/* =========================================================================== Doom 3 BFG Edition GPL Source Code Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company. This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code"). Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Doom 3 BFG Edition Source Code 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 General Public License for more details. You should have received a copy of the GNU General Public License along with Doom 3 BFG Edition Source Code. If not, see . In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below. If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA. =========================================================================== */ #pragma hdrstop #include "../precompiled.h" idPluecker pluecker_origin( 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f ); /* ================ idPluecker::FromPlanes pluecker coordinate for the intersection of two planes ================ */ bool idPluecker::FromPlanes( const idPlane& p1, const idPlane& p2 ) { p[0] = -( p1[2] * -p2[3] - p2[2] * -p1[3] ); p[1] = -( p2[1] * -p1[3] - p1[1] * -p2[3] ); p[2] = p1[1] * p2[2] - p2[1] * p1[2]; p[3] = -( p1[0] * -p2[3] - p2[0] * -p1[3] ); p[4] = p1[0] * p2[1] - p2[0] * p1[1]; p[5] = p1[0] * p2[2] - p2[0] * p1[2]; return ( p[2] != 0.0f || p[5] != 0.0f || p[4] != 0.0f ); } /* ================ idPluecker::Distance3DSqr calculates square of shortest distance between the two 3D lines represented by their pluecker coordinates ================ */ float idPluecker::Distance3DSqr( const idPluecker& a ) const { float d, s; idVec3 dir; dir[0] = -a.p[5] * p[4] - a.p[4] * -p[5]; dir[1] = a.p[4] * p[2] - a.p[2] * p[4]; dir[2] = a.p[2] * -p[5] - -a.p[5] * p[2]; if( dir[0] == 0.0f && dir[1] == 0.0f && dir[2] == 0.0f ) { return -1.0f; // FIXME: implement for parallel lines } d = a.p[4] * ( p[2] * dir[1] - -p[5] * dir[0] ) + a.p[5] * ( p[2] * dir[2] - p[4] * dir[0] ) + a.p[2] * ( -p[5] * dir[2] - p[4] * dir[1] ); s = PermutedInnerProduct( a ) / d; return ( dir * dir ) * ( s * s ); } /* ============= idPluecker::ToString ============= */ const char* idPluecker::ToString( int precision ) const { return idStr::FloatArrayToString( ToFloatPtr(), GetDimension(), precision ); }