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1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
31{
32 public class Plane
33 {
34 public float3 normal = new float3();
35 public float dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0
36
37 public Plane(float3 n, float d)
38 {
39 normal = new float3(n);
40 dist = d;
41 }
42
43 public Plane(Plane p)
44 {
45 normal = new float3(p.normal);
46 dist = p.dist;
47 }
48
49 public Plane()
50 {
51 dist = 0;
52 }
53
54 public void Transform(float3 position, Quaternion orientation)
55 {
56 // Transforms the plane to the space defined by the
57 // given position/orientation
58 float3 newNormal = Quaternion.Inverse(orientation) * normal;
59 float3 origin = Quaternion.Inverse(orientation) * (-normal * dist - position);
60
61 normal = newNormal;
62 dist = -float3.dot(newNormal, origin);
63 }
64
65 public override int GetHashCode()
66 {
67 return normal.GetHashCode() ^ dist.GetHashCode();
68 }
69
70 public override bool Equals(object obj)
71 {
72 Plane p = obj as Plane;
73 if (p == null)
74 return false;
75
76 return this == p;
77 }
78
79 public static bool operator ==(Plane a, Plane b)
80 {
81 return (a.normal == b.normal && a.dist == b.dist);
82 }
83
84 public static bool operator !=(Plane a, Plane b)
85 {
86 return !(a == b);
87 }
88
89 public static Plane PlaneFlip(Plane plane)
90 {
91 return new Plane(-plane.normal, -plane.dist);
92 }
93
94 public static bool coplanar(Plane a, Plane b)
95 {
96 return (a == b || a == PlaneFlip(b));
97 }
98 }
99}