Revision: 41280
http://brlcad.svn.sourceforge.net/brlcad/?rev=41280&view=rev
Author: brlcad
Date: 2010-11-08 16:34:05 +0000 (Mon, 08 Nov 2010)
Log Message:
-----------
ws and brace cleanup
Modified Paths:
--------------
brlcad/trunk/src/libbn/mat.c
brlcad/trunk/src/libbn/plane.c
Modified: brlcad/trunk/src/libbn/mat.c
===================================================================
--- brlcad/trunk/src/libbn/mat.c 2010-11-08 16:18:59 UTC (rev 41279)
+++ brlcad/trunk/src/libbn/mat.c 2010-11-08 16:34:05 UTC (rev 41280)
@@ -31,7 +31,7 @@
* | 8 9 10 11 | | 2 |
* | 12 13 14 15 | | 3 |
*
- * preVector (vect_t) Matrix (mat_t) postVector (vect_t)
+ * preVector (vect_t) Matrix (mat_t) postVector (vect_t)
@endcode
*
* TODO: need a better way to control tolerancing, either via
@@ -958,11 +958,11 @@
* This is done in several steps.
*
@code
- 1) Rotate D about Z to match +X axis. Azimuth adjustment.
- 2) Rotate D about Y to match -Y axis. Elevation adjustment.
- 3) Rotate D about Z to make projection of X axis again point
+ 1) Rotate D about Z to match +X axis. Azimuth adjustment.
+ 2) Rotate D about Y to match -Y axis. Elevation adjustment.
+ 3) Rotate D about Z to make projection of X axis again point
in the +X direction. Twist adjustment.
- 4) Optionally, flip sign on Y axis if original Z becomes inverted.
+ 4) Optionally, flip sign on Y axis if original Z becomes inverted.
This can be nice for static frames, but is astonishing when
used in animation.
@endcode
Modified: brlcad/trunk/src/libbn/plane.c
===================================================================
--- brlcad/trunk/src/libbn/plane.c 2010-11-08 16:18:59 UTC (rev 41279)
+++ brlcad/trunk/src/libbn/plane.c 2010-11-08 16:34:05 UTC (rev 41280)
@@ -52,6 +52,7 @@
return MAGNITUDE(diff);
}
+
/**
* B N _ P T 3 _ P T 3 _ E Q U A L
*
@@ -65,10 +66,11 @@
BN_CK_TOL(tol);
VSUB2(diff, b, a);
- if (MAGSQ(diff) < tol->dist_sq) return 1;
+ if (MAGSQ(diff) < tol->dist_sq) return 1;
return 0;
}
+
/**
* B N _ P T 2 _ P T 2 _ E Q U A L
*
@@ -82,10 +84,11 @@
BN_CK_TOL(tol);
VSUB2_2D(diff, b, a);
- if (MAGSQ_2D(diff) < tol->dist_sq) return 1;
+ if (MAGSQ_2D(diff) < tol->dist_sq) return 1;
return 0;
}
+
/**
* B N _ 3 P T S _ C O L L I N E A R
* @brief
@@ -116,20 +119,17 @@
max_len = mag_ab;
max_edge_no = 1;
- if (mag_bc > max_len)
- {
+ if (mag_bc > max_len) {
max_len = mag_bc;
max_edge_no = 2;
}
- if (mag_ca > max_len)
- {
+ if (mag_ca > max_len) {
max_len = mag_ca;
max_edge_no = 3;
}
- switch (max_edge_no)
- {
+ switch (max_edge_no) {
default:
case 1:
cos_b = (-VDOT(ab, bc))/(mag_ab * mag_bc);
@@ -171,14 +171,15 @@
BN_CK_TOL(tol);
VSUB2(B_A, b, a);
- if (MAGSQ(B_A) <= tol->dist_sq) return 0;
+ if (MAGSQ(B_A) <= tol->dist_sq) return 0;
VSUB2(C_A, c, a);
- if (MAGSQ(C_A) <= tol->dist_sq) return 0;
+ if (MAGSQ(C_A) <= tol->dist_sq) return 0;
VSUB2(C_B, c, b);
- if (MAGSQ(C_B) <= tol->dist_sq) return 0;
+ if (MAGSQ(C_B) <= tol->dist_sq) return 0;
return 1;
}
+
/**
* B N _ N P T S _ D I S T I N C T
*
@@ -197,8 +198,8 @@
BN_CK_TOL(tol);
- for(i=0;i<npt;i++)
- for(j=i+1;j<npt;j++) {
+ for (i=0;i<npt;i++)
+ for (j=i+1;j<npt;j++) {
VSUB2(r, pts[i], pts[j]);
if (MAGSQ(r) <= tol->dist_sq)
return 0;
@@ -241,8 +242,8 @@
*
* N = (B-A) x (C-A).
*
- * @return 0 OK
- * @return -1 Failure. At least two of the points were not distinct,
+ * @return 0 OK
+ * @return -1 Failure. At least two of the points were not distinct,
* or all three were colinear.
*
* @param[out] plane The plane equation is stored here.
@@ -266,11 +267,11 @@
BN_CK_TOL(tol);
VSUB2(B_A, b, a);
- if (MAGSQ(B_A) <= tol->dist_sq) return -1;
+ if (MAGSQ(B_A) <= tol->dist_sq) return -1;
VSUB2(C_A, c, a);
- if (MAGSQ(C_A) <= tol->dist_sq) return -1;
+ if (MAGSQ(C_A) <= tol->dist_sq) return -1;
VSUB2(C_B, c, b);
- if (MAGSQ(C_B) <= tol->dist_sq) return -1;
+ if (MAGSQ(C_B) <= tol->dist_sq) return -1;
VCROSS(plane, B_A, C_A);
@@ -287,6 +288,7 @@
return 0; /* OK */
}
+
/**
* B N _ M K P O I N T _ 3 P L A N E S
*...@brief
@@ -295,21 +297,21 @@
*
* Find the solution to a system of three equations in three unknowns:
@verbatim
- * Px * Ax + Py * Ay + Pz * Az = -A3;
- * Px * Bx + Py * By + Pz * Bz = -B3;
- * Px * Cx + Py * Cy + Pz * Cz = -C3;
+ * Px * Ax + Py * Ay + Pz * Az = -A3;
+ * Px * Bx + Py * By + Pz * Bz = -B3;
+ * Px * Cx + Py * Cy + Pz * Cz = -C3;
*
- * or
+ * OR
*
- * [ Ax Ay Az ] [ Px ] [ -A3 ]
- * [ Bx By Bz ] * [ Py ] = [ -B3 ]
- * [ Cx Cy Cz ] [ Pz ] [ -C3 ]
+ * [ Ax Ay Az ] [ Px ] [ -A3 ]
+ * [ Bx By Bz ] * [ Py ] = [ -B3 ]
+ * [ Cx Cy Cz ] [ Pz ] [ -C3 ]
*
@endverbatim
*
*
- * @return 0 OK
- * @return -1 Failure. Intersection is a line or plane.
+ * @return 0 OK
+ * @return -1 Failure. Intersection is a line or plane.
*
* @param[out] pt The point of intersection is stored here.
* @param a plane 1
@@ -331,7 +333,7 @@
* is some deep significance to this!)
*/
det = VDOT(a, v1);
- if (NEAR_ZERO(det, SMALL_FASTF)) return -1;
+ if (NEAR_ZERO(det, SMALL_FASTF)) return -1;
VCROSS(v2, a, c);
VCROSS(v3, a, b);
@@ -343,6 +345,7 @@
return 0;
}
+
/**
* B N _ 2 L I N E 3 _ C O L I N E A R
* @brief
@@ -372,22 +375,22 @@
goto fail;
}
- if ((mag1 = MAGNITUDE(d1)) < SMALL_FASTF) bu_bomb("bn_2line3_colinear()
mag1 zero\n");
- if ((mag2 = MAGNITUDE(d2)) < SMALL_FASTF) bu_bomb("bn_2line3_colinear()
mag2 zero\n");
+ if ((mag1 = MAGNITUDE(d1)) < SMALL_FASTF) bu_bomb("bn_2line3_colinear()
mag1 zero\n");
+ if ((mag2 = MAGNITUDE(d2)) < SMALL_FASTF) bu_bomb("bn_2line3_colinear()
mag2 zero\n");
/* Impose a general angular tolerance to reject "obviously" non-parallel
lines */
/* tol->para and RT_DOT_TOL are too tight a tolerance. 0.1 is 5 degrees */
- if (fabs(VDOT(d1, d2)) < 0.9 * mag1 * mag2) goto fail;
+ if (fabs(VDOT(d1, d2)) < 0.9 * mag1 * mag2) goto fail;
/* See if start points are within tolerance of other line */
- if (bn_distsq_line3_pt3(p1, d1, p2) > tol->dist_sq) goto fail;
- if (bn_distsq_line3_pt3(p2, d2, p1) > tol->dist_sq) goto fail;
+ if (bn_distsq_line3_pt3(p1, d1, p2) > tol->dist_sq) goto fail;
+ if (bn_distsq_line3_pt3(p2, d2, p1) > tol->dist_sq) goto fail;
VJOIN1(tail, p1, range/mag1, d1);
- if (bn_distsq_line3_pt3(p2, d2, tail) > tol->dist_sq) goto fail;
+ if (bn_distsq_line3_pt3(p2, d2, tail) > tol->dist_sq) goto fail;
VJOIN1(tail, p2, range/mag2, d2);
- if (bn_distsq_line3_pt3(p1, d1, tail) > tol->dist_sq) goto fail;
+ if (bn_distsq_line3_pt3(p1, d1, tail) > tol->dist_sq) goto fail;
if (bu_debug & BU_DEBUG_MATH) {
bu_log("bn_2line3colinear(range=%g) ret=1\n", range);
@@ -400,6 +403,7 @@
return 0;
}
+
/**
* B N _ I S E C T _ L I N E 3 _ P L A N E
*
@@ -408,11 +412,11 @@
* direction vector need not have unit length. The first three
* elements of the plane equation must form a unit lengh vector.
*
- * @return -2 missed (ray is outside halfspace)
- * @return -1 missed (ray is inside)
- * @return 0 line lies on plane
- * @return 1 hit (ray is entering halfspace)
- * @return 2 hit (ray is leaving)
+ * @return -2 missed (ray is outside halfspace)
+ * @return -1 missed (ray is inside)
+ * @return 0 line lies on plane
+ * @return 1 hit (ray is entering halfspace)
+ * @return 2 hit (ray is leaving)
*
* @param[out] dist set to the parametric distance of the intercept
* @param[in] pt origin of ray
@@ -459,6 +463,7 @@
return 0; /* Ray lies in the plane */
}
+
/**
* B N _ I S E C T _ 2 P L A N E S
*...@brief
@@ -471,10 +476,10 @@
* RPP. If this convention is unnecessary, just pass (0, 0, 0) as
* rpp_min.
*
- * @return 0 OK, line of intersection stored in `pt' and `dir'.
- * @return -1 FAIL, planes are identical (co-planar)
- * @return -2 FAIL, planes are parallel and distinct
- * @return -3 FAIL, unable to find line of intersection
+ * @return 0 OK, line of intersection stored in `pt' and `dir'.
+ * @return -1 FAIL, planes are identical (co-planar)
+ * @return -2 FAIL, planes are parallel and distinct
+ * @return -3 FAIL, unable to find line of intersection
*
* @param[out] pt Starting point of line of intersection
* @param[out] dir Direction vector of line of intersection (unit length)
@@ -554,6 +559,7 @@
return 0; /* OK */
}
+
/**
* B N _ I S E C T _ L I N E 2 _ L I N E 2
*
@@ -572,11 +578,11 @@
*
* The direction vectors C and D need not have unit length.
*
- * @return -1 no intersection, lines are parallel.
- * @return 0 lines are co-linear
+ * @return -1 no intersection, lines are parallel.
+ * @return 0 lines are co-linear
*...@n dist[0] gives distance from P to A,
*...@n dist[1] gives distance from P to (A+C) [not
same as below]
- * @return 1 intersection found (t and u returned)
+ * @return 1 intersection found (t and u returned)
*...@n dist[0] gives distance from P to isect,
*...@n dist[1] gives distance from A to isect.
*
@@ -634,9 +640,9 @@
*
* or
*
- * [ Dx -Cx ] [ t ] [ Hx ]
- * [ ] * [ ] = [ ]
- * [ Dy -Cy ] [ u ] [ Hy ]
+ * [ Dx -Cx ] [ t ] [ Hx ]
+ * [ ] * [ ] = [ ]
+ * [ Dy -Cy ] [ u ] [ Hy ]
*
* This system can be solved by direct substitution, or by finding
* the determinants by Cramers rule:
@@ -663,7 +669,7 @@
* det [ ]
* det1(M) [ Hy -Cy ] -Hx * Cy + Cx * Hy
* t = ------- = --------------- = ------------------
- * det(M) det(M) -Dx * Cy + Cx * Dy
+ * det(M) det(M) -Dx * Cy + Cx * Dy
*
* and
*
@@ -671,7 +677,7 @@
* det [ ]
* det2(M) [ Dy Hy ] Dx * Hy - Hx * Dy
* u = ------- = --------------- = ------------------
- * det(M) det(M) -Dx * Cy + Cx * Dy
+ * det(M) det(M) -Dx * Cy + Cx * Dy
*/
hx = a[X] - p[X];
hy = a[Y] - p[Y];
@@ -749,6 +755,7 @@
return 1; /* Intersection found */
}
+
/**
* B N _ I S E C T _ L I N E 2 _ L S E G 2
*...@brief
@@ -760,14 +767,14 @@
*
* XXX probably should take point B, not vector C. Sigh.
*
- * @return -4 A and B are not distinct points
- * @return -3 Lines do not intersect
- * @return -2 Intersection exists, but outside segemnt, < A
- * @return -1 Intersection exists, but outside segment, > B
- * @return 0 Lines are co-linear (special meaning of dist[1])
- * @return 1 Intersection at vertex A
- * @return 2 Intersection at vertex B (A+C)
- * @return 3 Intersection between A and B
+ * @return -4 A and B are not distinct points
+ * @return -3 Lines do not intersect
+ * @return -2 Intersection exists, but outside segemnt, < A
+ * @return -1 Intersection exists, but outside segment, > B
+ * @return 0 Lines are co-linear (special meaning of dist[1])
+ * @return 1 Intersection at vertex A
+ * @return 2 Intersection at vertex B (A+C)
+ * @return 3 Intersection between A and B
*
* Implicit Returns -
* @param dist When explicit return >= 0, t is the parameter that describes
@@ -848,10 +855,10 @@
bu_log("bn_isect_line2_lseg2() dtol=%g, dist[0]=%g, dist[1]=%g\n",
dtol, dist[0], dist[1]);
}
- if (dist[0] > -dtol && dist[0] < dtol) dist[0] = 0;
+ if (dist[0] > -dtol && dist[0] < dtol) dist[0] = 0;
else if (dist[0] > 1-dtol && dist[0] < 1+dtol) dist[0] = 1;
- if (dist[1] > -dtol && dist[1] < dtol) dist[1] = 0;
+ if (dist[1] > -dtol && dist[1] < dtol) dist[1] = 0;
else if (dist[1] > 1-dtol && dist[1] < 1+dtol) dist[1] = 1;
ret = 0; /* Colinear */
goto out;
@@ -958,16 +965,17 @@
return ret;
}
+
/**
* B N _ I S E C T _ L S E G 2 _ L S E G 2
*...@brief
* Intersect two 2D line segments, defined by two points and two
* vectors. The vectors are unlikely to be unit length.
*
- * @return -2 missed (line segments are parallel)
- * @return -1 missed (colinear and non-overlapping)
- * @return 0 hit (line segments colinear and overlapping)
- * @return 1 hit (normal intersection)
+ * @return -2 missed (line segments are parallel)
+ * @return -1 missed (colinear and non-overlapping)
+ * @return 0 hit (line segments colinear and overlapping)
+ * @return 1 hit (normal intersection)
*
* @param dist The value at dist[] is set to the parametric distance of the
* intercept.
@@ -1019,14 +1027,14 @@
if (bu_debug & BU_DEBUG_MATH) {
bu_log("ptol=%g\n", ptol);
}
- if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
+ if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
else if (dist[0] > 1-ptol && dist[0] < 1+ptol) dist[0] = 1;
- if (dist[1] > -ptol && dist[1] < ptol) dist[1] = 0;
+ if (dist[1] > -ptol && dist[1] < ptol) dist[1] = 0;
else if (dist[1] > 1-ptol && dist[1] < 1+ptol) dist[1] = 1;
- if (dist[1] < 0 || dist[1] > 1) nogood = 1;
- if (dist[0] < 0 || dist[0] > 1) nogood++;
+ if (dist[1] < 0 || dist[1] > 1) nogood = 1;
+ if (dist[0] < 0 || dist[0] > 1) nogood++;
if (nogood >= 2)
return -1; /* colinear, but not overlapping */
if (bu_debug & BU_DEBUG_MATH) {
@@ -1037,11 +1045,11 @@
/* Lines intersect */
/* If within tolerance of an endpoint (0, 1), make exact. */
ptol = tol->dist / sqrt(MAGSQ_2D(pdir));
- if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
+ if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
else if (dist[0] > 1-ptol && dist[0] < 1+ptol) dist[0] = 1;
qtol = tol->dist / sqrt(MAGSQ_2D(qdir));
- if (dist[1] > -qtol && dist[1] < qtol) dist[1] = 0;
+ if (dist[1] > -qtol && dist[1] < qtol) dist[1] = 0;
else if (dist[1] > 1-qtol && dist[1] < 1+qtol) dist[1] = 1;
if (bu_debug & BU_DEBUG_MATH) {
@@ -1059,6 +1067,7 @@
return 1; /* hit, normal intersection */
}
+
/**
* B N _ I S E C T _ L S E G 3 _ L S E G 3
*...@brief
@@ -1066,10 +1075,10 @@
* vectors. The vectors are unlikely to be unit length.
*
*
- * @return -2 missed (line segments are parallel)
- * @return -1 missed (colinear and non-overlapping)
- * @return 0 hit (line segments colinear and overlapping)
- * @return 1 hit (normal intersection)
+ * @return -2 missed (line segments are parallel)
+ * @return -1 missed (colinear and non-overlapping)
+ * @return 0 hit (line segments colinear and overlapping)
+ * @return 1 hit (normal intersection)
*
* @param[out] dist
* The value at dist[] is set to the parametric distance of the
@@ -1125,14 +1134,14 @@
if (bu_debug & BU_DEBUG_MATH) {
bu_log("ptol=%g\n", ptol);
}
- if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
+ if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
else if (dist[0] > 1-ptol && dist[0] < 1+ptol) dist[0] = 1;
- if (dist[1] > -ptol && dist[1] < ptol) dist[1] = 0;
+ if (dist[1] > -ptol && dist[1] < ptol) dist[1] = 0;
else if (dist[1] > 1-ptol && dist[1] < 1+ptol) dist[1] = 1;
- if (dist[1] < 0 || dist[1] > 1) nogood = 1;
- if (dist[0] < 0 || dist[0] > 1) nogood++;
+ if (dist[1] < 0 || dist[1] > 1) nogood = 1;
+ if (dist[0] < 0 || dist[0] > 1) nogood++;
if (nogood >= 2)
return -1; /* colinear, but not overlapping */
if (bu_debug & BU_DEBUG_MATH) {
@@ -1143,14 +1152,14 @@
/* Lines intersect */
/* If within tolerance of an endpoint (0, 1), make exact. */
ptol = tol->dist / pmag;
- if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
+ if (dist[0] > -ptol && dist[0] < ptol) dist[0] = 0;
else if (dist[0] > 1-ptol && dist[0] < 1+ptol) dist[0] = 1;
qmag = MAGNITUDE(qdir);
if (qmag < SMALL_FASTF)
bu_bomb("bn_isect_lseg3_lseg3: |q|=0\n");
qtol = tol->dist / qmag;
- if (dist[1] > -qtol && dist[1] < qtol) dist[1] = 0;
+ if (dist[1] > -qtol && dist[1] < qtol) dist[1] = 0;
else if (dist[1] > 1-qtol && dist[1] < 1+qtol) dist[1] = 1;
if (bu_debug & BU_DEBUG_MATH) {
@@ -1168,6 +1177,7 @@
return 1; /* hit, normal intersection */
}
+
/**
* B N _ I S E C T _ L I N E 3 _ L I N E 3
*
@@ -1183,10 +1193,10 @@
*
* The direction vectors C and D need not have unit length.
*
- * @return -2 no intersection, lines are parallel.
- * @return -1 no intersection
- * @return 0 lines are co-linear (t returned for u=0 to give distance to A)
- * @return 1 intersection found (t and u returned)
+ * @return -2 no intersection, lines are parallel.
+ * @return -1 no intersection
+ * @return 0 lines are co-linear (t returned for u=0 to give distance to A)
+ * @return 1 intersection found (t and u returned)
*
* @param[out] t, u line parameter of interseciton
* When explicit return >= 0, t and u are the
@@ -1344,9 +1354,9 @@
*
* or
*
- * [ Dq -Cq ] [ t ] [ Hq ]
- * [ ] * [ ] = [ ]
- * [ Dr -Cr ] [ u ] [ Hr ]
+ * [ Dq -Cq ] [ t ] [ Hq ]
+ * [ ] * [ ] = [ ]
+ * [ Dr -Cr ] [ u ] [ Hr ]
*
* This system can be solved by direct substitution, or by finding
* the determinants by Cramers rule:
@@ -1394,7 +1404,7 @@
* det [ ]
* det1(M) [ Hr -Cr ] -Hq * Cr + Cq * Hr
* t = ------- = --------------- = ------------------
- * det(M) det(M) -Dq * Cr + Cq * Dr
+ * det(M) det(M) -Dq * Cr + Cq * Dr
*
* and
*
@@ -1402,7 +1412,7 @@
* det [ ]
* det2(M) [ Dr Hr ] Dq * Hr - Hq * Dr
* u = ------- = --------------- = ------------------
- * det(M) det(M) -Dq * Cr + Cq * Dr
+ * det(M) det(M) -Dq * Cr + Cq * Dr
*/
det = 1/det;
*t = det * det1;
@@ -1441,6 +1451,7 @@
return 1; /* Intersection found */
}
+
/**
* B N _ I S E C T _ L I N E _ L S E G
*...@brief
@@ -1451,14 +1462,14 @@
* with a line segment defined by two distinct points A and B.
*
*
- * @return -4 A and B are not distinct points
- * @return -3 Intersection exists, < A (t is returned)
- * @return -2 Intersection exists, > B (t is returned)
- * @return -1 Lines do not intersect
- * @return 0 Lines are co-linear (t for A is returned)
- * @return 1 Intersection at vertex A
- * @return 2 Intersection at vertex B
- * @return 3 Intersection between A and B
+ * @return -4 A and B are not distinct points
+ * @return -3 Intersection exists, < A (t is returned)
+ * @return -2 Intersection exists, > B (t is returned)
+ * @return -1 Lines do not intersect
+ * @return 0 Lines are co-linear (t for A is returned)
+ * @return 1 Intersection at vertex A
+ * @return 2 Intersection at vertex B
+ * @return 3 Intersection between A and B
*
* @par Implicit Returns -
*
@@ -1540,6 +1551,7 @@
return 3; /* Intersection between A and B */
}
+
/**
* B N _ D I S T _ L I N E 3_ P T 3
*...@brief
@@ -1581,6 +1593,7 @@
return FdotD;
}
+
/**
* B N _ D I S T S Q _ L I N E 3 _ P T 3
*
@@ -1615,6 +1628,7 @@
return FdotD;
}
+
/**
* B N _ D I S T _ L I N E _ O R I G I N
*...@brief
@@ -1638,6 +1652,7 @@
return sqrt(PTdotD);
}
+
/**
* B N _ D I S T _ L I N E 2 _ P O I N T 2
*...@brief
@@ -1663,6 +1678,7 @@
return sqrt(FdotD);
}
+
/**
* B N _ D I S T S Q _ L I N E 2 _ P O I N T 2
*...@brief
@@ -1690,6 +1706,7 @@
return FdotD;
}
+
/**
* B N _ A R E A _ O F _ T R I A N G L E
*...@brief
@@ -1724,12 +1741,12 @@
* Intersect a point P with the line segment defined by two distinct
* points A and B.
*
- * @return -2 P on line AB but outside range of AB,
+ * @return -2 P on line AB but outside range of AB,
* dist = distance from A to P on line.
- * @return -1 P not on line of AB within tolerance
- * @return 1 P is at A
- * @return 2 P is at B
- * @return 3 P is on AB, dist = distance from A to P on line.
+ * @return -1 P not on line of AB within tolerance
+ * @return 1 P is at A
+ * @return 2 P is at B
+ * @return 3 P is on AB, dist = distance from A to P on line.
@verbatim
B *
|
@@ -1808,18 +1825,19 @@
return 3; /* P on AtoB */
}
+
/**
* B N _ I S E C T _ P T 2 _ L S E G 2
* @brief
* Intersect a point P with the line segment defined by two distinct
* points A and B.
*
- * @return -2 P on line AB but outside range of AB,
+ * @return -2 P on line AB but outside range of AB,
* dist = distance from A to P on line.
- * @return -1 P not on line of AB within tolerance
- * @return 1 P is at A
- * @return 2 P is at B
- * @return 3 P is on AB, dist = distance from A to P on line.
+ * @return -1 P not on line of AB within tolerance
+ * @return 1 P is at A
+ * @return 2 P is at B
+ * @return 3 P is on AB, dist = distance from A to P on line.
@verbatim
B *
|
@@ -1898,6 +1916,7 @@
return 3; /* P on AtoB */
}
+
/**
* B N _ D I S T _ P T 3 _ L S E G 3
*...@brief
@@ -1917,13 +1936,13 @@
* A PCA B
@endverbatim
*
- * @return 0 P is within tolerance of lseg AB. *dist isn't 0:
(SPECIAL!!!)
+ * @return 0 P is within tolerance of lseg AB. *dist isn't 0: (SPECIAL!!!)
* *dist = parametric dist = |PCA-A| / |B-A|. pca=computed.
- * @return 1 P is within tolerance of point A. *dist = 0, pca=A.
- * @return 2 P is within tolerance of point B. *dist = 0, pca=B.
- * @return 3 P is to the "left" of point A. *dist=|P-A|, pca=A.
- * @return 4 P is to the "right" of point B. *dist=|P-B|, pca=B.
- * @return 5 P is "above/below" lseg AB. *dist=|PCA-P|,
pca=computed.
+ * @return 1 P is within tolerance of point A. *dist = 0, pca=A.
+ * @return 2 P is within tolerance of point B. *dist = 0, pca=B.
+ * @return 3 P is to the "left" of point A. *dist=|P-A|, pca=A.
+ * @return 4 P is to the "right" of point B. *dist=|P-B|, pca=B.
+ * @return 5 P is "above/below" lseg AB. *dist=|PCA-P|, pca=computed.
*
* This routine was formerly called bn_dist_pt_lseg().
*
@@ -1961,7 +1980,7 @@
if ((P_A_sq = MAGSQ(PtoA)) < tol->dist_sq) {
/* P is within the tol->dist radius circle around A */
VMOVE(pca, a);
- if (bu_debug & BU_DEBUG_MATH) bu_log(" at A\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" at A\n");
*dist = 0.0;
return 1;
}
@@ -1971,7 +1990,7 @@
if ((P_B_sq = MAGSQ(PtoB)) < tol->dist_sq) {
/* P is within the tol->dist radius circle around B */
VMOVE(pca, b);
- if (bu_debug & BU_DEBUG_MATH) bu_log(" at B\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" at B\n");
*dist = 0.0;
return 2;
}
@@ -1990,7 +2009,7 @@
if (t <= 0) {
/* P is "left" of A */
- if (bu_debug & BU_DEBUG_MATH) bu_log(" left of A\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" left of A\n");
VMOVE(pca, a);
*dist = sqrt(P_A_sq);
return 3;
@@ -2006,22 +2025,23 @@
/* Find distance from PCA to line segment (Pythagorus) */
if ((dsq = P_A_sq - t * t) <= tol->dist_sq) {
- if (bu_debug & BU_DEBUG_MATH) bu_log(" ON lseg\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" ON lseg\n");
/* Distance from PCA to lseg is zero, give param instead */
*dist = param_dist; /* special! */
return 0;
}
- if (bu_debug & BU_DEBUG_MATH) bu_log(" closest to lseg\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" closest to lseg\n");
*dist = sqrt(dsq);
return 5;
}
/* P is "right" of B */
- if (bu_debug & BU_DEBUG_MATH) bu_log(" right of B\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" right of B\n");
VMOVE(pca, b);
*dist = sqrt(P_B_sq);
return 4;
}
+
/**
* B N _ D I S T _ P T 2 _ L S E G 2
*...@brief
@@ -2040,13 +2060,13 @@
* A PCA B
@endverbatim
* There are six distinct cases, with these return codes -
- * @return 0 P is within tolerance of lseg AB. *dist isn't 0:
(SPECIAL!!!)
+ * @return 0 P is within tolerance of lseg AB. *dist isn't 0: (SPECIAL!!!)
* *dist = parametric dist = |PCA-A| / |B-A|. pca=computed.
- * @return 1 P is within tolerance of point A. *dist = 0, pca=A.
- * @return 2 P is within tolerance of point B. *dist = 0, pca=B.
- * @return 3 P is to the "left" of point A. *dist=|P-A|**2, pca=A.
- * @return 4 P is to the "right" of point B. *dist=|P-B|**2, pca=B.
- * @return 5 P is "above/below" lseg AB. *dist=|PCA-P|**2,
pca=computed.
+ * @return 1 P is within tolerance of point A. *dist = 0, pca=A.
+ * @return 2 P is within tolerance of point B. *dist = 0, pca=B.
+ * @return 3 P is to the "left" of point A. *dist=|P-A|**2, pca=A.
+ * @return 4 P is to the "right" of point B. *dist=|P-B|**2, pca=B.
+ * @return 5 P is "above/below" lseg AB. *dist=|PCA-P|**2, pca=computed.
*
*
* Patterned after bn_dist_pt3_lseg3().
@@ -2078,7 +2098,7 @@
if ((P_A_sq = MAGSQ_2D(PtoA)) < tol->dist_sq) {
/* P is within the tol->dist radius circle around A */
V2MOVE(pca, a);
- if (bu_debug & BU_DEBUG_MATH) bu_log(" at A\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" at A\n");
*dist_sq = 0.0;
return 1;
}
@@ -2088,7 +2108,7 @@
if ((P_B_sq = MAGSQ_2D(PtoB)) < tol->dist_sq) {
/* P is within the tol->dist radius circle around B */
V2MOVE(pca, b);
- if (bu_debug & BU_DEBUG_MATH) bu_log(" at B\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" at B\n");
*dist_sq = 0.0;
return 2;
}
@@ -2107,7 +2127,7 @@
if (t <= 0) {
/* P is "left" of A */
- if (bu_debug & BU_DEBUG_MATH) bu_log(" left of A\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" left of A\n");
V2MOVE(pca, a);
*dist_sq = P_A_sq;
return 3;
@@ -2123,22 +2143,23 @@
/* Find distance from PCA to line segment (Pythagorus) */
if ((dsq = P_A_sq - t * t) <= tol->dist_sq) {
- if (bu_debug & BU_DEBUG_MATH) bu_log(" ON lseg\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" ON lseg\n");
/* Distance from PCA to lseg is zero, give param instead */
*dist_sq = param_dist; /* special! Not squared. */
return 0;
}
- if (bu_debug & BU_DEBUG_MATH) bu_log(" closest to lseg\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" closest to lseg\n");
*dist_sq = dsq;
return 5;
}
/* P is "right" of B */
- if (bu_debug & BU_DEBUG_MATH) bu_log(" right of B\n");
+ if (bu_debug & BU_DEBUG_MATH) bu_log(" right of B\n");
V2MOVE(pca, b);
*dist_sq = P_B_sq;
return 4;
}
+
/**
* B N _ R O T A T E _ B B O X
*...@brief
@@ -2170,6 +2191,7 @@
#undef ROT_VERT
}
+
/**
* B N _ R O T A T E _ P L A N E
*...@brief
@@ -2197,6 +2219,7 @@
oplane[3] = VDOT(new_pt, oplane);
}
+
/**
* B N _ C O P L A N A R
*...@brief
@@ -2204,10 +2227,10 @@
* be either +1 or -1, with the distance from the origin equal in
* magnitude.
*
- * @return -1 not coplanar, parallel but distinct
- * @return 0 not coplanar, not parallel. Planes intersect.
- * @return +1 coplanar, same normal direction
- * @return +2 coplanar, opposite normal direction
+ * @return -1 not coplanar, parallel but distinct
+ * @return 0 not coplanar, not parallel. Planes intersect.
+ * @return 1 coplanar, same normal direction
+ * @return 2 coplanar, opposite normal direction
*/
int
bn_coplanar(const fastf_t *a, const fastf_t *b, const struct bn_tol *tol)
@@ -2230,8 +2253,10 @@
/* parallel is when dot is within SMALL_FASTF of either -1 or 1 */
if ((dot <= -SMALL_FASTF) ? (NEAR_ZERO(dot + 1.0, SMALL_FASTF)) :
(NEAR_ZERO(dot - 1.0, SMALL_FASTF))) {
- if (bn_pt3_pt3_equal(pt_a, pt_b, tol)) { /* test for coplanar */
- if ( dot >= SMALL_FASTF) { /* test normals in same direction */
+ if (bn_pt3_pt3_equal(pt_a, pt_b, tol)) {
+ /* test for coplanar */
+ if (dot >= SMALL_FASTF) {
+ /* test normals in same direction */
return 1;
} else {
return 2;
@@ -2243,6 +2268,7 @@
return 0;
}
+
/**
* B N _ A N G L E _ M E A S U R E
*
@@ -2299,6 +2325,7 @@
return ang;
}
+
/**
* B N _ D I S T _ P T 3 _ A L O N G _ L I N E 3
*...@brief
@@ -2343,6 +2370,7 @@
return ret;
}
+
/**
*
* @return 1 if left <= mid <= right
@@ -2358,7 +2386,7 @@
left -= tol->dist*0.1;
right += tol->dist*0.1;
}
- if (mid < left || mid > right) goto fail;
+ if (mid < left || mid > right) goto fail;
return 1;
}
/* The 'right' value is lowest */
@@ -2366,7 +2394,7 @@
right -= tol->dist*0.1;
left += tol->dist*0.1;
}
- if (mid < right || mid > left) goto fail;
+ if (mid < right || mid > left) goto fail;
return 1;
fail:
if (bu_debug & BU_DEBUG_MATH) {
@@ -2376,6 +2404,7 @@
return 0;
}
+
/**
* B N _ D O E S _ R A Y _ I S E C T _ T R I
*
@@ -2431,6 +2460,7 @@
return 1;
}
+
#if 0
/*
* B N _ I S E C T _ R A Y _ T R I
@@ -2584,6 +2614,7 @@
return class;
}
+
/** B N _ D I S T S Q _ L I N E 3 _ L I N E 3
*...@brief
* Calculate the square of the distance of closest approach for two
@@ -2631,25 +2662,19 @@
VSCALE(d, d_in, inv_len_d);
de = VDOT(d, e);
- if (NEAR_ZERO(de, SMALL_FASTF))
- {
+ if (NEAR_ZERO(de, SMALL_FASTF)) {
/* lines are perpendicular */
dist[0] = VDOT(Q, d) - VDOT(P, d);
dist[1] = VDOT(P, e) - VDOT(Q, e);
- }
- else
- {
+ } else {
VSUB2(PmQ, P, Q);
denom = 1.0 - de*de;
- if (NEAR_ZERO(denom, SMALL_FASTF))
- {
+ if (NEAR_ZERO(denom, SMALL_FASTF)) {
/* lines are parallel */
dist[0] = 0.0;
dist[1] = VDOT(PmQ, d);
ret = 1;
- }
- else
- {
+ } else {
VBLEND2(tmp, 1.0, e, -de, d);
dist[1] = VDOT(PmQ, tmp)/denom;
dist[0] = dist[1] * de - VDOT(PmQ, d);
@@ -2664,6 +2689,7 @@
return ret;
}
+
/**
* B N _ I S E C T _ P L A N E S
*...@brief
@@ -2704,8 +2730,7 @@
if (bu_debug & BU_DEBUG_MATH) {
bu_log("bn_isect_planes:\n");
- for (i=0; i<pl_count; i++)
- {
+ for (i=0; i<pl_count; i++) {
bu_log("Plane #%d (%f %f %f %f)\n", i, V4ARGS(planes[i]));
}
}
@@ -2713,8 +2738,7 @@
MAT_ZERO(matrix);
VSET(hpq, 0.0, 0.0, 0.0);
- for (i=0; i<pl_count; i++)
- {
+ for (i=0; i<pl_count; i++) {
matrix[0] += planes[i][X] * planes[i][X];
matrix[5] += planes[i][Y] * planes[i][Y];
matrix[10] += planes[i][Z] * planes[i][Z];
@@ -2744,6 +2768,7 @@
}
+
/**
* B N _ I S E C T _ L S E G _ R P P
*...@brief
@@ -2752,8 +2777,8 @@
* The RPP is defined by a minimum point and a maximum point. This is
* a very close relative to rt_in_rpp() from librt/shoot.c
*
- * @return 0 if ray does not hit RPP,
- * @return !0 if ray hits RPP.
+ * @return 0 if ray does not hit RPP,
+ * @return !0 if ray hits RPP.
*
* @param[in, out] a Start point of lseg
* @param[in, out] b End point of lseg
@@ -2795,7 +2820,7 @@
maxdist = st;
if (mindist < ((sv = (*min - *pt) / *dir)))
mindist = sv;
- } else {
+ } else {
/* If direction component along this axis is NEAR 0, (ie,
* this ray is aligned with this axis), merely check
* against the boundaries.
@@ -2825,6 +2850,7 @@
return 1; /* HIT */
}
+
/** @} */
/*
* Local Variables:
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