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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function d = distancePointPlane(point, plane)
%DISTANCEPOINTPLANE Signed distance between 3D point and plane.
%
% D = distancePointPlane(POINT, PLANE)
% Returns the euclidean distance between point POINT and the plane PLANE,
% given by:
% POINT : [x0 y0 z0]
% PLANE : [x0 y0 z0 dx1 dy1 dz1 dx2 dy2 dz2]
% D : scalar
%
% See also
% planes3d, points3d, intersectLinePlane
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2005-02-18
% Copyright 2005-2023 INRA - TPV URPOI - BIA IMASTE
% normalized plane normal
n = normalizeVector3d(cross(plane(:,4:6), plane(:, 7:9), 2));
% Uses Hessian form, ie : N.p = d
% I this case, d can be found as : -N.p0, when N is normalized
d = -sum(bsxfun(@times, n, bsxfun(@minus, plane(:,1:3), point)), 2);
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