// Filename: plane_src.I
// Created by:  mike (09Jan97)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University.  All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license.  You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////////////////////////
//     Function: Plane::Constructor
//       Access: Published
//  Description: Creates a default plane.  This plane happens to
//               intersect the origin, perpendicular to the Z axis.
//               It's not clear how useful a default plane is.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane)::
FLOATNAME(Plane)() {
  _v.v._0 = 0.0f;
  _v.v._1 = 0.0f;
  _v.v._2 = 1.0f;
  _v.v._3 = 0.0f;
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Copy Constructor
//       Access: Published
//  Description:
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane)::
FLOATNAME(Plane)(const FLOATNAME(LVecBase4) &copy) :
  FLOATNAME(LVecBase4)(copy)
{
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Constructor
//       Access: Published
//  Description: Constructs a plane given three counter-clockwise
//               points, as seen from the front of the plane (that is,
//               viewed from the end of the normal vector, looking
//               down).
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane)::
FLOATNAME(Plane)(const FLOATNAME(LPoint3) &a, const FLOATNAME(LPoint3) &b,
                 const FLOATNAME(LPoint3) &c) {
  FLOATNAME(LVector3) u = b - a;
  FLOATNAME(LVector3) v = c - a;
  FLOATNAME(LVector3) p = ::normalize(cross(u, v));

  _v.v._0 = p[0];
  _v.v._1 = p[1];
  _v.v._2 = p[2];
  _v.v._3 = -::dot(p, a);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Constructor
//       Access: Published
//  Description: Constructs a plane given a surface normal vector and
//               a point within the plane.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane)::
FLOATNAME(Plane)(const FLOATNAME(LVector3) &normal, 
                 const FLOATNAME(LPoint3) &point) {
  FLOATNAME(LVector3) p = ::normalize(normal);

  _v.v._0 = p[0];
  _v.v._1 = p[1];
  _v.v._2 = p[2];
  _v.v._3 = -::dot(p, point);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Constructor
//       Access: Published
//  Description: Constructs a plane given the four terms of the plane
//               equation.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane)::
FLOATNAME(Plane)(FLOATTYPE a, FLOATTYPE b, FLOATTYPE c, FLOATTYPE d) :
  FLOATNAME(LVecBase4)(a, b, c, d)
{
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Operator * LMatrix3
//       Access: Published
//  Description: Transforms the plane by the indicated matrix.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane) FLOATNAME(Plane)::
operator * (const FLOATNAME(LMatrix3) &mat) const {
  FLOATNAME(LVector3) new_normal = mat.xform(get_normal());
  return FLOATNAME(Plane)(new_normal, get_point());
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Operator * LMatrix4
//       Access: Published
//  Description: Transforms the plane by the indicated matrix.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane) FLOATNAME(Plane)::
operator * (const FLOATNAME(LMatrix4) &mat) const {
  FLOATNAME(LVector3) new_normal = mat.xform_vec_general(get_normal());
  FLOATNAME(LPoint3) new_point = get_point() * mat;
  return FLOATNAME(Plane)(new_normal, new_point);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Operator *= LMatrix4
//       Access: Published
//  Description: Transforms the plane by the indicated matrix.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL void FLOATNAME(Plane)::
operator *= (const FLOATNAME(LMatrix4) &mat) {
  (*this) = (*this) * mat;
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::xform
//       Access: Published
//  Description: Transforms the plane by the indicated matrix.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL void FLOATNAME(Plane)::
xform(const FLOATNAME(LMatrix4) &mat) {
  (*this) = (*this) * mat;
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::Unary -
//       Access: Published
//  Description: Returns the same plane facing the opposite direction.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane) FLOATNAME(Plane)::
operator - () const {
  return FLOATNAME(Plane)(-_v.v._0, -_v.v._1, -_v.v._2, -_v.v._3);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::get_normal
//       Access: Published
//  Description: Returns the surface normal of the plane.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(LVector3) FLOATNAME(Plane)::
get_normal() const {
  return FLOATNAME(LVector3)(_v.v._0, _v.v._1, _v.v._2);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::dist_to_plane
//       Access: Published
//  Description: Returns the straight-line shortest distance from the
//               point to the plane.  The returned value is positive
//               if the point is in front of the plane (on the side
//               with the normal), or negative in the point is behind
//               the plane (on the opposite side from the normal).
//               It's zero if the point is exactly in the plane.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATTYPE FLOATNAME(Plane)::
dist_to_plane(const FLOATNAME(LPoint3) &point) const {
  return (_v.v._0 * point[0] + _v.v._1 * point[1] + _v.v._2 * point[2] + _v.v._3);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::project
//       Access: Published
//  Description: Returns the point within the plane nearest to the
//               indicated point in space.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(LPoint3) FLOATNAME(Plane)::
project(const FLOATNAME(LPoint3) &point) const {
  return point - get_normal() * dist_to_plane(point);
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::intersects_line
//       Access: Published
//  Description: Returns true if the plane intersects the infinite
//               line passing through points p1 and p2, false if the
//               line is parallel.  The points p1 and p2 are used only
//               to define the Euclidean line; they have no other
//               bearing on the intersection test.  If true, sets
//               intersection_point to the point of intersection.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL bool FLOATNAME(Plane)::
intersects_line(FLOATNAME(LPoint3) &intersection_point,
                const FLOATNAME(LPoint3) &p1,
                const FLOATNAME(LPoint3) &p2) const {
  FLOATTYPE t;
  if (!intersects_line(t, p1, p2 - p1)) {
    return false;
  }
  intersection_point = p1 + t * (p2 - p1);
  return true;
}

////////////////////////////////////////////////////////////////////
//     Function: Plane::intersects_line
//       Access: Published
//  Description: This flavor of intersects_line() returns a bit more
//               information about the nature of the intersecting
//               point.  The line is defined via the parametric
//               equation from + t * delta for all real values of t.
//
//               If there is no intersection with the plane, the
//               function returns false and leaves t undefined.  If
//               there is an intersection with the plane, the function
//               returns true and sets t to the parametric value that
//               defines the point of intersection.  That is, t == 0.0f
//               implies that the intersection occurred exactly at
//               point from, and t == 1.0f implies at point from +
//               delta, with other values of t accordingly.
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL bool FLOATNAME(Plane)::
intersects_line(FLOATTYPE &t,
                const FLOATNAME(LPoint3) &from,
                const FLOATNAME(LVector3) &delta) const {
  FLOATTYPE denom = ::dot(get_normal(), delta);
  if (IS_NEARLY_ZERO(denom)) {
    t = 0.0f;
    return false;
  }

  t = -(dist_to_plane(from) / denom);
  return true;
}

INLINE_MATHUTIL ostream &
operator << (ostream &out, const FLOATNAME(Plane) &p) {
  p.output(out);
  return out;
}