RayPlaneHitTest.hpp

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/*
 *  Copyright (C) 2010 - 2016 Leonid Kostrykin
 *
 *  Chair of Medical Engineering (mediTEC)
 *  RWTH Aachen University
 *  Pauwelsstr. 20
 *  52074 Aachen
 *  Germany
 * 
 * 
 *  Copyright (C) 2021 - 2025 Leonid Kostrykin
 * 
 */
 
#ifndef RAYPLANEHITTEST_H_6014714286
#define RAYPLANEHITTEST_H_6014714286
 
#include <LibCarna/LibCarna.hpp>
#include <LibCarna/base/math.hpp>
#include <LibCarna/base/math/Ray.hpp>
#include <LibCarna/base/LibCarnaException.hpp>
 
namespace LibCarna
{
 
namespace base
{
 
namespace math
{
 
 
 
// ----------------------------------------------------------------------------------
// RayPlaneHitTest
// ----------------------------------------------------------------------------------
 
template< typename VectorType, typename ScalarType >
class RayPlaneHitTest
{
 
    bool myHitExists;
    VectorType myHitLocation;
 
public:
 
    RayPlaneHitTest();
 
    void compute( const Ray< VectorType >& ray, const VectorType& planeNormal, ScalarType planeOriginOffset );
 
    bool hitExists() const;
 
    const VectorType& hitLocation() const;
 
}; // RayPlaneHitTest
 
 
template< typename VectorType, typename ScalarType >
RayPlaneHitTest< VectorType, ScalarType >::RayPlaneHitTest()
    : myHitExists( false )
{
}
 
 
template< typename VectorType, typename ScalarType >
bool RayPlaneHitTest< VectorType, ScalarType >::hitExists() const
{
    return myHitExists;
}
 
 
template< typename VectorType, typename ScalarType >
const VectorType& RayPlaneHitTest< VectorType, ScalarType >::hitLocation() const
{
    LIBCARNA_ASSERT( hitExists() );
    return myHitLocation;
}
 
 
template< typename VectorType, typename ScalarType >
void RayPlaneHitTest< VectorType, ScalarType >::compute
    ( const Ray< VectorType >& ray
    , const VectorType& planeNormal
    , ScalarType planeOriginOffset )
{
    LIBCARNA_ASSERT( isEqual< ScalarType >( ray.direction.norm(), 1 ) );
    LIBCARNA_ASSERT( isEqual< ScalarType >(  planeNormal.norm(), 1 ) );
    LIBCARNA_ASSERT( ray.direction.rows() == ray.origin.rows() && ray.origin.rows() == planeNormal.rows() );
    LIBCARNA_ASSERT( ray.direction.cols() == ray.origin.cols() && ray.origin.cols() == planeNormal.cols() && planeNormal.cols() == 1 );
 
    if( isEqual< ScalarType >( ray.direction.dot( planeNormal ), 0 ) )
    {
        myHitExists = false;
    }
    else
    {
        const ScalarType rayLength = ( planeOriginOffset - ray.origin.dot( planeNormal ) ) / ray.direction.dot( planeNormal );
        if( rayLength < 0 )
        {
            myHitExists = false;
        }
        else
        {
            myHitExists = true;
            myHitLocation = ray.origin + ray.direction * rayLength;
            LIBCARNA_ASSERT( isEqual( planeNormal.dot( myHitLocation ), planeOriginOffset ) );
        }
    }
}
 
 
 
}  // namespace LibCarna :: base :: math
 
}  // namespace LibCarna :: base
 
}  // namespace LibCarna
 
#endif // RAYPLANEHITTEST_H_6014714286