//// PlaneShape.cpp// libraries/shared/src//// Created by Andrzej Kapolka on 4/10/2014.// Copyright 2014 High Fidelity, Inc.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "GLMHelpers.h"#include "NumericalConstants.h"#include "PlaneShape.h" const glm::vec3 UNROTATED_NORMAL(0.0f, 1.0f, 0.0f); PlaneShape::PlaneShape(const glm::vec4& coefficients) : Shape(PLANE_SHAPE) { glm::vec3 normal = glm::vec3(coefficients); _translation = -normal * coefficients.w; float angle = acosf(glm::dot(normal, UNROTATED_NORMAL)); if (angle > EPSILON) { if (angle > PI - EPSILON) { _rotation = glm::angleAxis(PI, glm::vec3(1.0f, 0.0f, 0.0f)); } else { _rotation = glm::angleAxis(angle, glm::normalize(glm::cross(UNROTATED_NORMAL, normal))); } }} glm::vec3 PlaneShape::getNormal() const { return _rotation * UNROTATED_NORMAL;} void PlaneShape::setNormal(const glm::vec3& direction) { glm::vec3 oldTranslation = _translation; _rotation = rotationBetween(UNROTATED_NORMAL, direction); glm::vec3 normal = getNormal(); _translation = glm::dot(oldTranslation, normal) * normal;} void PlaneShape::setPoint(const glm::vec3& point) { glm::vec3 normal = getNormal(); _translation = glm::dot(point, normal) * normal;} glm::vec4 PlaneShape::getCoefficients() const { glm::vec3 normal = _rotation * UNROTATED_NORMAL; return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _translation));} bool PlaneShape::findRayIntersection(RayIntersectionInfo& intersection) const { glm::vec3 n = getNormal(); float denominator = glm::dot(n, intersection._rayDirection); if (fabsf(denominator) < EPSILON) { // line is parallel to plane if (glm::dot(_translation - intersection._rayStart, n) < EPSILON) { // ray starts on the plane intersection._hitDistance = 0.0f; intersection._hitNormal = n; intersection._hitShape = const_cast<PlaneShape*>(this); return true; } } else { float d = glm::dot(_translation - intersection._rayStart, n) / denominator; if (d > 0.0f && d < intersection._rayLength && d < intersection._hitDistance) { // ray points toward plane intersection._hitDistance = d; intersection._hitNormal = n; intersection._hitShape = const_cast<PlaneShape*>(this); return true; } } return false;}
//
// PlaneShape.cpp
// libraries/shared/src
//
// Created by Andrzej Kapolka on 4/10/2014.
// Copyright 2014 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "GLMHelpers.h"
#include "NumericalConstants.h"
#include "PlaneShape.h"
const glm::vec3 UNROTATED_NORMAL(0.0f, 1.0f, 0.0f);
PlaneShape::PlaneShape(const glm::vec4& coefficients) :
Shape(PLANE_SHAPE) {
glm::vec3 normal = glm::vec3(coefficients);
_translation = -normal * coefficients.w;
float angle = acosf(glm::dot(normal, UNROTATED_NORMAL));
if (angle > EPSILON) {
if (angle > PI - EPSILON) {
_rotation = glm::angleAxis(PI, glm::vec3(1.0f, 0.0f, 0.0f));
} else {
_rotation = glm::angleAxis(angle, glm::normalize(glm::cross(UNROTATED_NORMAL, normal)));
}
}
}
glm::vec3 PlaneShape::getNormal() const {
return _rotation * UNROTATED_NORMAL;
}
void PlaneShape::setNormal(const glm::vec3& direction) {
glm::vec3 oldTranslation = _translation;
_rotation = rotationBetween(UNROTATED_NORMAL, direction);
glm::vec3 normal = getNormal();
_translation = glm::dot(oldTranslation, normal) * normal;
}
void PlaneShape::setPoint(const glm::vec3& point) {
glm::vec3 normal = getNormal();
_translation = glm::dot(point, normal) * normal;
}
glm::vec4 PlaneShape::getCoefficients() const {
glm::vec3 normal = _rotation * UNROTATED_NORMAL;
return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _translation));
}
bool PlaneShape::findRayIntersection(RayIntersectionInfo& intersection) const {
glm::vec3 n = getNormal();
float denominator = glm::dot(n, intersection._rayDirection);
if (fabsf(denominator) < EPSILON) {
// line is parallel to plane
if (glm::dot(_translation - intersection._rayStart, n) < EPSILON) {
// ray starts on the plane
intersection._hitDistance = 0.0f;
intersection._hitNormal = n;
intersection._hitShape = const_cast<PlaneShape*>(this);
return true;
}
} else {
float d = glm::dot(_translation - intersection._rayStart, n) / denominator;
if (d > 0.0f && d < intersection._rayLength && d < intersection._hitDistance) {
// ray points toward plane
intersection._hitDistance = d;
intersection._hitNormal = n;
intersection._hitShape = const_cast<PlaneShape*>(this);
return true;
}
}
return false;
}