osg::Line Class Reference
[Base]

#include <OSGLine.h>

List of all members.

Public Member Functions
Constructors
*	Line (void)
	Line (const Line &obj)
	Line (const Pnt3f &p0, const Pnt3f &p1)
	Line (const Pnt3f &pos, const Vec3f &dir)
Destructor
*	~Line (void)
Set
*void	setValue (const Pnt3f &p0, const Pnt3f &p1)
void	setValue (const Pnt3f &pos, const Vec3f &dir)
Class Specific
*bool	getClosestPoints (const Line &line2, Pnt3f &ptOnThis, Pnt3f &ptOnLine2) const
Pnt3f	getClosestPoint (const Pnt3f &point) const
Real32	distance (const Pnt3f &point) const
Get
*const Pnt3f &	getPosition (void) const
const Vec3f &	getDirection (void) const
Intersection
*bool	intersect (const SphereVolume &sphere) const
bool	intersect (const SphereVolume &sphere, Real32 &enter, Real32 &exit) const
bool	intersect (const CylinderVolume &cyl) const
bool	intersect (const CylinderVolume &cyl, Real32 &enter, Real32 &exit) const
bool	intersect (const FrustumVolume &frustum) const
bool	intersect (const FrustumVolume &frustum, Real32 &enter, Real32 &exit) const
bool	intersect (const BoxVolume &box, Real32 &enter, Real32 &exit) const
bool	intersect (Real32 angle, const BoxVolume &box) const
bool	intersect (Real32 angle, const Vec3f &point) const
bool	intersect (Real32 angle, const Vec3f &v0, const Vec3f &v1, Vec3f &pt) const
bool	intersect (const Pnt3f &v0, const Pnt3f &v1, const Pnt3f &v2, Real32 &t, Vec3f *normal=NULL) const
Private Attributes
Pnt3f	_pos
Vec3f	_dir

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Detailed Description

A line starting at a point p and extending infinitely far into the direction d. This will probably split up into multiple classes for dual-inifinite and non-infinite lines

Definition at line 56 of file OSGLine.h.

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Constructor & Destructor Documentation

Line::Line (  void   )

Definition at line 68 of file OSGLine.cpp. : _pos(0.f, 0.f ,0.f), _dir(0.f, 0.f, 0.f) { }

Line::Line (  const Line &  obj  )

Definition at line 75 of file OSGLine.cpp. : _pos(obj._pos), _dir(obj._dir) { }

Line::Line (  const Pnt3f &  p0, const Pnt3f &  p1 )

Definition at line 82 of file OSGLine.cpp. References setValue(). { setValue(p0, p1); }

Line::Line (  const Pnt3f &  pos, const Vec3f &  dir )

Definition at line 88 of file OSGLine.cpp. References setValue(). { setValue(pos, dir); }

Line::~Line (  void   )

Definition at line 96 of file OSGLine.cpp. { }

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Member Function Documentation

void Line::setValue (  const Pnt3f &  p0, const Pnt3f &  p1 )

Definition at line 102 of file OSGLine.cpp. References _dir, _pos, and osg::VectorInterface< ValueTypeT, StorageInterfaceT >::normalize(). Referenced by osg::Navigator::calcDeltas(), osg::Camera::calcViewRay(), osg::WalkNavigator::forward(), osg::Plane::intersect(), osg::Transform::intersectEnter(), Line(), and osg::WalkNavigator::right(). { _pos = p0; _dir = p1 - p0; _dir.normalize(); }

void Line::setValue (  const Pnt3f &  pos, const Vec3f &  dir )

Definition at line 111 of file OSGLine.cpp. References _dir, _pos, and osg::VectorInterface< ValueTypeT, StorageInterfaceT >::normalize(). { _pos = pos; _dir = dir; _dir.normalize(); }

bool Line::getClosestPoints (  const Line &  line2, Pnt3f &  ptOnThis, Pnt3f &  ptOnLine2 )  const

Find closest points between the two lines. Return false if they are parallel, otherwise return true. Definition at line 122 of file OSGLine.cpp. References _dir, _pos, osg::VectorInterface< ValueTypeT, StorageInterfaceT >::cross(), osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(), osg::PointInterface< ValueTypeT, StorageInterfaceT >::isZero(), and osg::VectorInterface< ValueTypeT, StorageInterfaceT >::squareLength(). { // Assumes that _dir and line2._dir are valid and normalized Vec3f normal=_dir.cross(line2._dir); if(normal.isZero()) return false; // Lines are parallel Vec3f p0p1=line2._pos-_pos; Real32 lengthSqr=normal.squareLength(); Real32 s=p0p1.cross(line2._dir).dot(normal) / lengthSqr; Real32 t=p0p1.cross( _dir).dot(normal) / lengthSqr; ptOnThis = _pos + s * _dir; ptOnLine2=line2._pos + t * line2._dir; return true; }

Pnt3f Line::getClosestPoint (  const Pnt3f &  point  )  const

Returns the closest point on the line to the given point. Definition at line 146 of file OSGLine.cpp. References _dir, _pos, and osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(). Referenced by distance(). { Vec3f vec(point - _pos); return _pos + _dir * vec.dot(_dir); }

Real32 Line::distance (  const Pnt3f &  point  )  const

Returns the distance of the given point to the line. Definition at line 157 of file OSGLine.cpp. References getClosestPoint(). { return (point - getClosestPoint(point)).length(); }

const Pnt3f & osg::Line::getPosition (  void   )  const [inline]

Accessors for position Definition at line 52 of file OSGLine.inl. References _pos. Referenced by osg::Navigator::buttonRelease(), osg::Navigator::calcDeltas(), osg::IntersectAction::getHitPoint(), osg::Navigator::getIntersectionPoint(), osg::Plane::intersect(), osg::Transform::intersectEnter(), osg::InverseTransform::intersectEnter(), osg::Billboard::intersectEnter(), osg::Plane::intersectInfinite(), osg::Transform::intersectLeave(), osg::InverseTransform::intersectLeave(), and osg::Billboard::intersectLeave(). { return _pos; }

const Vec3f & osg::Line::getDirection (  void   )  const [inline]

Accessors for direction Definition at line 61 of file OSGLine.inl. References _dir. Referenced by osg::Navigator::buttonRelease(), osg::Navigator::calcDeltas(), osg::IntersectAction::getHitPoint(), osg::Navigator::getIntersectionPoint(), osg::Plane::intersect(), osg::Transform::intersectEnter(), osg::InverseTransform::intersectEnter(), osg::Billboard::intersectEnter(), osg::Plane::intersectInfinite(), osg::Transform::intersectLeave(), osg::InverseTransform::intersectLeave(), and osg::Billboard::intersectLeave(). { return _dir; }

bool Line::intersect (  const SphereVolume &  sphere  )  const

Intersect the Line with a Sphere Definition at line 168 of file OSGLine.cpp. Referenced by osg::SphereVolume::intersect(), intersect(), osg::Geometry::intersect(), osg::FrustumVolume::intersect(), osg::CylinderVolume::intersect(), and osg::BoxVolume::intersect(). { Real32 ent; Real32 ex; return this->intersect(sphere, ent, ex); }

bool Line::intersect (  const SphereVolume &  sphere, Real32 &  enter, Real32 &  exit )  const

Intersect the line with a sphere, returns points of intersection Definition at line 179 of file OSGLine.cpp. References _dir, _pos, osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(), osg::Eps, osg::SphereVolume::getCenter(), osg::SphereVolume::getRadius(), and osg::osgsqrt(). { Vec3f v; Pnt3f center; sphere.getCenter(center); Real32 radius; Real32 h; Real32 b; Real32 d; Real32 t1; Real32 t2; radius = sphere.getRadius(); v = center - _pos; h = (v.dot(v))-(radius*radius); b = (v.dot(_dir)); if(h >= 0 && b <= 0) return false; d = b * b - h; if(d < 0) return false; d = osgsqrt(d); t1 = b - d; // if (t1 > 1) // return false; t2 = b + d; if( t1 < Eps ) { if( t2 < Eps /*|| t2 > 1*/) { return false; } } enter = t1; exit = t2; return true; }

bool Line::intersect (  const CylinderVolume &  cyl  )  const

Intersect the line with a cylinder Definition at line 236 of file OSGLine.cpp. References intersect(). { Real32 ent; Real32 ex; return this->intersect(cyl, ent, ex); }

bool Line::intersect (  const CylinderVolume &  cyl, Real32 &  enter, Real32 &  exit )  const

Intersect the line with a cylinder, returns points of intersection based on GGems IV Definition at line 248 of file OSGLine.cpp. References _dir, _pos, osg::VectorInterface< ValueTypeT, StorageInterfaceT >::cross(), osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(), osg::CylinderVolume::getAxis(), osg::CylinderVolume::getRadius(), osg::Inf, osg::Plane::intersect(), osg::Plane::isInHalfSpace(), osg::VectorInterface< ValueTypeT, StorageInterfaceT >::length(), osg::VectorInterface< ValueTypeT, StorageInterfaceT >::normalize(), osg::osgabs(), and osg::osgsqrt(). { Real32 radius = cyl.getRadius(); Vec3f adir; Vec3f o_adir; Pnt3f apos; cyl.getAxis(apos, adir); o_adir = adir; adir.normalize(); bool isect; Real32 ln; Real32 dl; Vec3f RC; Vec3f n; Vec3f D; RC = _pos - apos; n = _dir.cross (adir); ln = n .length( ); if(ln == 0) // IntersectionLine is parallel to CylinderAxis { D = RC - (RC.dot(adir)) * adir; dl = D.length(); if(dl <= radius) // line lies in cylinder { enter = 0; exit = Inf; } else { return false; } } else { n.normalize(); dl = osgabs(RC.dot(n)); //shortest distance isect = (dl <= radius); if(isect) { // if ray hits cylinder Real32 t; Real32 s; Vec3f O; O = RC.cross(adir); t = - (O.dot(n)) / ln; O = n.cross(adir); O.normalize(); s = osgabs ( (osgsqrt ((radius * radius) - (dl * dl))) / (_dir.dot(O))); exit = t + s; if(exit < 0) return false; enter = t - s; if(enter < 0) enter = 0; } else { return false; } } Real32 t; Plane bottom(-adir, apos); if(bottom.intersect(*this, t)) { if(bottom.isInHalfSpace(_pos)) { if(t > enter) enter = t; } else { if(t < exit) exit = t; } } else { if(bottom.isInHalfSpace(_pos)) return false; } Plane top(adir, apos + o_adir); if(top.intersect(*this, t)) { if(top.isInHalfSpace(_pos)) { if(t > enter) enter = t; } else { if(t < exit) exit = t; } } else { if(top.isInHalfSpace(_pos)) return false; } return (enter < exit); }

bool Line::intersect (  const FrustumVolume &  frustum  )  const

Intersect the line with a frustum Definition at line 379 of file OSGLine.cpp. References intersect(). { Real32 ent; Real32 ex; return this->intersect(frustum, ent, ex); }

bool Line::intersect (  const FrustumVolume &  frustum, Real32 &  enter, Real32 &  exit )  const

Intersect the Line with a Sphere Definition at line 409 of file OSGLine.cpp. References _dir, _pos, osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(), osg::Plane::getNormal(), osg::FrustumVolume::getPlanes(), osg::face::inner_normal, osg::face::inner_vector, osg::Plane::intersect(), osg::Plane::intersectInfinite(), and osg::face::point. { const Real32 inf = 2 << 16; Pnt3f enter_point = _pos + _dir * 0; Pnt3f exit_point = _pos + _dir * inf; face faces[6]; const Plane *planes = frustum.getPlanes(); Line lines[2]; //ln[0] - intersection of right and top planes planes[3].intersect(planes[4], lines[0]); //ln[1] - left and bottom planes[2].intersect(planes[5], lines[1]); Pnt3f pointA; Pnt3f pointB; if(!planes[0].intersectInfinite(lines[0],pointA)) std::cout << "This should never happen (A)!!!!"; if(!planes[1].intersectInfinite(lines[1],pointB)) std::cout << "This should never happen (B)!!!!"; faces[0].point = pointA; faces[0].inner_vector = pointB - pointA; faces[1].point = pointB; faces[1].inner_vector = pointA - pointB; faces[2].point = pointB; faces[2].inner_vector = pointA - pointB; faces[3].point = pointA; faces[3].inner_vector = pointB - pointA; faces[4].point = pointA; faces[4].inner_vector = pointB - pointA; faces[5].point = pointB; faces[5].inner_vector = pointA - pointB; for(Int32 i = 0; i < 6; i++) { faces[i].inner_normal=planes[i].getNormal(); if(faces[i].inner_normal.dot(faces[i].inner_vector) < 0.f) faces[i].inner_normal=-faces[i].inner_normal; Vec3f test_enp = enter_point - faces[i].point; Vec3f test_exp = exit_point - faces[i].point; Real32 value_enp = test_enp.dot(faces[i].inner_normal); Real32 value_exp = test_exp.dot(faces[i].inner_normal); if(value_enp < 0.f && value_exp < 0.f) return false; if(value_enp > 0.f && value_exp < 0.f) planes[i].intersect(*this, exit_point ); if(value_enp < 0.f && value_exp > 0.f) planes[i].intersect(*this, enter_point); } Real32 a; if((a = (enter_point - _pos).dot(_dir)) != 0.f) { enter = (enter_point - _pos).dot(enter_point - _pos) / a; } else { enter = 0.f; } if((a = (exit_point - _pos).dot(_dir)) != 0.f) { exit = (exit_point - _pos).dot(exit_point - _pos) / a; } else { enter = 0.f; } return true; }

bool Line::intersect (  const BoxVolume &  box, Real32 &  enter, Real32 &  exit )  const

Intersect the line with a box, returns points of intersection Definition at line 507 of file OSGLine.cpp. References _dir, _pos, osg::Eps, osg::BoxVolume::getBounds(), and osg::Inf. { Pnt3f low; Pnt3f high; box.getBounds(low, high); Real32 r; Real32 te; Real32 tl; Real32 in = 0.f; Real32 out = Inf; if(_dir[0] > Eps) { r = 1.f / _dir[0]; te = (low [0] - _pos[0]) * r; tl = (high[0] - _pos[0]) * r; if(tl < out) out = tl; if(te > in) in = te; } else if(_dir[0] < -Eps) { r = 1.f / _dir[0]; te = (high[0] - _pos[0]) * r; tl = (low [0] - _pos[0]) * r; if(tl < out) out = tl; if(te > in) in = te; } else if(_pos[0] < low[0] || _pos[0] > high[0]) { return false; } if(_dir[1] > Eps) { r = 1.f / _dir[1]; te = (low [1] - _pos[1]) * r; tl = (high[1] - _pos[1]) * r; if(tl < out) out = tl; if(te > in) in = te; if(in-out >= Eps) return false; } else if(_dir[1] < -Eps) { r = 1.f / _dir[1]; te = (high[1] - _pos[1]) * r; tl = (low [1] - _pos[1]) * r; if(tl < out) out = tl; if(te > in) in = te; if(in-out >= Eps) return false; } else if(_pos[1] < low[1] || _pos[1] > high[1]) { return false; } if(_dir[2] > Eps) { r = 1.f / _dir[2]; te = (low [2] - _pos[2]) * r; tl = (high[2] - _pos[2]) * r; if(tl < out) out = tl; if(te > in) in = te; } else if(_dir[2] < -Eps) { r = 1.f / _dir[2]; te = (high[2] - _pos[2]) * r; tl = (low [2] - _pos[2]) * r; if(tl < out) out = tl; if(te > in) in = te; } else if(_pos[2] < low[2] || _pos[2] > high[2]) { return false; } enter = in; exit = out; // Eps: count flat boxes as intersected return enter-exit < Eps; }

bool Line::intersect (  Real32  angle, const BoxVolume &  box )  const

Intersect the line with a box. Definition at line 636 of file OSGLine.cpp. { // TODO assert(false); return false; }

bool Line::intersect (  Real32  angle, const Vec3f &  point )  const

Intersect the line with a point. Definition at line 647 of file OSGLine.cpp. { // TODO assert(false); return false; }

bool Line::intersect (  Real32  angle, const Vec3f &  v0, const Vec3f &  v1, Vec3f &  pt )  const

Intersect the line with a line. Definition at line 658 of file OSGLine.cpp. { // TODO assert(false); return false; }

bool Line::intersect (  const Pnt3f &  v0, const Pnt3f &  v1, const Pnt3f &  v2, Real32 &  t, Vec3f *  norm = NULL )  const

Intersect the line with a triangle. Definition at line 675 of file OSGLine.cpp. References _dir, _pos, osg::VectorInterface< ValueTypeT, StorageInterfaceT >::cross(), and osg::VectorInterface< ValueTypeT, StorageInterfaceT >::dot(). { // Eps (1E-6f) didn't work with very small geometries! static const Real32 sEps = 1E-10f; // find vectors for two edges sharing v0. Vec3f edge1 = v1 - v0; Vec3f edge2 = v2 - v0; // begin calculating determinant - also used to calculate U parameter. Vec3f pvec = _dir.cross(edge2); // if determinant is near zero, ray lies in plane of triangle. Real32 det = edge1.dot(pvec); Vec3f qvec; if(det > sEps) { // calculate distance from v0 to ray origin. Vec3f tvec = _pos - v0; // calculate U parameter and test bounds. Real32 u = tvec.dot(pvec); if(u < 0.0 || u > det) return false; // prepare to test V parameter. qvec = tvec.cross(edge1); // calculate V parameter and test bounds. Real32 v = _dir.dot(qvec); if(v < 0.0 || u + v > det) return false; } else if(det < -sEps) { // calculate distance from v0 to ray origin. Vec3f tvec = _pos - v0; // calculate U parameter and test bounds. Real32 u = tvec.dot(pvec); if(u > 0.0 || u < det) return false; // prepare to test V parameter. qvec = tvec.cross(edge1); // calculate V parameter and test bounds. Real32 v = _dir.dot(qvec); if(v > 0.0 || u + v < det) return false; } else return false; // ray is parallel to the plane of the triangle. Real32 inv_det = 1.0 / det; // calculate t, ray intersects triangle. t = edge2.dot(qvec) * inv_det; if(norm != NULL) *norm = pvec; return true; }

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Member Data Documentation

Pnt3f osg::Line::_pos [private]

Definition at line 143 of file OSGLine.h. Referenced by getClosestPoint(), getClosestPoints(), getPosition(), intersect(), and setValue().

Vec3f osg::Line::_dir [private]

Definition at line 144 of file OSGLine.h. Referenced by getClosestPoint(), getClosestPoints(), getDirection(), intersect(), and setValue().

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The documentation for this class was generated from the following files:

• OSGLine.h
• OSGLine.cpp
• OSGLine.inl

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