bool SeparateTriTri_coplanar ( Triangle3d const & A, Triangle3d const & B, Plane3d & out, real epsilon )
{
if(!TestCoplanar(A,B,epsilon))
{
return false;
}
// ----------
// Test if triangle B is outside any of A's edge-planes
{
for(int i = 0; i < 3; i++)
{
Plane3d P = Plane3d( A.getCorner(i), A.getEdgeDir(i).cross( A.getNormal() ) );
ContainmentResult test = Containment3d::TestTriPlane( B, P, epsilon );
if( (test == CR_Outside) || (test == CR_TouchingOutside) || (test == CR_Boundary) )
{
out = P;
return true;
}
}
}
// ----------
// Test if triangle A is outside any of B's edge-planes
{
for(int i = 0; i < 3; i++)
{
Plane3d P = Plane3d( B.getCorner(i), B.getEdgeDir(i).cross( B.getNormal() ) );
ContainmentResult test = Containment3d::TestTriPlane( A, P, epsilon );
if( (test == CR_Outside) || (test == CR_TouchingOutside) || (test == CR_Boundary) )
{
out = P;
return true;
}
}
}
// ----------
return false;
}
bool TestTriTri_proj ( Triangle3d const & inTriA,
Triangle3d const & inTriB,
Vector const & direction,
real epsilon )
{
Triangle3d triA = inTriA;
Triangle3d triB = inTriB;
if(!triA.isFacing(direction)) triA.flip();
if(!triB.isFacing(direction)) triB.flip();
int i;
// ----------
for(i = 0; i < 3; i++)
{
Plane3d P = Plane3d( triA.getCorner(i), triA.getEdgeDir(i).cross( direction ) );
ContainmentResult test = Containment3d::TestTriPlane( triB, P, epsilon );
if( Containment::isNonContainment(test) ) return false;
}
// ----------
for(i = 0; i < 3; i++)
{
Plane3d P = Plane3d( triB.getCorner(i), triB.getEdgeDir(i).cross( direction ) );
ContainmentResult test = Containment3d::TestTriPlane( triA, P, epsilon );
if( Containment::isNonContainment(test) ) return false;
}
// ----------
return true;
}
Plane3d OrientedBox::getFacePlane ( int whichFace ) const
{
switch(whichFace)
{
case 0: return Plane3d( m_center + m_axisX * m_extentX, m_axisX );
case 1: return Plane3d( m_center + m_axisY * m_extentY, m_axisY );
case 2: return Plane3d( m_center + m_axisZ * m_extentZ, m_axisZ );
case 3: return Plane3d( m_center - m_axisX * m_extentX, -m_axisX );
case 4: return Plane3d( m_center - m_axisY * m_extentY, -m_axisY );
case 5: return Plane3d( m_center - m_axisZ * m_extentZ, -m_axisZ );
default:
DEBUG_FATAL(true,("OrientedBox::getFacePlane - invalid face\n"));
return Plane3d(Vector::zero,Vector::zero);
}
}
Plane3d Prism::base_plane() const {
return Plane3d(base_vertices_[0]->point(), direction_);
}
Plane3d Prism::top_plane() const {
return Plane3d(top_vertices_[0]->point(), direction_);
}
inline
Plane3d
Circle3d::plane() const {
return Plane3d(centerPoint(), normalVector());
}
Plane3d Triangle3d::getPlane ( void ) const
{
return Plane3d(getCornerA(),getNormal());
}
Plane3d Facet::supporting_plane() const {
Point3d p = vertices_[0]->point();
return Plane3d(p, normal_);
}
Plane3d Circle::getPlane ( void ) const
{
return Plane3d(m_center,Vector::unitY);
}