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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 b = isPointOnLine3d(point, line, varargin)
%ISPOINTONLINE3D Test if a 3D point belongs to a 3D line.
%
% B = isPointOnLine3d(POINT, LINE)
% with POINT being [xp yp zp], and LINE being [x0 y0 z0 dx dy dz].
% Returns 1 if point lies on the line, 0 otherwise.
%
% If POINT is an N-by-3 array of points, B is a N-by-1 array of booleans.
%
% If LINE is a N-by-6 array of lines, B is a N-by-1 array of booleans.
%
% B = isPointOnLine3d(POINT, LINE, TOL)
% Specifies the tolerance used for testing location on 3D line.
%
% See also
% lines3d, distancePointLine3d, linePosition3d, isPointOnLine
%
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2003-10-31
% Copyright 2003-2023 INRA - TPV URPOI - BIA IMASTE
% extract computation tolerance
tol = 1e-14;
if ~isempty(varargin)
tol = varargin{1};
end
% size of inputs
np = size(point,1);
nl = size(line, 1);
if np == 1 || nl == 1 || np == nl
% test if lines are colinear, using norm of the cross product
b = bsxfun(@rdivide, vectorNorm3d( ...
crossProduct3d(bsxfun(@minus, line(:,1:3), point), line(:,4:6))), ...
vectorNorm3d(line(:,4:6))) < tol;
else
% same test, but after reshaping arrays to manage difference of
% dimensionality
point = reshape(point, [np 1 3]);
line = reshape(line, [1 nl 6]);
b = bsxfun(@rdivide, vectorNorm3d( ...
cross(bsxfun(@minus, line(:,:,1:3), point), line(ones(1,np),:,4:6), 3)), ...
vectorNorm3d(line(:,:,4:6))) < tol;
end
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