Revision: 45558
http://brlcad.svn.sourceforge.net/brlcad/?rev=45558&view=rev
Author: r_weiss
Date: 2011-07-20 23:58:29 +0000 (Wed, 20 Jul 2011)
Log Message:
-----------
Updated the protoype function bn_isect_line3_line3_new within file plane.c
which supports the prototype function nmg_triangulate_fu. These changed are
disabled by default. Performed code cleanup and improved some of the logic.
More cleanup is needed. This is a work in progress.
Modified Paths:
--------------
brlcad/trunk/src/libbn/plane.c
Modified: brlcad/trunk/src/libbn/plane.c
===================================================================
--- brlcad/trunk/src/libbn/plane.c 2011-07-20 23:30:03 UTC (rev 45557)
+++ brlcad/trunk/src/libbn/plane.c 2011-07-20 23:58:29 UTC (rev 45558)
@@ -1387,67 +1387,82 @@
* The actual intersection coordinates can be found by
* substituting either of these into the original ray equations.
*
+ * The 'pdist' and 'qdist' values returned from this function
+ * are the actual distance to the intersect, i.e. not scaled.
+ * Distances in the opposite of the line direction vector result
+ * in a negative distance.
+ *
+ * The input vectors 'pdir' and 'qdir' must NOT be unit vectors
+ * for this function to work correctly.
+ *
* XXX It would be sensible to change the s, t pair to dist[2].
*/
int
-bn_isect_line3_line3_new(fastf_t *s,
- fastf_t *t,
- const fastf_t *p0,
- const fastf_t *u,
- const fastf_t *q0,
- const fastf_t *v,
+bn_isect_line3_line3_new(fastf_t *pdist, /* distance from p0 to line q
intersect, can be negative (s) */
+ fastf_t *qdist, /* distance from q0 to line p
intersect, can be negative (t) */
+ const fastf_t *p0, /* line p start point */
+ const fastf_t *pdir_i, /* line p direction, must not
be a unit vector (u) */
+ const fastf_t *q0, /* line q start point */
+ const fastf_t *qdir_i, /* line q direction, must not
be a unit vector (v) */
const struct bn_tol *tol)
{
- fastf_t a, b, c, d, e, sc, tc, sc_numerator, tc_numerator, denominator;
+ fastf_t b, d, e, sc, tc, sc_numerator, tc_numerator, denominator;
vect_t w0, qc_to_pc, u_scaled, v_scaled, v_scaled_to_u_scaled, tmp_vec,
p0_to_q1;
- point_t q_intersect, p0_to_q_intersect, p1, q1;
+ point_t p1, q1;
+ fastf_t pdir_mag_sq;
+ fastf_t qdir_mag_sq;
- int parallel1 = 0;
- int parallel2 = 0;
+ int parallel = 0;
int colinear = 0;
- vect_t u_unit, v_unit;
- fastf_t p_dot, d1,d2,d3,d4;
+ int error_occured = 0;
+ fastf_t dot, d1, d2, d3, d4;
+ vect_t pdir, qdir;
- VMOVE(u_unit,u);
- VMOVE(v_unit,v);
- VUNITIZE(u_unit);
- VUNITIZE(v_unit);
+ VMOVE(pdir, pdir_i);
+ VMOVE(qdir, qdir_i);
- p_dot = VDOT(u_unit,v_unit);
- parallel1 = BN_VECT_ARE_PARALLEL(p_dot,tol);
+ pdir_mag_sq = MAGSQ(pdir);
+ qdir_mag_sq = MAGSQ(qdir);
- a = MAGSQ(u);
- c = MAGSQ(v);
+ if (NEAR_ZERO(pdir_mag_sq, SMALL_FASTF) || NEAR_ZERO(qdir_mag_sq,
SMALL_FASTF)) {
+ bu_log(" p0 = %g %g %g\n", V3ARGS(p0));
+ bu_log("pdir = %g %g %g\n", V3ARGS(pdir));
+ bu_log(" q0 = %g %g %g\n", V3ARGS(q0));
+ bu_log("qdir = %g %g %g\n", V3ARGS(qdir));
+ bu_bomb("bn_isect_line3_line3_new(): input vector(s) 'pdir' and/or
'qdir' is zero magnitude.\n");
+ }
- if (NEAR_ZERO(a, SMALL_FASTF) || NEAR_ZERO(c, SMALL_FASTF)) {
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("v = %g %g %g\n", V3ARGS(v));
- bu_bomb("bn_isect_line3_line3_new(): input vector(s) 'u' and/or 'v' is
zero magnitude.\n");
+ if (NEAR_ZERO(pdir_mag_sq - 1.0, SMALL_FASTF)) {
+ VSCALE(pdir, pdir, 304800); /* 304800mm = 1000ft */
+ pdir_mag_sq = MAGSQ(pdir);
+ error_occured++;
}
- *s = 0.0;
- *t = 0.0;
+ if (NEAR_ZERO(qdir_mag_sq - 1.0, SMALL_FASTF)) {
+ VSCALE(qdir, qdir, 304800); /* 304800mm = 1000ft */
+ qdir_mag_sq = MAGSQ(qdir);
+ error_occured++;
+ }
- VADD2(p1, p0, u);
- VADD2(q1, q0, v);
- VSUB2(p0_to_q1, q1, p0);
+ if (error_occured == 2) {
+ bu_log("pdir = %g %g %g qdir = %g %g %g\n", V3ARGS(pdir_i),
V3ARGS(qdir_i));
+ bu_log("bn_isect_line3_line3_new(): input vector(s) 'pdir' and 'qdir'
are unit vectors.\n");
+ }
-#if 0
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("p1 = %g %g %g\n", V3ARGS(p1));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("q1 = %g %g %g\n", V3ARGS(q1));
- bu_log("v = %g %g %g\n", V3ARGS(v));
-#endif
+ *pdist = 0.0;
+ *qdist = 0.0;
- d1 = bn_dist_line3_pt3(q0,v,p0);
- d2 = bn_dist_line3_pt3(q0,v,p1);
- d3 = bn_dist_line3_pt3(p0,u,q0);
- d4 = bn_dist_line3_pt3(p0,u,q1);
+ /* assumes pdir & qdir are not unit vectors */
+ VADD2(p1, p0, pdir);
+ VADD2(q1, q0, qdir);
+ VSUB2(p0_to_q1, q1, p0);
+
+ d1 = bn_dist_line3_pt3(q0,qdir,p0);
+ d2 = bn_dist_line3_pt3(q0,qdir,p1);
+ d3 = bn_dist_line3_pt3(p0,pdir,q0);
+ d4 = bn_dist_line3_pt3(p0,pdir,q1);
+
/* if all distances are within distance tolerance of each
* other then they a parallel
*/
@@ -1457,165 +1472,74 @@
NEAR_EQUAL(d2, d3, tol->dist) &&
NEAR_EQUAL(d2, d4, tol->dist) &&
NEAR_EQUAL(d3, d4, tol->dist)) {
-#if 0
- bu_log("all values within distance tolerance of each other\n");
-#endif
- parallel2 = 1;
+ parallel = 1;
}
if (NEAR_ZERO(d1, tol->dist) &&
NEAR_ZERO(d2, tol->dist) &&
NEAR_ZERO(d3, tol->dist) &&
NEAR_ZERO(d4, tol->dist)) {
-#if 0
- bu_log("all values within distance tolerance of each other\n");
-#endif
colinear = 1;
}
-#if 0
- if (parallel1 != parallel2) {
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("p1 = %g %g %g\n", V3ARGS(p1));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("q1 = %g %g %g\n", V3ARGS(q1));
- bu_log("v = %g %g %g\n", V3ARGS(v));
- bu_log("p_dot = %.15f\n", p_dot);
- bu_log("dist p0 to line q0-v = %g\n", d1);
- bu_log("dist p1 to line q0-v = %g\n", d2);
- bu_log("dist q0 to line p0-u = %g\n", d3);
- bu_log("dist q1 to line p0-u = %g\n", d4);
- bu_log("parallel1 = %d parallel2 = %d\n", parallel1, parallel2);
- bu_bomb("parallel1 != parallel2\n");
- }
-#endif
-#if 0
- bu_log("dist p0 to line q0-v = %g\n", d1);
- bu_log("dist p1 to line q0-v = %g\n", d2);
- bu_log("dist q0 to line p0-u = %g\n", d3);
- bu_log("dist q1 to line p0-u = %g\n", d4);
-#endif
-
VSUB2(w0, p0, q0);
- b = VDOT(u, v);
- d = VDOT(u, w0);
- e = VDOT(v, w0);
- denominator = a * c - b * b;
+ b = VDOT(pdir, qdir);
+ d = VDOT(pdir, w0);
+ e = VDOT(qdir, w0);
+ denominator = pdir_mag_sq * qdir_mag_sq - b * b;
-#if 0
- if (NEAR_ZERO(denominator, VUNITIZE_TOL)) {
-#endif
-
-#if 0
- if ((denominator > SMALL_FASTF && denominator < VUNITIZE_TOL) ||
- (denominator < -SMALL_FASTF && denominator > -VUNITIZE_TOL)) {
- bu_log("denominator btwn SMALL_FASTF VUNITIZE_TOL == %g\n",
denominator);
- bu_log("a = %.15f c = %.15f b = %.15f\n", a, c, b);
- bu_log("a * c = %.15f b * b = %.15f\n", a * c, b * b);
+ if (!parallel && colinear) {
+ bu_bomb("bn_isect_line3_line3_new(): logic error, lines colinear but
not parallel\n");
}
-#endif
-#if 0
- if (NEAR_ZERO(denominator, SMALL_FASTF)) {
-#endif
- if (parallel2) {
-#if 0
- if (!parallel2) {
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("p1 = %g %g %g\n", V3ARGS(p1));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("q1 = %g %g %g\n", V3ARGS(q1));
- bu_log("v = %g %g %g\n", V3ARGS(v));
- bu_log("new true, old false; denominator = %g p_dot = %g\n",
denominator, p_dot);
- bu_bomb("stop\n");
- }
-#endif
+ if (parallel && !colinear) {
/* lines are parallel */
-#if 0
- tc = d/b; /* or tc = e/c */
-#endif
- sc = d/a;
+ sc = d / pdir_mag_sq;
tc = 0.0;
- VSCALE(q_intersect, v, tc);
- VADD2(q_intersect, q_intersect, q0);
- VSUB2(p0_to_q_intersect, q_intersect, p0);
+ return -2; /* no intersection, lines are parallel */
+ }
-#if 0
- if (MAGSQ(p0_to_q_intersect) <= (tol->dist_sq)) {
-#endif
- if (colinear) {
- if (!colinear) {
- bu_log("dist p0 to line q0-v = %g\n", d1);
- bu_log("dist p1 to line q0-v = %g\n", d2);
- bu_log("dist q0 to line p0-u = %g\n", d3);
- bu_log("dist q1 to line p0-u = %g\n", d4);
- bu_bomb("colinear new true, old false\n");
- }
- *s = sc * sqrt(a);
- *t = 0.0;
+ if (parallel && colinear) {
- *t = MAGNITUDE(p0_to_q1) / sqrt(a);
+ /* when colinear pdist has a different meaning, it is the
+ * distance from p0 to q0
+ */
+ *pdist = MAGNITUDE(w0); /* w0 is opposite direction of p0 to q0 */
+ dot = VDOT(pdir, w0);
+ if (dot > SMALL_FASTF) {
+ *pdist = -(*pdist);
+ }
- p_dot = VDOT(u, p0_to_q1);
- if (p_dot < -SMALL_FASTF) {
- *t = *t * -1.0;
- }
+ /* when colinear qdist has a different meaning, it is the
+ * distance from p0 to q1
+ */
+ *qdist = MAGNITUDE(p0_to_q1);
-#if 0
- bu_log("colinear, distance = %.15f s = %.15f denom = %.15f\n",
MAGNITUDE(p0_to_q_intersect), *s, denominator);
- bu_log("a = %.15f c = %.15f b = %.15f\n", a, c, b);
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("v = %g %g %g\n", V3ARGS(v));
-#endif
- return 0; /* lines are co-linear (s returned for t=0 to give
distance to q0) */
- } else {
-#if 0
- *s = tc * sqrt(a);
- *t = 0.0;
- bu_log("parallel not-colinear, distance = %.15f dist p0-2-q0 =
%.15f denom = %.15f\n", MAGNITUDE(p0_to_q_intersect), *s, denominator);
- bu_log("a = %.15f c = %.15f b = %.15f\n", a, c, b);
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("v = %g %g %g\n", V3ARGS(v));
-#endif
- return -2; /* no intersection, lines are parallel */
+ /* if vectors pdir and p0_to_q1 are not the same direction
+ * then make the distance negative
+ */
+ dot = VDOT(pdir, p0_to_q1);
+ if (dot < -SMALL_FASTF) {
+ *qdist = -(*qdist);
}
- }
- if (parallel2) {
- bu_log("new false, old true; denominator = %g p_dot = %g\n",
denominator, p_dot);
+ return 0;
}
- sc_numerator = (b * e - c * d);
- tc_numerator = (a * e - b * d);
+ sc_numerator = (b * e - qdir_mag_sq * d);
+ tc_numerator = (pdir_mag_sq * e - b * d);
sc = sc_numerator / denominator;
tc = tc_numerator / denominator;
- VSCALE(u_scaled, u, sc_numerator);
- VSCALE(v_scaled, v, tc_numerator);
+ VSCALE(u_scaled, pdir, sc_numerator);
+ VSCALE(v_scaled, qdir, tc_numerator);
VSUB2(v_scaled_to_u_scaled, u_scaled, v_scaled);
VSCALE(tmp_vec, v_scaled_to_u_scaled, 1.0/denominator);
VADD2(qc_to_pc, w0, tmp_vec);
if (MAGSQ(qc_to_pc) <= tol->dist_sq) {
- *s = sc * sqrt(a);
- *t = tc * sqrt(c);
-#if 0
- bu_log("intersect, min dist btwn lines = %.15f s = %.15f t = %.15f
denom = %.15f\n", MAGNITUDE(qc_to_pc), *s, *t, denominator);
- bu_log("a = %.15f c = %.15f b = %.15f\n", a, c, b);
- bu_log("p0_to_q1 mag = %.15f\n", MAGNITUDE(p0_to_q1));
- bu_log("p0 = %g %g %g\n", V3ARGS(p0));
- bu_log("p1 = %g %g %g\n", V3ARGS(p1));
- bu_log("u = %g %g %g\n", V3ARGS(u));
- bu_log("q0 = %g %g %g\n", V3ARGS(q0));
- bu_log("q1 = %g %g %g\n", V3ARGS(q1));
- bu_log("v = %g %g %g\n", V3ARGS(v));
-#endif
+ *pdist = sc * sqrt(pdir_mag_sq);
+ *qdist = tc * sqrt(qdir_mag_sq);
return 1; /* intersection found (s and t returned) */
} else {
return -1; /* no intersection */
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