/** calculate the dot product of the plane normal and a point.*/
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inline float dotProductNormal(const osg::Vec3f& v) const
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{
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return _fv[0]*v.x()+
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_fv[1]*v.y()+
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_fv[2]*v.z();
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}
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/** calculate the dot product of the plane normal and a point.*/
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inline double dotProductNormal(const osg::Vec3d& v) const
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{
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return _fv[0]*v.x()+
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_fv[1]*v.y()+
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_fv[2]*v.z();
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}
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/** intersection test between plane and vertex list
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return 1 if the bs is completely above plane,
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return 0 if the bs intersects the plane,
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return -1 if the bs is completely below the plane.*/
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inline int intersect(const std::vector<Vec3f>& vertices) const
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{
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if (vertices.empty()) return -1;
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int noAbove = 0;
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int noBelow = 0;
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int noOn = 0;
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for(std::vector<Vec3f>::const_iterator itr=vertices.begin();
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itr != vertices.end();
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++itr)
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{
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float d = distance(*itr);
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if (d>0.0f) ++noAbove;
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else if (d<0.0f) ++noBelow;
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else ++noOn;
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}
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if (noAbove>0)
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{
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if (noBelow>0) return 0;
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else return 1;
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}
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return -1; // treat points on line as outside...
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}
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/** intersection test between plane and vertex list
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return 1 if the bs is completely above plane,
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return 0 if the bs intersects the plane,
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return -1 if the bs is completely below the plane.*/
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inline int intersect(const std::vector<Vec3d>& vertices) const
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{
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if (vertices.empty()) return -1;
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int noAbove = 0;
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int noBelow = 0;
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int noOn = 0;
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for(std::vector<Vec3d>::const_iterator itr=vertices.begin();
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itr != vertices.end();
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++itr)
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{
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double d = distance(*itr);
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if (d>0.0) ++noAbove;
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else if (d<0.0) ++noBelow;
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else ++noOn;
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}
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if (noAbove>0)
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{
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if (noBelow>0) return 0;
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else return 1;
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}
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return -1; // treat points on line as outside...
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}
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/** intersection test between plane and bounding sphere.
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return 1 if the bs is completely above plane,
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return 0 if the bs intersects the plane,
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return -1 if the bs is completely below the plane.*/
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inline int intersect(const BoundingSphere& bs) const
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{
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float d = distance(bs.center());
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if (d>bs.radius()) return 1;
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else if (d<-bs.radius()) return -1;
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else return 0;
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}
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/** intersection test between plane and bounding sphere.
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return 1 if the bs is completely above plane,
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return 0 if the bs intersects the plane,
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return -1 if the bs is completely below the plane.*/
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inline int intersect(const BoundingBox& bb) const
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{
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// if lowest point above plane than all above.
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if (distance(bb.corner(_lowerBBCorner))>0.0f) return 1;
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// if highest point is below plane then all below.
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if (distance(bb.corner(_upperBBCorner))<0.0f) return -1;
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// d_lower<=0.0f && d_upper>=0.0f
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// therefore must be crossing plane.
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return 0;
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}
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/** Transform the plane by matrix. Note, this operation carries out
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* the calculation of the inverse of the matrix since a plane
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* must be multiplied by the inverse transposed to transform it. This
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* make this operation expensive. If the inverse has been already
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* calculated elsewhere then use transformProvidingInverse() instead.
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* See http://www.worldserver.com/turk/computergraphics/NormalTransformations.pdf*/
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inline void transform(const osg::Matrix& matrix)
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{
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osg::Matrix inverse;
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inverse.invert(matrix);
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transformProvidingInverse(inverse);
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}
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/** Transform the plane by providing a pre inverted matrix.
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* see transform for details. */
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inline void transformProvidingInverse(const osg::Matrix& matrix)
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{
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// note pre multiplications, which effectively transposes matrix.
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Vec4_type vec(_fv[0],_fv[1],_fv[2],_fv[3]);
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vec = matrix * vec;
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set(vec);
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makeUnitLength();
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}
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protected:
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/** Vec member variable. */
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value_type _fv[4];
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// variables cached to optimize calcs against bounding boxes.
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unsigned int _upperBBCorner;
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unsigned int _lowerBBCorner;
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};
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} // end of namespace
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#endif
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