godot/core/math/plane.cpp

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/*************************************************************************/
/* plane.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
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/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
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#include "plane.h"
#include "core/math/math_funcs.h"
#include "core/variant/variant.h"
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void Plane::set_normal(const Vector3 &p_normal) {
normal = p_normal;
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}
void Plane::normalize() {
real_t l = normal.length();
if (l == 0) {
*this = Plane(0, 0, 0, 0);
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return;
}
normal /= l;
d /= l;
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}
Plane Plane::normalized() const {
Plane p = *this;
p.normalize();
return p;
}
Vector3 Plane::get_any_perpendicular_normal() const {
static const Vector3 p1 = Vector3(1, 0, 0);
static const Vector3 p2 = Vector3(0, 1, 0);
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Vector3 p;
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if (ABS(normal.dot(p1)) > 0.99) { // if too similar to p1
p = p2; // use p2
} else {
p = p1; // use p1
}
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p -= normal * normal.dot(p);
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p.normalize();
return p;
}
/* intersections */
bool Plane::intersect_3(const Plane &p_plane1, const Plane &p_plane2, Vector3 *r_result) const {
const Plane &p_plane0 = *this;
Vector3 normal0 = p_plane0.normal;
Vector3 normal1 = p_plane1.normal;
Vector3 normal2 = p_plane2.normal;
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real_t denom = vec3_cross(normal0, normal1).dot(normal2);
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if (Math::is_zero_approx(denom)) {
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return false;
}
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if (r_result) {
*r_result = ((vec3_cross(normal1, normal2) * p_plane0.d) +
(vec3_cross(normal2, normal0) * p_plane1.d) +
(vec3_cross(normal0, normal1) * p_plane2.d)) /
denom;
}
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return true;
}
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bool Plane::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection) const {
Vector3 segment = p_dir;
real_t den = normal.dot(segment);
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//printf("den is %i\n",den);
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if (Math::is_zero_approx(den)) {
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return false;
}
real_t dist = (normal.dot(p_from) - d) / den;
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//printf("dist is %i\n",dist);
if (dist > CMP_EPSILON) { //this is a ray, before the emitting pos (p_from) doesn't exist
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return false;
}
dist = -dist;
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*p_intersection = p_from + segment * dist;
return true;
}
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bool Plane::intersects_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 *p_intersection) const {
Vector3 segment = p_begin - p_end;
real_t den = normal.dot(segment);
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//printf("den is %i\n",den);
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if (Math::is_zero_approx(den)) {
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return false;
}
real_t dist = (normal.dot(p_begin) - d) / den;
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//printf("dist is %i\n",dist);
if (dist < -CMP_EPSILON || dist > (1.0 + CMP_EPSILON)) {
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return false;
}
dist = -dist;
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*p_intersection = p_begin + segment * dist;
return true;
}
Variant Plane::intersect_3_bind(const Plane &p_plane1, const Plane &p_plane2) const {
Vector3 inters;
if (intersect_3(p_plane1, p_plane2, &inters)) {
return inters;
} else {
return Variant();
}
}
Variant Plane::intersects_ray_bind(const Vector3 &p_from, const Vector3 &p_dir) const {
Vector3 inters;
if (intersects_ray(p_from, p_dir, &inters)) {
return inters;
} else {
return Variant();
}
}
Variant Plane::intersects_segment_bind(const Vector3 &p_begin, const Vector3 &p_end) const {
Vector3 inters;
if (intersects_segment(p_begin, p_end, &inters)) {
return inters;
} else {
return Variant();
}
}
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/* misc */
bool Plane::is_equal_approx_any_side(const Plane &p_plane) const {
return (normal.is_equal_approx(p_plane.normal) && Math::is_equal_approx(d, p_plane.d)) || (normal.is_equal_approx(-p_plane.normal) && Math::is_equal_approx(d, -p_plane.d));
}
bool Plane::is_equal_approx(const Plane &p_plane) const {
return normal.is_equal_approx(p_plane.normal) && Math::is_equal_approx(d, p_plane.d);
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}
Plane::operator String() const {
return "[N: " + normal.operator String() + ", D: " + String::num_real(d, false) + "]";
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}