1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
|
/************************************************************************
*
* Copyright (C) 2025 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#pragma once
#include <sight/geometry/__/config.hpp>
#include <glm/mat3x3.hpp>
#include <glm/vec3.hpp>
#include <utility>
namespace sight::geometry
{
/**
* @brief Definition of a type for a line defined by two positions
*/
using line_t = std::pair<glm::dvec3, glm::dvec3>;
/**
* @brief Definition of a type for a ray defined by a position and a direction
*/
using ray_t = std::pair<glm::dvec3, glm::dvec3>;
/**
* @brief Definition of a type for a ray defined by a position and a direction
*/
struct oriented_box_t
{
glm::dvec3 center;
glm::dvec3 extent; ///< distance from the center to the edge in each direction, always positive
glm::dmat3 orientation;
};
//------------------------------------------------------------------------------
/**
* @brief Compute the closest points between two rays.
* @param [in] _ray1 ray (origin,direction). Direction vector is assumed be normalized.
* @param [in] _ray2 ray (origin,direction). Direction vector is assumed be normalized.
* @param [out] _point_on_ray1 closest point on the first ray.
* @param [out] _point_on_ray2 closest point on the second ray.
* Return FALSE if the lines are parallel, TRUE otherwise.
* @verbatim
p1 + t1 * d1
p2 + t2 * d2
(p2 - p1 + t2 * d2 - t1 * d1) * d1 = 0
(p2 - p1 + t2 * d2 - t1 * d1) * d2 = 0
t2 * (d2.d1) - t1 = (p1 - p2).d1
t2 - t1 * (d1.d2) = (p1 - p2).d2
delta = 1 - (d1.d2)**2
t2 = [ d2.(p1-p2) - d1.(p1-p2) * (d1.d2)]/delta
t1 = [-d1.(p1-p2) + d2.(p1-p2) * (d1.d2)]/delta
@endverbatim
*/
SIGHT_GEOMETRY_API bool get_closest_points(
const ray_t& _ray1,
const ray_t& _ray2,
glm::dvec3& _point_on_ray1,
glm::dvec3& _point_on_ray2
);
/**
* @brief Compute the projection of a point in a given direction.
* @param [in] _ray ray (origin,direction). Direction vector is assumed be normalized.
* @param [in] _point point to be projected
* @return closest point of the line if an intersection is found.
*/
SIGHT_GEOMETRY_API glm::dvec3 get_closest_point(const ray_t& _ray, const glm::dvec3& _point);
/**
* @brief Compute the projection of a point in a given direction and test if this intersection is inside a given radius.
* @param [in] _ray ray (origin,direction). Direction vector is assumed be normalized.
* @param [in] _radius maximum distance of the point
* @param [in] _point point to be projected
* @return closest point of the line if an intersection is found.
*/
SIGHT_GEOMETRY_API bool intersect(const ray_t& _ray, double _radius, const glm::dvec3& _point);
/**
* @brief Compute the closest points between two rays and test these points lie inside a sphere of a given radius.
* @param [in] _line ray (origin,direction). Direction vector is assumed be normalized.
* @param [in] _radius maximum distance of the point
* @param [in] _origin origin of the second ray
* @param [in] _direction direction of the second ray
* @param [in] _point point to be projected
* @return closest point of the line if an intersection is found.
*/
SIGHT_GEOMETRY_API bool intersect(
const ray_t& _line,
double _radius,
const glm::dvec3& _origin,
const glm::dvec3& _direction,
glm::dvec3& _point
);
/**
* @brief Give the intersection between a plane and a line. The result is returned in a point (_point).
* @deprecated This function was added for a specific purpose and will be removed in a future release.
* @param [in] _line input line (2 positions)
* @param [in] _v1 first point of the plane
* @param [in] _v2 second point of the plane
* @param [in] _v3 third point of the plane
* @param [out] _point intersection point.
* @param [out] _barycentric barycenter of the triangle defined by the three points of the plane.
* @param [out] _front true if the dot product of the plane normal and ths positive Z axis (0,0,1) is positive.
* @return true if an intersection is found.
*/
SIGHT_GEOMETRY_API bool intersect(
const line_t& _line,
const glm::dvec3& _v1,
const glm::dvec3& _v2,
const glm::dvec3& _v3,
glm::dvec3& _point,
glm::dvec3& _barycentric,
bool& _front
);
SIGHT_GEOMETRY_API bool intersect_box(line_t segment, oriented_box_t _box);
} // namespace sight::geometry
|
