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## Copyright (C) 2024 David Legland
## All rights reserved.
##
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function [inter, inside]= intersectLinePolygon3d(line, poly)
%INTERSECTLINEPOLYGON3D Intersection point of a 3D line and a 3D polygon.
%
% INTER = intersectLinePolygon3d(LINE, POLY)
% Compute coordinates of intersection point between the 3D line LINE and
% the 3D polygon POLY. LINE is a 1-by-6 row vector containing origin and
% direction vector of the line, POLY is a Np-by-3 array containing
% coordinates of 3D polygon vertices.
% INTER is a 1-by-3 row vector containing coordinates of intersection
% point, or [NaN NaN NaN] if line and polygon do not intersect.
%
% INTERS = intersectLinePolygon3d(LINES, POLY)
% If LINES is a N-by-6 array representing several lines, the result
% INTERS is a N-by-3 array containing coordinates of intersection of each
% line with the polygon.
%
% [INTER INSIDE] = intersectLinePolygon3d(LINE, POLY)
% Also return a N-by-1 boolean array containing TRUE if the corresponding
% polygon contains the intersection point.
%
% Example
% % Compute intersection between a 3D line and a 3D triangle
% pts3d = [3 0 0; 0 6 0;0 0 9];
% line1 = [0 0 0 3 6 9];
% inter = intersectLinePolygon3d(line1, pts3d)
% inter =
% 1 2 3
%
% % keep only valid intersections with several lines
% pts3d = [3 0 0; 0 6 0;0 0 9];
% lines = [0 0 0 1 2 3;10 0 0 1 2 3];
% [inter inside] = intersectLinePolygon3d(line1, pts3d);
% inter(inside, :)
% ans =
% 1 2 3
%
% See also
% intersectLinePolygon, intersectRayPolygon3d, intersectLinePlane
%
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2011-05-22, using Matlab 7.9.0.529 (R2009b)
% Copyright 2011-2023 INRA - Cepia Software Platform
% supporting plane of polygon vertices
plane = createPlane(poly(1:3, :));
% intersection of 3D line with the plane
inter = intersectLinePlane(line, plane);
% project all points on reference plane
pts2d = planePosition(poly, plane);
pInt2d = planePosition(inter, plane);
% need to check polygon orientation
inside = xor(isPointInPolygon(pInt2d, pts2d), polygonArea(pts2d) < 0);
% intersection points outside the polygon are set to NaN
inter(~inside, :) = NaN;
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