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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Contains code for planes.
+ * \file IcePlane.h
+ * \author Pierre Terdiman
+ * \date April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICEPLANE_H__
+#define __ICEPLANE_H__
+
+ #define PLANE_EPSILON (1.0e-7f)
+
+ class ICEMATHS_API IcePlane
+ {
+ public:
+ //! Constructor
+ inline_ IcePlane() { }
+ //! Constructor from a normal and a distance
+ inline_ IcePlane(float nx, float ny, float nz, float d) { Set(nx, ny, nz, d); }
+ //! Constructor from a point on the plane and a normal
+ inline_ IcePlane(const IcePoint& p, const IcePoint& n) { Set(p, n); }
+ //! Constructor from three points
+ inline_ IcePlane(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) { Set(p0, p1, p2); }
+ //! Constructor from a normal and a distance
+ inline_ IcePlane(const IcePoint& _n, float _d) { n = _n; d = _d; }
+ //! Copy constructor
+ inline_ IcePlane(const IcePlane& plane) : n(plane.n), d(plane.d) { }
+ //! Destructor
+ inline_ ~IcePlane() { }
+
+ inline_ IcePlane& Zero() { n.Zero(); d = 0.0f; return *this; }
+ inline_ IcePlane& Set(float nx, float ny, float nz, float _d) { n.Set(nx, ny, nz); d = _d; return *this; }
+ inline_ IcePlane& Set(const IcePoint& p, const IcePoint& _n) { n = _n; d = - p | _n; return *this; }
+ IcePlane& Set(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2);
+
+ inline_ float Distance(const IcePoint& p) const { return (p | n) + d; }
+ inline_ bool Belongs(const IcePoint& p) const { return fabsf(Distance(p)) < PLANE_EPSILON; }
+
+ inline_ void Normalize()
+ {
+ float Denom = 1.0f / n.Magnitude();
+ n.x *= Denom;
+ n.y *= Denom;
+ n.z *= Denom;
+ d *= Denom;
+ }
+ public:
+ // Members
+ IcePoint n; //!< The normal to the plane
+ float d; //!< The distance from the origin
+
+ // Cast operators
+ inline_ operator IcePoint() const { return n; }
+ inline_ operator HPoint() const { return HPoint(n, d); }
+
+ // Arithmetic operators
+ inline_ IcePlane operator*(const Matrix4x4& m) const
+ {
+ // Old code from Irion. Kept for reference.
+ IcePlane Ret(*this);
+ return Ret *= m;
+ }
+
+ inline_ IcePlane& operator*=(const Matrix4x4& m)
+ {
+ // Old code from Irion. Kept for reference.
+ IcePoint n2 = HPoint(n, 0.0f) * m;
+ d = -((IcePoint) (HPoint( -d*n, 1.0f ) * m) | n2);
+ n = n2;
+ return *this;
+ }
+ };
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster.
+ * \param transformed [out] transformed plane
+ * \param plane [in] source plane
+ * \param transform [in] transform matrix
+ * \warning the plane normal must be unit-length
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ void TransformPlane(IcePlane& transformed, const IcePlane& plane, const Matrix4x4& transform)
+ {
+ // Rotate the normal using the rotation part of the 4x4 matrix
+ transformed.n = plane.n * Matrix3x3(transform);
+
+ // Compute new d
+ transformed.d = plane.d - (IcePoint(transform.GetTrans())|transformed.n);
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster.
+ * \param plane [in/out] source plane (transformed on return)
+ * \param transform [in] transform matrix
+ * \warning the plane normal must be unit-length
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ void TransformPlane(IcePlane& plane, const Matrix4x4& transform)
+ {
+ // Rotate the normal using the rotation part of the 4x4 matrix
+ plane.n *= Matrix3x3(transform);
+
+ // Compute new d
+ plane.d -= IcePoint(transform.GetTrans())|plane.n;
+ }
+
+#endif // __ICEPLANE_H__