RayPlaneHitTest.h

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/*
 *  Copyright (C) 2010 - 2015 Leonid Kostrykin
 *
 *  Chair of Medical Engineering (mediTEC)
 *  RWTH Aachen University
 *  Pauwelsstr. 20
 *  52074 Aachen
 *  Germany
 *
 */

#ifndef RAYPLANEHITTEST_H_6014714286
#define RAYPLANEHITTEST_H_6014714286

#include <Carna/Carna.h>
#include <Carna/base/math.h>
#include <Carna/base/math/Ray.h>
#include <Carna/base/CarnaException.h>

namespace Carna
{

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
{
    CARNA_ASSERT( hitExists() );
    return myHitLocation;
}


template< typename VectorType, typename ScalarType >
void RayPlaneHitTest< VectorType, ScalarType >::compute
    ( const Ray< VectorType >& ray
    , const VectorType& planeNormal
    , ScalarType planeOriginOffset )
{
    CARNA_ASSERT( isEqual< ScalarType >( ray.direction.norm(), 1 ) );
    CARNA_ASSERT( isEqual< ScalarType >(  planeNormal.norm(), 1 ) );
    CARNA_ASSERT( ray.direction.rows() == ray.origin.rows() && ray.origin.rows() == planeNormal.rows() );
    CARNA_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;
            CARNA_ASSERT( isEqual( planeNormal.dot( myHitLocation ), planeOriginOffset ) );
        }
    }
}



}  // namespace Carna :: base :: math

}  // namespace Carna :: base

}  // namespace Carna

#endif // RAYPLANEHITTEST_H_6014714286