Math: added planeEquation() helper.

doc/changelog.dox

@@ -76,6 +76,9 @@ See also:
 -   Added @ref Math::Constants::piQuarter()
 -   Added a convenience function @ref Math::select() as a constant
     interpolation counterpart to @ref Math::lerp()
+-   Added a convenience function @ref Math::planeEquation() to aid with passing
+    passing parameters to @ref Math::Intersection::planeLine(),
+    @ref Math::Distance::pointPlane() and others
 -   Ability to convert @ref Math::BoolVector from and to external
     representation
 

src/Magnum/Math/Distance.h

@@ -169,8 +169,8 @@ The distance is negative if the point lies behind the plane.
 More efficient than @ref pointPlane() when merely the sign of the distance is
 of interest, for example when testing on which half space of the plane the
 point lies.
-@see @ref pointPlaneNormalized()
+@see @ref planeEquation(), @ref pointPlaneNormalized()
-    */
+*/
 template<class T> inline T pointPlaneScaled(const Vector3<T>& point, const Vector4<T>& plane) {
     return dot(plane.xyz(), point) + plane.w();
 }
@@ -187,6 +187,7 @@ The distance is negative if the point lies behind the plane.
 In cases where the planes normal is a unit vector, @ref pointPlaneNormalized()
 is more efficient. If merely the sign of the distance is of interest,
 @ref pointPlaneScaled() is more efficient.
+@see @ref planeEquation()
 */
 template<class T> inline T pointPlane(const Vector3<T>& point, const Vector4<T>& plane) {
     return pointPlaneScaled<T>(point, plane)/plane.xyz().length();
@@ -205,6 +206,7 @@ The distance is negative if the point lies behind the plane. Expects that
 More efficient than @ref pointPlane() in cases where the plane's normal is
 normalized. Equivalent to @ref pointPlaneScaled() but with assertion added on
 top.
+@see @ref planeEquation()
 */
 template<class T> inline T pointPlaneNormalized(const Vector3<T>& point, const Vector4<T>& plane) {
     CORRADE_ASSERT(plane.xyz().isNormalized(),

src/Magnum/Math/Test/Vector4Test.cpp

@@ -68,6 +68,9 @@ struct Vector4Test: Corrade::TestSuite::Tester {
     void threeComponent();
     void twoComponent();
 
+    void planeEquationThreePoints();
+    void planeEquationNormalPoint();
+
     void swizzleType();
     void debug();
     void configuration();
@@ -93,6 +96,9 @@ Vector4Test::Vector4Test() {
               &Vector4Test::threeComponent,
               &Vector4Test::twoComponent,
 
+              &Vector4Test::planeEquationThreePoints,
+              &Vector4Test::planeEquationNormalPoint,
+
               &Vector4Test::swizzleType,
               &Vector4Test::debug,
               &Vector4Test::configuration});
@@ -259,6 +265,34 @@ void Vector4Test::twoComponent() {
     CORRADE_COMPARE(d, 1.0f);
 }
 
+void Vector4Test::planeEquationThreePoints() {
+    const Vector3 a{1.0f, 0.5f, 3.0f};
+    const Vector3 b{1.5f, 1.5f, 2.5f};
+    const Vector3 c{2.0f, 1.5f, 1.0f};
+    const Vector4 eq = Math::planeEquation(a, b, c);
+
+    CORRADE_COMPARE(Math::dot(a, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(Math::dot(b, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(Math::dot(c, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(eq, (Vector4{-0.9045340f, 0.3015113f, -0.3015113f, 1.658312f}));
+
+    /* Different winding order should only give a negated normal */
+    CORRADE_COMPARE(Math::planeEquation(a, c, b), -eq);
+}
+
+void Vector4Test::planeEquationNormalPoint() {
+    const Vector3 a{1.0f, 0.5f, 3.0f};
+    const Vector3 normal{-0.9045340f, 0.3015113f, -0.3015113f};
+    const Vector4 eq = Math::planeEquation(normal, a);
+
+    const Vector3 b{1.5f, 1.5f, 2.5f};
+    const Vector3 c{2.0f, 1.5f, 1.0f};
+    CORRADE_COMPARE(Math::dot(a, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(Math::dot(b, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(Math::dot(c, eq.xyz()) + eq.w(), 0.0f);
+    CORRADE_COMPARE(eq, (Vector4{-0.9045340f, 0.3015113f, -0.3015113f, 1.658312f}));
+}
+
 void Vector4Test::swizzleType() {
     constexpr Vector4i orig;
     constexpr auto c = swizzle<'y', 'a', 'y', 'x'>(orig);

src/Magnum/Math/Vector3.h

@@ -48,7 +48,7 @@ Which is equivalent to the common one (source:
 https://twitter.com/sjb3d/status/563640846671953920): @f[
      \boldsymbol a \times \boldsymbol b = \begin{pmatrix}a_yb_z - a_zb_y \\ a_zb_x - a_xb_z \\ a_xb_y - a_yb_x \end{pmatrix}
 @f]
-@see @ref cross(const Vector2<T>&, const Vector2<T>&)
+@see @ref cross(const Vector2<T>&, const Vector2<T>&), @ref planeEquation()
 */
 template<class T> inline Vector3<T> cross(const Vector3<T>& a, const Vector3<T>& b) {
     return swizzle<'y', 'z', 'x'>(a*swizzle<'y', 'z', 'x'>(b) -

src/Magnum/Math/Vector4.h

@@ -26,7 +26,7 @@
 */
 
 /** @file
- * @brief Class @ref Magnum::Math::Vector4
+ * @brief Class @ref Magnum::Math::Vector4, function @ref Magnum::Math::planeEquation()
  */
 
 #include "Magnum/Math/Vector3.h"
@@ -200,6 +200,54 @@ template<class T> class Vector4: public Vector<4, T> {
         MAGNUM_VECTOR_SUBCLASS_IMPLEMENTATION(4, Vector4)
 };
 
+/** @relatesalso Vector4
+@brief Create a plane equation from three points
+
+Assuming the three points form a triangle in a counter-clockwise winding,
+creates a plane equation in the following form: @f[
+    ax + by + cz + d = 0
+@f]
+
+The first three coefficients describe the *scaled* normal
+@f$ \boldsymbol{n} = (a, b, c)^T @f$ and are calculated using a cross product.
+The coefficient @f$ d @f$ is calculated using a dot product with the normal
+@f$ \boldsymbol{n} @f$ using the first point in order to satisfy the equation
+when assigning @f$ \boldsymbol{p_i} @f$ to @f$ x @f$, @f$ y @f$, @f$ z @f$. @f[
+    \begin{array}{rcl}
+        \boldsymbol{n} & = & (\boldsymbol{p_1} - \boldsymbol{p_0}) \times (\boldsymbol{p_2} - \boldsymbol{p_0}) \\
+        d & = & - \boldsymbol{n} \cdot \boldsymbol{p_0}
+    \end{array}
+@f]
+@see @ref planeEquation(const Vector3<T>&, const Vector3<T>&), @ref cross(),
+    @ref dot()
+*/
+template<class T> Vector4<T> planeEquation(const Vector3<T>& p0, const Vector3<T>& p1, const Vector3<T>& p2) {
+    const Vector3<T> normal = Math::cross(p1 - p0, p2 - p0).normalized();
+    return {normal, -Math::dot(normal, p0)};
+}
+
+
+/** @relatesalso Vector4
+@brief Create a plane equation from a normal and a point
+
+Creates a plane equation in the following form: @f[
+    ax + by + cz + d = 0
+@f]
+
+The first three coefficients describe the *scaled* normal
+@f$ \boldsymbol{n} = (a, b, c)^T @f$, the coefficient @f$ d @f$ is calculated
+using a dot product with the normal @f$ \boldsymbol{n} @f$ using the point
+@f$ \boldsymbol{p} @f$ in order to satisfy the equation when assigning
+@f$ \boldsymbol{p} @f$ to @f$ x @f$, @f$ y @f$, @f$ z @f$. @f[
+    d = - \boldsymbol{n} \cdot \boldsymbol{p}
+@f]
+@see @ref planeEquation(const Vector3<T>&, const Vector3<T>&, const Vector3<T>&),
+    @ref dot()
+*/
+template<class T> Vector4<T> planeEquation(const Vector3<T>& normal, const Vector3<T>& point) {
+    return {normal, -Math::dot(normal, point)};
+}
+
 #ifndef DOXYGEN_GENERATING_OUTPUT
 MAGNUM_VECTORn_OPERATOR_IMPLEMENTATION(4, Vector4)
 #endif