1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
|
using System;
#if REAL_T_IS_DOUBLE
using real_t = System.Double;
#else
using real_t = System.Single;
#endif
namespace Godot
{
public struct Plane : IEquatable<Plane>
{
private Vector3 _normal;
public Vector3 Normal
{
get { return _normal; }
set { _normal = value; }
}
public real_t x
{
get
{
return _normal.x;
}
set
{
_normal.x = value;
}
}
public real_t y
{
get
{
return _normal.y;
}
set
{
_normal.y = value;
}
}
public real_t z
{
get
{
return _normal.z;
}
set
{
_normal.z = value;
}
}
public real_t D { get; set; }
public Vector3 Center
{
get
{
return _normal * D;
}
}
public real_t DistanceTo(Vector3 point)
{
return _normal.Dot(point) - D;
}
public Vector3 GetAnyPoint()
{
return _normal * D;
}
public bool HasPoint(Vector3 point, real_t epsilon = Mathf.Epsilon)
{
real_t dist = _normal.Dot(point) - D;
return Mathf.Abs(dist) <= epsilon;
}
public Vector3 Intersect3(Plane b, Plane c)
{
real_t denom = _normal.Cross(b._normal).Dot(c._normal);
if (Mathf.Abs(denom) <= Mathf.Epsilon)
return new Vector3();
Vector3 result = b._normal.Cross(c._normal) * D +
c._normal.Cross(_normal) * b.D +
_normal.Cross(b._normal) * c.D;
return result / denom;
}
public Vector3 IntersectRay(Vector3 from, Vector3 dir)
{
real_t den = _normal.Dot(dir);
if (Mathf.Abs(den) <= Mathf.Epsilon)
return new Vector3();
real_t dist = (_normal.Dot(from) - D) / den;
// This is a ray, before the emitting pos (from) does not exist
if (dist > Mathf.Epsilon)
return new Vector3();
return from + dir * -dist;
}
public Vector3 IntersectSegment(Vector3 begin, Vector3 end)
{
Vector3 segment = begin - end;
real_t den = _normal.Dot(segment);
if (Mathf.Abs(den) <= Mathf.Epsilon)
return new Vector3();
real_t dist = (_normal.Dot(begin) - D) / den;
if (dist < -Mathf.Epsilon || dist > 1.0f + Mathf.Epsilon)
return new Vector3();
return begin + segment * -dist;
}
public bool IsPointOver(Vector3 point)
{
return _normal.Dot(point) > D;
}
public Plane Normalized()
{
real_t len = _normal.Length();
if (len == 0)
return new Plane(0, 0, 0, 0);
return new Plane(_normal / len, D / len);
}
public Vector3 Project(Vector3 point)
{
return point - _normal * DistanceTo(point);
}
// Constants
private static readonly Plane _planeYZ = new Plane(1, 0, 0, 0);
private static readonly Plane _planeXZ = new Plane(0, 1, 0, 0);
private static readonly Plane _planeXY = new Plane(0, 0, 1, 0);
public static Plane PlaneYZ { get { return _planeYZ; } }
public static Plane PlaneXZ { get { return _planeXZ; } }
public static Plane PlaneXY { get { return _planeXY; } }
// Constructors
public Plane(real_t a, real_t b, real_t c, real_t d)
{
_normal = new Vector3(a, b, c);
this.D = d;
}
public Plane(Vector3 normal, real_t d)
{
this._normal = normal;
this.D = d;
}
public Plane(Vector3 v1, Vector3 v2, Vector3 v3)
{
_normal = (v1 - v3).Cross(v1 - v2);
_normal.Normalize();
D = _normal.Dot(v1);
}
public static Plane operator -(Plane plane)
{
return new Plane(-plane._normal, -plane.D);
}
public static bool operator ==(Plane left, Plane right)
{
return left.Equals(right);
}
public static bool operator !=(Plane left, Plane right)
{
return !left.Equals(right);
}
public override bool Equals(object obj)
{
if (obj is Plane)
{
return Equals((Plane)obj);
}
return false;
}
public bool Equals(Plane other)
{
return _normal == other._normal && Mathf.IsEqualApprox(D, other.D);
}
public override int GetHashCode()
{
return _normal.GetHashCode() ^ D.GetHashCode();
}
public override string ToString()
{
return String.Format("({0}, {1})", new object[]
{
_normal.ToString(),
D.ToString()
});
}
public string ToString(string format)
{
return String.Format("({0}, {1})", new object[]
{
_normal.ToString(format),
D.ToString(format)
});
}
}
}
|