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/**
@file Line.cpp
Line class
@maintainer Morgan McGuire, graphics3d.com
@created 2001-06-02
@edited 2006-01-28
*/
#include "G3D/Line.h"
#include "G3D/Plane.h"
namespace G3D {
Vector3 Line::intersection(const Plane& plane) const {
float d;
Vector3 normal = plane.normal();
plane.getEquation(normal, d);
float rate = _direction.dot(normal);
if (rate == 0) {
return Vector3::inf();
} else {
float t = -(d + _point.dot(normal)) / rate;
return _point + _direction * t;
}
}
Line::Line(class BinaryInput& b) {
deserialize(b);
}
void Line::serialize(class BinaryOutput& b) const {
_point.serialize(b);
_direction.serialize(b);
}
void Line::deserialize(class BinaryInput& b) {
_point.deserialize(b);
_direction.deserialize(b);
}
Vector3 Line::closestPoint(const Vector3& pt) const {
float t = _direction.dot(pt - _point);
return _point + _direction * t;
}
Vector3 Line::point() const {
return _point;
}
Vector3 Line::direction() const {
return _direction;
}
Vector3 Line::closestPoint(const Line& B, float& minDist) const {
const Vector3& P1 = _point;
const Vector3& U1 = _direction;
Vector3 P2 = B.point();
Vector3 U2 = B.direction();
const Vector3& P21 = P2 - P1;
const Vector3& M = U2.cross(U1);
float m2 = M.length();
Vector3 R = P21.cross(M) / m2;
float t1 = R.dot(U2);
minDist = abs(P21.dot(M)) / sqrt(m2);
return P1 + t1 * U1;
}
}
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