1/**************************************************************************/
2/* plane.cpp */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
7/**************************************************************************/
8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
10/* */
11/* Permission is hereby granted, free of charge, to any person obtaining */
12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
14/* without limitation the rights to use, copy, modify, merge, publish, */
15/* distribute, sublicense, and/or sell copies of the Software, and to */
16/* permit persons to whom the Software is furnished to do so, subject to */
17/* the following conditions: */
18/* */
19/* The above copyright notice and this permission notice shall be */
20/* included in all copies or substantial portions of the Software. */
21/* */
22/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
23/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
24/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
26/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
27/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#include "plane.h"
32
33#include "core/math/math_funcs.h"
34#include "core/variant/variant.h"
35
36void Plane::set_normal(const Vector3 &p_normal) {
37 normal = p_normal;
38}
39
40void Plane::normalize() {
41 real_t l = normal.length();
42 if (l == 0) {
43 *this = Plane(0, 0, 0, 0);
44 return;
45 }
46 normal /= l;
47 d /= l;
48}
49
50Plane Plane::normalized() const {
51 Plane p = *this;
52 p.normalize();
53 return p;
54}
55
56Vector3 Plane::get_any_perpendicular_normal() const {
57 static const Vector3 p1 = Vector3(1, 0, 0);
58 static const Vector3 p2 = Vector3(0, 1, 0);
59 Vector3 p;
60
61 if (ABS(normal.dot(p1)) > 0.99f) { // if too similar to p1
62 p = p2; // use p2
63 } else {
64 p = p1; // use p1
65 }
66
67 p -= normal * normal.dot(p);
68 p.normalize();
69
70 return p;
71}
72
73/* intersections */
74
75bool Plane::intersect_3(const Plane &p_plane1, const Plane &p_plane2, Vector3 *r_result) const {
76 const Plane &p_plane0 = *this;
77 Vector3 normal0 = p_plane0.normal;
78 Vector3 normal1 = p_plane1.normal;
79 Vector3 normal2 = p_plane2.normal;
80
81 real_t denom = vec3_cross(normal0, normal1).dot(normal2);
82
83 if (Math::is_zero_approx(denom)) {
84 return false;
85 }
86
87 if (r_result) {
88 *r_result = ((vec3_cross(normal1, normal2) * p_plane0.d) +
89 (vec3_cross(normal2, normal0) * p_plane1.d) +
90 (vec3_cross(normal0, normal1) * p_plane2.d)) /
91 denom;
92 }
93
94 return true;
95}
96
97bool Plane::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection) const {
98 Vector3 segment = p_dir;
99 real_t den = normal.dot(segment);
100
101 if (Math::is_zero_approx(den)) {
102 return false;
103 }
104
105 real_t dist = (normal.dot(p_from) - d) / den;
106
107 if (dist > (real_t)CMP_EPSILON) { //this is a ray, before the emitting pos (p_from) doesn't exist
108
109 return false;
110 }
111
112 dist = -dist;
113 *p_intersection = p_from + segment * dist;
114
115 return true;
116}
117
118bool Plane::intersects_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 *p_intersection) const {
119 Vector3 segment = p_begin - p_end;
120 real_t den = normal.dot(segment);
121
122 if (Math::is_zero_approx(den)) {
123 return false;
124 }
125
126 real_t dist = (normal.dot(p_begin) - d) / den;
127
128 if (dist < (real_t)-CMP_EPSILON || dist > (1.0f + (real_t)CMP_EPSILON)) {
129 return false;
130 }
131
132 dist = -dist;
133 *p_intersection = p_begin + segment * dist;
134
135 return true;
136}
137
138Variant Plane::intersect_3_bind(const Plane &p_plane1, const Plane &p_plane2) const {
139 Vector3 inters;
140 if (intersect_3(p_plane1, p_plane2, &inters)) {
141 return inters;
142 } else {
143 return Variant();
144 }
145}
146
147Variant Plane::intersects_ray_bind(const Vector3 &p_from, const Vector3 &p_dir) const {
148 Vector3 inters;
149 if (intersects_ray(p_from, p_dir, &inters)) {
150 return inters;
151 } else {
152 return Variant();
153 }
154}
155
156Variant Plane::intersects_segment_bind(const Vector3 &p_begin, const Vector3 &p_end) const {
157 Vector3 inters;
158 if (intersects_segment(p_begin, p_end, &inters)) {
159 return inters;
160 } else {
161 return Variant();
162 }
163}
164
165/* misc */
166
167bool Plane::is_equal_approx_any_side(const Plane &p_plane) const {
168 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));
169}
170
171bool Plane::is_equal_approx(const Plane &p_plane) const {
172 return normal.is_equal_approx(p_plane.normal) && Math::is_equal_approx(d, p_plane.d);
173}
174
175bool Plane::is_finite() const {
176 return normal.is_finite() && Math::is_finite(d);
177}
178
179Plane::operator String() const {
180 return "[N: " + normal.operator String() + ", D: " + String::num_real(d, false) + "]";
181}
182