bool Segment::intersect(Plane& plane, Eigen::Vector3f& point) const
{
double x = - (plane.getNormal().dot(origin_) + plane.getD()) / (plane.getNormal().dot(direction_));
point = direction_ * x + origin_;
double r = dividingRatio(point);
return 0 <= r && r <= 1.0;
}
void Segment::foot(const Eigen::Vector3d& from, Eigen::Vector3d& output)
{
Eigen::Vector3d foot_point;
Line::foot(from, foot_point);
double r = dividingRatio(foot_point);
if (r < 0.0) {
output = from_;
}
else if (r > 1.0) {
output = to_;
}
else {
output = foot_point;
}
}
