Revision: 46646
http://brlcad.svn.sourceforge.net/brlcad/?rev=46646&view=rev
Author: r_weiss
Date: 2011-09-09 20:44:24 +0000 (Fri, 09 Sep 2011)
Log Message:
-----------
Updated file 'plane.c' to enable the prototype versions of functions
bn_isect_lseg3_lseg3, bn_isect_line3_line3, and bn_isect_line_lseg. The
original functions are removed.
Modified Paths:
--------------
brlcad/trunk/src/libbn/plane.c
Modified: brlcad/trunk/src/libbn/plane.c
===================================================================
--- brlcad/trunk/src/libbn/plane.c 2011-09-09 20:42:16 UTC (rev 46645)
+++ brlcad/trunk/src/libbn/plane.c 2011-09-09 20:44:24 UTC (rev 46646)
@@ -1083,9 +1083,8 @@
}
-#ifdef TRI_PROTOTYPE
/**
- * B N _ I S E C T _ L S E G 3 _ L S E G 3 _ N E W
+ * B N _ I S E C T _ L S E G 3 _ L S E G 3
*@brief
* Intersect two 3D line segments, defined by two points and two
* vectors. The vectors are unlikely to be unit length.
@@ -1104,7 +1103,7 @@
* intercept. If within distance tolerance of the endpoints,
* these will be exactly 0.0 or 1.0, to ease the job of caller.
*
- * CLARIFICATION: This function 'bn_isect_lseg3_lseg3_new'
+ * CLARIFICATION: This function 'bn_isect_lseg3_lseg3'
* returns distance values scaled where an intersect at the start
* point of the line segement (within tol->dist) results in 0.0
* and when the intersect is at the end point of the line
@@ -1125,12 +1124,12 @@
* @param tol tolerance values
*/
int
-bn_isect_lseg3_lseg3_new(fastf_t *dist,
- const fastf_t *p,
- const fastf_t *pdir,
- const fastf_t *q,
- const fastf_t *qdir,
- const struct bn_tol *tol)
+bn_isect_lseg3_lseg3(fastf_t *dist,
+ const fastf_t *p,
+ const fastf_t *pdir,
+ const fastf_t *q,
+ const fastf_t *qdir,
+ const struct bn_tol *tol)
{
fastf_t ptol, qtol; /* length in parameter space == tol->dist */
fastf_t pmag, qmag;
@@ -1138,21 +1137,21 @@
BN_CK_TOL(tol);
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new() p=(%g, %g, %g), pdir=(%g, %g,
%g)\n\t\tq=(%g, %g, %g), qdir=(%g, %g, %g)\n",
+ bu_log("bn_isect_lseg3_lseg3() p=(%g, %g, %g), pdir=(%g, %g,
%g)\n\t\tq=(%g, %g, %g), qdir=(%g, %g, %g)\n",
V3ARGS(p), V3ARGS(pdir), V3ARGS(q), V3ARGS(qdir));
}
- status = bn_isect_line3_line3_new(&dist[0], &dist[1], p, pdir, q, qdir,
tol);
+ status = bn_isect_line3_line3(&dist[0], &dist[1], p, pdir, q, qdir, tol);
/* It is expected that dist[0] and dist[1] returned from
- * 'bn_isect_line3_line3_new' are the actual distance to the
+ * 'bn_isect_line3_line3' 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.
*/
/* sanity check */
if (status < -2 || status > 1) {
- bu_bomb("bn_isect_lseg3_lseg3_new() function
'bn_isect_line3_line3_new' returned an invalid status\n");
+ bu_bomb("bn_isect_lseg3_lseg3() function 'bn_isect_line3_line3'
returned an invalid status\n");
}
if (status == -1) {
@@ -1161,7 +1160,7 @@
* parallel.
*/
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): MISS, line segments do not
intersect and are not parallel\n");
+ bu_log("bn_isect_lseg3_lseg3(): MISS, line segments do not
intersect and are not parallel\n");
}
return -3; /* missed */
}
@@ -1169,7 +1168,7 @@
if (status == -2) {
/* infinite lines do not intersect, they are parallel */
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): MISS, line segments are
parallel, i.e. do not intersect\n");
+ bu_log("bn_isect_lseg3_lseg3(): MISS, line segments are parallel,
i.e. do not intersect\n");
}
return -2; /* missed (line segments are parallel) */
}
@@ -1178,10 +1177,10 @@
qmag = MAGNITUDE(qdir);
if (pmag < SMALL_FASTF)
- bu_bomb("bn_isect_lseg3_lseg3_new(): |p|=0\n");
+ bu_bomb("bn_isect_lseg3_lseg3(): |p|=0\n");
if (qmag < SMALL_FASTF)
- bu_bomb("bn_isect_lseg3_lseg3_new(): |q|=0\n");
+ bu_bomb("bn_isect_lseg3_lseg3(): |q|=0\n");
ptol = tol->dist / pmag;
qtol = tol->dist / qmag;
@@ -1231,13 +1230,13 @@
/* Lines are colinear */
if ((dist[0] > 1.0+ptol && dist[1] > 1.0+ptol) || (dist[0] < -ptol &&
dist[1] < -ptol)) {
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): MISS, line segments are
colinear but not overlapping!\n");
+ bu_log("bn_isect_lseg3_lseg3(): MISS, line segments are
colinear but not overlapping!\n");
}
return -1; /* line segments are colinear but not overlapping */
}
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): HIT, line segments are colinear
and overlapping!\n");
+ bu_log("bn_isect_lseg3_lseg3(): HIT, line segments are colinear and
overlapping!\n");
}
return 0; /* line segments are colinear and overlapping */
@@ -1248,191 +1247,74 @@
if (dist[0] <= -ptol || dist[0] >= 1.0+ptol || dist[1] <= -qtol || dist[1]
>= 1.0+qtol) {
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): MISS, infinite lines intersect
but line segments do not!\n");
+ bu_log("bn_isect_lseg3_lseg3(): MISS, infinite lines intersect but
line segments do not!\n");
}
return -3; /* missed, infinite lines intersect but line segments do
not */
}
if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3_new(): HIT, line segments intersect!\n");
+ bu_log("bn_isect_lseg3_lseg3(): HIT, line segments intersect!\n");
}
/* sanity check */
if (dist[0] < 0.0 || dist[0] > 1.0 || dist[1] < 0.0 || dist[1] > 1.0) {
- bu_bomb("bn_isect_lseg3_lseg3_new(): INTERNAL ERROR, intersect
distance values must be in the range 0-1\n");
+ bu_bomb("bn_isect_lseg3_lseg3(): INTERNAL ERROR, intersect distance
values must be in the range 0-1\n");
}
return 1; /* hit, line segments intersect */
}
-#endif
/**
- * B N _ I S E C T _ L S E G 3 _ L S E G 3
- *@brief
- * Intersect two 3D line segments, defined by two points and two
- * vectors. The vectors are unlikely to be unit length.
+ * B N _ I S E C T _ L I N E 3 _ L I N E 3
*
+ * Intersect two line segments, each in given in parametric form:
*
- * @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
- * intercept dist[0] is parameter along p, range 0 to 1, to
- * intercept. dist[1] is parameter along q, range 0 to 1, to
- * intercept. If within distance tolerance of the endpoints,
- * these will be exactly 0.0 or 1.0, to ease the job of caller.
- *
- * Special note: when return code is "0" for co-linearity, dist[1] has
- * an alternate interpretation: it's the parameter along p (not q)
- * which takes you from point p to the point (q + qdir), i.e., it's
- * the endpoint of the q linesegment, since in this case there may be
- * *two* intersections, if q is contained within span p to (p + pdir).
- * And either may be -10 if the point is outside the span.
- *
- * @param p point 1
- * @param pdir direction-1
- * @param q point 2
- * @param qdir direction-2
- * @param tol tolerance values
- */
-int
-bn_isect_lseg3_lseg3(fastf_t *dist,
- const fastf_t *p,
- const fastf_t *pdir,
- const fastf_t *q,
- const fastf_t *qdir,
- const struct bn_tol *tol)
-{
- fastf_t ptol, qtol; /* length in parameter space == tol->dist */
- fastf_t pmag, qmag;
- int status;
-
- BN_CK_TOL(tol);
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_lseg3_lseg3() p=(%g, %g), pdir=(%g, %g)\n\t\tq=(%g,
%g), qdir=(%g, %g)\n",
- V2ARGS(p), V2ARGS(pdir), V2ARGS(q), V2ARGS(qdir));
- }
-
- status = bn_isect_line3_line3(&dist[0], &dist[1], p, pdir, q, qdir, tol);
- if (status < 0) {
- /* Lines are parallel, non-colinear */
- return -1; /* No intersection */
- }
- pmag = MAGNITUDE(pdir);
- if (pmag < SMALL_FASTF)
- bu_bomb("bn_isect_lseg3_lseg3: |p|=0\n");
- if (status == 0) {
- int nogood = 0;
- /* Lines are colinear */
- /* If P within tol of either endpoint (0, 1), make exact. */
- ptol = tol->dist / pmag;
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log("ptol=%g\n", ptol);
- }
- 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;
- 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 (nogood >= 2)
- return -1; /* colinear, but not overlapping */
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log(" HIT colinear!\n");
- }
- return 0; /* colinear and overlapping */
- }
- /* 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;
- 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;
- else if (dist[1] > 1-qtol && dist[1] < 1+qtol) dist[1] = 1;
-
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log("ptol=%g, qtol=%g\n", ptol, qtol);
- }
- if (dist[0] < 0 || dist[0] > 1 || dist[1] < 0 || dist[1] > 1) {
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log(" MISS\n");
- }
- return -1; /* missed */
- }
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log(" HIT!\n");
- }
- return 1; /* hit, normal intersection */
-}
-
-
-#ifdef TRI_PROTOTYPE
-/**
- * B N _ I S E C T _ L I N E 3 _ L I N E 3 _ N E W
- *
- * Intersect two lines, each in given in parametric form:
- *
- * X = p + s * u
+ * X = p0 + pdist * pdir_i (i.e. line p0->p1)
* and
- * X = q + t * v
+ * X = q0 + qdist * qdir_i (i.e. line q0->q1)
*
- * While the parametric form is usually used to denote a ray (ie,
- * positive values of the parameter only), in this case the full line
- * is considered.
+ * The input vectors 'pdir_i' and 'qdir_i' must NOT be unit vectors
+ * for this function to work correctly. The magnitude of the direction
+ * vectors indicates line segment length.
*
- * The direction vectors u and v need not have unit length.
+ * The 'pdist' and 'qdist' values returned from this function are the
+ * actual distance to the intersect (i.e. not scaled). Distances may
+ * be negative, see below.
*
* @return -2 no intersection, lines are parallel.
* @return -1 no intersection
- * @return 0 lines are co-linear (s returned for t=0 to give distance to q0)
- * @return 1 intersection found (s and t returned)
+ * @return 0 lines are co-linear (pdist and qdist returned) (see below)
+ * @return 1 intersection found (pdist and qdist returned) (see below)
*
- * @param[out] s, t line parameter of interseciton
- * When explicit return >= 0, s and t are the
- * line parameters of the intersection point on the 2 rays.
- * The actual intersection coordinates can be found by
- * substituting either of these into the original ray equations.
- *
* @param p0 point 1
- * @param u direction 1
+ * @param pdir_i direction 1
* @param q0 point 2
- * @param v direction 2
+ * @param qdir_i direction 2
* @param tol tolerance values
+ * @param[out] pdist, qdist (distances to intersection) (see below)
*
- * s, t When explicit return >= 0, s and t are the
- * line parameters of the intersection point on the 2 rays.
- * The actual intersection coordinates can be found by
- * substituting either of these into the original ray equations.
+ * When return = 1, pdist is the distance along line p0->p1 to the
+ * intersect with line q0->q1. If the intersect is along p0->p1 but
+ * in the opposite direction of vector pdir_i (i.e. occuring before
+ * p0 on line p0->p1) then the distance will be negative. The value
+ * if qdist is the same as pdist except it is the distance along
line
+ * q0->q1 to the intersect with line p0->p1.
*
- * 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].
+ * When return code = 0 for co-linearity, pdist and qdist have a
+ * different meaning. pdist is the distance from point p0 to point
q0
+ * and qdist is the distance from point p0 to point q1. If point q0
+ * occurs before point p0 on line segment p0->p1 then pdist will be
+ * negative. The same occurs for the distance to point q1.
*/
int
-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)
+bn_isect_line3_line3(fastf_t *pdist, /* see above */
+ fastf_t *qdist, /* see above */
+ const fastf_t *p0, /* line p start point */
+ const fastf_t *pdir_i, /* line p direction, must not be
unit vector */
+ const fastf_t *q0, /* line q start point */
+ const fastf_t *qdir_i, /* line q direction, must not be
unit vector */
+ const struct bn_tol *tol)
{
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;
@@ -1456,7 +1338,7 @@
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");
+ bu_bomb("bn_isect_line3_line3(): input vector(s) 'pdir' and/or 'qdir'
is zero magnitude.\n");
}
*pdist = 0.0;
@@ -1499,7 +1381,7 @@
denominator = pdir_mag_sq * qdir_mag_sq - b * b;
if (!parallel && colinear) {
- bu_bomb("bn_isect_line3_line3_new(): logic error, lines colinear but
not parallel\n");
+ bu_bomb("bn_isect_line3_line3(): logic error, lines colinear but not
parallel\n");
}
if (parallel && !colinear) {
@@ -1533,7 +1415,7 @@
*qdist = -(*qdist);
}
- return 0;
+ return 0; /* colinear intersection */
}
sc_numerator = (b * e - qdir_mag_sq * d);
@@ -1550,287 +1432,14 @@
if (MAGSQ(qc_to_pc) <= tol->dist_sq) {
*pdist = sc * sqrt(pdir_mag_sq);
*qdist = tc * sqrt(qdir_mag_sq);
- return 1; /* intersection found (s and t returned) */
+ return 1; /* intersection */
} else {
return -1; /* no intersection */
}
}
-#endif
/**
- * B N _ I S E C T _ L I N E 3 _ L I N E 3
- *
- * Intersect two lines, each in given in parametric form:
- *
- * X = P + t * D
- * and
- * X = A + u * C
- *
- * While the parametric form is usually used to denote a ray (ie,
- * positive values of the parameter only), in this case the full line
- * is considered.
- *
- * 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)
- *
- * @param[out] t, u line parameter of interseciton
- * When explicit return >= 0, t and u are the
- * line parameters of the intersection point on the 2 rays.
- * The actual intersection coordinates can be found by
- * substituting either of these into the original ray equations.
-
- * @param p point 1
- * @param d direction 1
- * @param a point 2
- * @param c direction 2
- * @param tol tolerance values
- *
- * t, u When explicit return >= 0, t and u are the
- * line parameters of the intersection point on the 2 rays.
- * The actual intersection coordinates can be found by
- * substituting either of these into the original ray equations.
- *
- * XXX It would be sensible to change the t, u pair to dist[2].
- */
-int
-bn_isect_line3_line3(fastf_t *t,
- fastf_t *u,
- const fastf_t *p,
- const fastf_t *d,
- const fastf_t *a,
- const fastf_t *c,
- const struct bn_tol *tol)
-{
- vect_t n;
- vect_t abs_n;
- vect_t h;
- register fastf_t det;
- register fastf_t det1;
- register short int q, r, s;
- int colinear = 0;
-
-
- BN_CK_TOL(tol);
-
- if (NEAR_ZERO(MAGSQ(c), VUNITIZE_TOL) || NEAR_ZERO(MAGSQ(d),
VUNITIZE_TOL)) {
- bu_bomb("bn_isect_line3_line3(): input vector(s) 'c' and/or 'd' is
zero magnitude.\n");
- }
-
- /* Any intersection will occur in the plane with surface normal D
- * cross C, which may not have unit length. The plane containing
- * the two lines will be a constant distance from a plane with the
- * same normal that contains the origin. Therfore, the projection
- * of any point on the plane along N has the same length. Verify
- * that this holds for P and A. If N dot P != N dot A, there is
- * no intersection, because P and A must lie on parallel planes
- * that are different distances from the origin.
- */
-
- VCROSS(n, d, c);
- det = VDOT(n, p) - VDOT(n, a);
- if (!NEAR_ZERO(det, tol->perp)) {
- return -1; /* no intersection, lines not in same plane */
- }
-
- if (NEAR_ZERO(MAGSQ(n), VUNITIZE_TOL)) {
- /* lines are parallel, must find another way to get normal vector */
- vect_t a_to_p;
-
- VSUB2(a_to_p, p, a);
- VCROSS(n, a_to_p, d);
-
- if (NEAR_ZERO(MAGSQ(n), VUNITIZE_TOL)) {
- /* lines are parallel and colinear */
-
- colinear = 1;
- bn_vec_ortho(n, d);
- }
- }
-
- if (NEAR_ZERO(MAGSQ(n), VUNITIZE_TOL)) {
- bu_bomb("bn_isect_line3_line3(): ortho vector zero magnitude\n");
- }
-
- /* Solve for t and u in the system:
- *
- * Px + t * Dx = Ax + u * Cx
- * Py + t * Dy = Ay + u * Cy
- * Pz + t * Dz = Az + u * Cz
- *
- * This system is over-determined, having 3 equations in 2
- * unknowns. However, the intersection problem is really only a
- * 2-dimensional problem, being located in the surface of a plane.
- * Therefore, the "least important" of these equations can be
- * initially ignored, leaving a system of 2 equations in 2
- * unknowns.
- *
- * Find the component of N with the largest magnitude. This
- * component will have the least effect on the parameters in the
- * system, being most nearly perpendicular to the plane. Denote
- * the two remaining components by the subscripts q and r, rather
- * than x, y, z. Subscript s is the smallest component, used for
- * checking later.
- */
- if (ZERO(n[X])) {
- n[X] = 0.0;
- }
- if (ZERO(n[Y])) {
- n[Y] = 0.0;
- }
- if (ZERO(n[Z])) {
- n[Z] = 0.0;
- }
- abs_n[X] = (n[X] >= 0) ? n[X] : (-n[X]);
- abs_n[Y] = (n[Y] >= 0) ? n[Y] : (-n[Y]);
- abs_n[Z] = (n[Z] >= 0) ? n[Z] : (-n[Z]);
-
- if (abs_n[X] >= abs_n[Y]) {
- if (abs_n[X] >= abs_n[Z]) {
- /* X is largest in magnitude */
- q = Y;
- r = Z;
- s = X;
- } else {
- /* Z is largest in magnitude */
- q = X;
- r = Y;
- s = Z;
- }
- } else {
- if (abs_n[Y] >= abs_n[Z]) {
- /* Y is largest in magnitude */
- q = X;
- r = Z;
- s = Y;
- } else {
- /* Z is largest in magnitude */
- q = X;
- r = Y;
- s = Z;
- }
- }
-
- /*
- * From the two components q and r, form a system of 2 equations
- * in 2 unknowns:
- *
- * Pq + t * Dq = Aq + u * Cq
- * Pr + t * Dr = Ar + u * Cr
- * or
- * t * Dq - u * Cq = Aq - Pq
- * t * Dr - u * Cr = Ar - Pr
- *
- * Let H = A - P, resulting in:
- *
- * t * Dq - u * Cq = Hq
- * t * Dr - u * Cr = Hr
- *
- * or
- *
- * [ Dq -Cq ] [ t ] [ Hq ]
- * [ ] * [ ] = [ ]
- * [ Dr -Cr ] [ u ] [ Hr ]
- *
- * This system can be solved by direct substitution, or by finding
- * the determinants by Cramers rule:
- *
- * [ Dq -Cq ]
- * det(M) = det [ ] = -Dq * Cr + Cq * Dr
- * [ Dr -Cr ]
- *
- * If det(M) is zero, then the lines are parallel (perhaps
- * colinear). Otherwise, exactly one solution exists.
- */
- VSUB2(h, a, p);
- det = c[q] * d[r] - d[q] * c[r];
- det1 = (c[q] * h[r] - h[q] * c[r]); /* see below */
- /* XXX This should be no smaller than 1e-16. See
- * bn_isect_line2_line2 for details.
- */
- if (NEAR_ZERO(det, VUNITIZE_TOL)) {
- /* Lines are parallel */
- if (!colinear || !NEAR_ZERO(det1, VUNITIZE_TOL)) {
- return -2; /* parallel, not colinear, no intersection */
- }
-
- /* Lines are co-linear */
- /* Compute t for u=0 as a convenience to caller */
- *u = 0;
- /* Use largest direction component */
- if (fabs(d[q]) >= fabs(d[r])) {
- *t = h[q]/d[q];
- } else {
- *t = h[r]/d[r];
- }
- return 0; /* Lines co-linear */
- }
-
- /* det(M) is non-zero, so there is exactly one solution. Using
- * Cramer's rule, det1(M) replaces the first column of M with the
- * constant column vector, in this case H. Similarly, det2(M)
- * replaces the second column. Computation of the determinant is
- * done as before.
- *
- * Now,
- *
- * [ Hq -Cq ]
- * det [ ]
- * det1(M) [ Hr -Cr ] -Hq * Cr + Cq * Hr
- * t = ------- = --------------- = ------------------
- * det(M) det(M) -Dq * Cr + Cq * Dr
- *
- * and
- *
- * [ Dq Hq ]
- * det [ ]
- * det2(M) [ Dr Hr ] Dq * Hr - Hq * Dr
- * u = ------- = --------------- = ------------------
- * det(M) det(M) -Dq * Cr + Cq * Dr
- */
- det = 1/det;
- *t = det * det1;
- *u = det * (d[q] * h[r] - h[q] * d[r]);
-
- /* Check that these values of t and u satisfy the 3rd equation as
- * well!
- *
- * XXX It isn't clear that "det" is exactly a model-space
- * distance.
- */
- det = *t * d[s] - *u * c[s] - h[s];
- if (!NEAR_ZERO(det, VUNITIZE_TOL)) {
- /* XXX This tolerance needs to be much less loose than
- * SQRT_SMALL_FASTF. What about DETERMINANT_TOL?
- */
- /* Inconsistent solution, lines miss each other */
- return -1;
- }
-
- /* To prevent errors, check the answer. Not returning bogus
- * results to our caller is worth the extra time.
- */
- {
- point_t hit1, hit2;
-
- VJOIN1(hit1, p, *t, d);
- VJOIN1(hit2, a, *u, c);
- if (!bn_pt3_pt3_equal(hit1, hit2, tol)) {
-/* bu_log("bn_isect_line3_line3(): BOGUS RESULT, hit1=(%g, %g, %g), hit2=(%g,
%g, %g)\n",
- hit1[X], hit1[Y], hit1[Z], hit2[X], hit2[Y], hit2[Z]); */
- return -1;
- }
- }
-
- return 1; /* Intersection found */
-}
-
-
-/**
* B N _ I S E C T _ L I N E _ L S E G
*@brief
* Intersect a line in parametric form:
@@ -1865,7 +1474,6 @@
int
bn_isect_line_lseg(fastf_t *t, const fastf_t *p, const fastf_t *d, const
fastf_t *a, const fastf_t *b, const struct bn_tol *tol)
{
-#ifdef TRI_PROTOTYPE
vect_t ab, pa, pb; /* direction vectors a->b, p->a, p->b */
fastf_t ab_mag;
fastf_t pa_mag_sq;
@@ -1975,7 +1583,7 @@
dist1 = 0.0; /* sanity */
dist2 = 0.0; /* sanity */
- code = bn_isect_line3_line3_new(&dist1, &dist2, p, d, a, ab, tol);
+ code = bn_isect_line3_line3(&dist1, &dist2, p, d, a, ab, tol);
if (code == 0) {
bu_bomb("bn_isect_line_lseg(): we should have already detected a
colinear condition\n");
@@ -2004,13 +1612,6 @@
VMOVE(d_unit, d);
VUNITIZE(d_unit);
-#if 0
- if (NEAR_ZERO(dist1, tol->dist)) {
- bu_log("bn_isect_line_lseg(): dist1 = %.15f\n", dist1);
- bu_bomb("bn_isect_line_lseg(): dist1 is zero\n");
- }
-#endif
-
dist1 = fabs(dist1); /* sanity */
VSCALE(isect_pt, d_unit, dist1);
VSUB2(a_to_isect_pt, isect_pt, a);
@@ -2051,12 +1652,6 @@
return -2;
}
-#if 0
- bu_log("p = %f %f %f a = %f %f %f b = %f %f %f isect = %f %f %f dist1
= %f d = %f %f %f\n",
- V3ARGS(p), V3ARGS(a), V3ARGS(b), V3ARGS(isect_pt), dist1,
V3ARGS(d));
- bu_log("bn_isect_line_lseg(): isect on line segement\n");
-#endif
-
return 3; /* isect on line segement a->b but
* not on the end points
*/
@@ -2065,73 +1660,6 @@
bu_bomb("bn_isect_line_lseg(): logic error, should not be here\n");
return 0; /* quite compiler warning */
-
-#else
-
- vect_t c; /* Direction vector from A to B */
- auto fastf_t u; /* As in, A + u * C = X */
- register fastf_t f;
- register int ret;
- fastf_t fuzz;
-
- BN_CK_TOL(tol);
-
- VSUB2(c, b, a);
- /* To keep the values of u between 0 and 1, C should NOT be scaled
- * to have unit length. However, it is a good idea to make sure
- * that C is a non-zero vector, (ie, that A and B are distinct).
- */
- if ((fuzz = MAGSQ(c)) < tol->dist_sq) {
- return -4; /* points A and B are not distinct */
- }
-
- /* Detecting colinearity is difficult, and very very important.
- * As a first step, check to see if both points A and B lie within
- * tolerance of the line. If so, then the line segment AC is ON
- * the line.
- */
- if (bn_distsq_line3_pt3(p, d, a) <= tol->dist_sq &&
- bn_distsq_line3_pt3(p, d, b) <= tol->dist_sq) {
- if (bu_debug & BU_DEBUG_MATH) {
- bu_log("bn_isect_line3_lseg3() pts A and B within tol of line\n");
- }
- /* Find the parametric distance along the ray */
- *t = bn_dist_pt3_along_line3(p, d, a);
- /*** dist[1] = bn_dist_pt3_along_line3(p, d, b); ***/
- return 0; /* Colinear */
- }
-
- if ((ret = bn_isect_line3_line3(t, &u, p, d, a, c, tol)) < 0) {
- /* No intersection found */
- return -1;
- }
- if (ret == 0) {
- /* co-linear (t was computed for point A, u=0) */
- return 0;
- }
-
- /* The two lines intersect at a point. If the u parameter is
- * outside the range (0..1), reject the intersection, because it
- * falls outside the line segment A--B.
- *
- * Convert the tol->dist into allowable deviation in terms of
- * (0..1) range of the parameters.
- */
- fuzz = tol->dist / sqrt(fuzz);
- if (u < -fuzz)
- return -3; /* Intersection < A */
- if ((f=(u-1)) > fuzz)
- return -2; /* Intersection > B */
-
- /* Check for fuzzy intersection with one of the verticies */
- if (u < fuzz)
- return 1; /* Intersection at A */
- if (f >= -fuzz)
- return 2; /* Intersection at B */
-
- return 3; /* Intersection between A and B */
-
-#endif
}
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