/// <summary>
/// 判断点是否在平面上
/// </summary>
/// <param name="x_vVector"></param>
/// <param name="x_pPlaneCoefficient"></param>
/// <param name="x_nPrecision"></param>
/// <returns></returns>
public static bool IsOnPlane(DataType.BasicDataType.vector x_vVector, DataType.BasicDataType.PlaneCoefficient x_pPlaneCoefficient, double x_nDistancePrecision)
{
bool l_bResult = false;
//double l_nValue = x_pPlaneCoefficient.a * x_vVector.x + x_pPlaneCoefficient.b * x_vVector.y + x_pPlaneCoefficient.c * x_vVector.z + x_pPlaneCoefficient.d;
//l_nValue = Math.Abs(l_nValue) / Math.Sqrt(Math.Pow(x_pPlaneCoefficient.a, 2) + Math.Pow(x_pPlaneCoefficient.b, 2) + Math.Pow(x_pPlaneCoefficient.c, 2));
double l_nValue = PointToPlaneDistance(x_vVector, x_pPlaneCoefficient);
if (l_nValue <= x_nDistancePrecision)
{
l_bResult = true;
}
else
{
l_bResult = false;
}
return(l_bResult);
}
/// <summary>
///
/// </summary>
/// <param name="x_vVector"></param>
/// <param name="x_pPlaneCoefficient"></param>
/// <param name="x_nPrecision"></param>
/// <returns></returns>
//public static bool CKYIsOnPlane(DataType.BasicDataType.vector x_vVector, DataType.BasicDataType.PlaneCoefficient x_pPlaneCoefficient, double x_nPrecision)
//{
// bool l_bResult = false;
// double l_nValue = x_pPlaneCoefficient.a * x_vVector.x + x_pPlaneCoefficient.b * x_vVector.y + x_pPlaneCoefficient.c * x_vVector.z + x_pPlaneCoefficient.d;
// if (l_nValue <= x_nPrecision)
// {
// l_bResult = true;
// }
// else
// {
// l_bResult = false;
// }
// return l_bResult;
//}
public static double PointToPlaneDistance(DataType.BasicDataType.vector x_vVector, DataType.BasicDataType.PlaneCoefficient x_pPlaneCoefficient)
{
double l_nValue1 = new double();
double l_nValue2 = new double();
l_nValue1 = x_pPlaneCoefficient.a * x_vVector.x + x_pPlaneCoefficient.b * x_vVector.y + x_pPlaneCoefficient.c * x_vVector.z + x_pPlaneCoefficient.d;
l_nValue2 = Math.Abs(l_nValue1) / Math.Sqrt(Math.Pow(x_pPlaneCoefficient.a, 2) + Math.Pow(x_pPlaneCoefficient.b, 2) + Math.Pow(x_pPlaneCoefficient.c, 2));
return(l_nValue2);
}
//public static bool CKYIsOnCircle(DataType.StaubliRobotData.St_PointRx x_pPoint1, DataType.StaubliRobotData.St_PointRx x_pPoint2, DataType.StaubliRobotData.St_PointRx x_pPoint3, DataType.StaubliRobotData.St_PointRx x_pPoint4, double x_nLinePrecision, double x_nCirclePrecision,ref double x_nPreviousRadius,ref double x_nSubsequentRadius, ref double x_nActualError)
//{
// bool l_bResult = false;
// DataType.BasicDataType.vector l_v1, l_v2, l_v3, l_v4;
// l_v1 = Point2Vector(x_pPoint1);
// l_v2 = Point2Vector(x_pPoint2);
// l_v3 = Point2Vector(x_pPoint3);
// l_v4 = Point2Vector(x_pPoint4);
// l_bResult = CKYIsOnCircle(l_v1, l_v2, l_v3, l_v4, x_nLinePrecision, x_nCirclePrecision,ref x_nPreviousRadius,ref x_nSubsequentRadius ,ref x_nActualError);
// return l_bResult;
//}
///// <summary>
///// 判断点是否在圆上(CKY标准，点到圆弧最近距离)
///// </summary>
///// <returns></returns>
//public static bool CKYIsOnCircle(DataType.BasicDataType.vector x_vVector1, DataType.BasicDataType.vector x_vVector2, DataType.BasicDataType.vector x_vVector3, DataType.BasicDataType.vector x_vVector4, double x_nLinePrecision, double x_nCirclePrecision,ref double x_nPreviousRadius,ref double x_nSubsequentRadius ,ref double x_nActualError)
//{
// bool l_bResult = false;
// DataType.BasicDataType.vector l_vCenterPoint1,l_vCenterPoint2;
// DataType.BasicDataType.PlaneCoefficient l_pCoefficient;
// double l_nRadius1,l_nRadius2;
// l_bResult = CreatPlane(x_vVector1, x_vVector2, x_vVector3, x_nLinePrecision, out l_pCoefficient);
// if (l_bResult == true)
// {
// l_bResult = IsOnPlane(x_vVector4, l_pCoefficient, x_nCirclePrecision);
// if (l_bResult == true)
// {
// l_bResult = CreatCircle(x_vVector1, x_vVector2, x_vVector3, out l_vCenterPoint1, out l_nRadius1);
// l_bResult = CreatCircle(x_vVector1, x_vVector2, x_vVector4, out l_vCenterPoint2, out l_nRadius2);
// if (l_bResult == true)
// {
// //double l_nActualError = BasicMathTool.VectorDistance(l_vCenterPoint1, l_vCenterPoint2);
// double l_nActualError = Math.Abs(l_nRadius1 - l_nRadius2);
// if (l_nActualError <= x_nCirclePrecision)
// {
// l_bResult = true;
// x_nActualError = l_nActualError;
// x_nPreviousRadius = l_nRadius1;
// x_nSubsequentRadius = l_nRadius2;
// }
// else
// {
// l_bResult = false;
// }
// }
// else
// {
// l_bResult = false;
// }
// }
// }
// return l_bResult;
//}
/// <summary>
/// 三点建立平面 test success
/// </summary>
/// <param name="x_vVector1"></param>
/// <param name="x_vVector2"></param>
/// <param name="x_vVector3"></param>
/// <param name="x_pPlaneCoefficient"></param>
/// <returns>false 三点共线
/// </returns>true 成功
public static bool CreatPlane(DataType.BasicDataType.vector x_vVector1, DataType.BasicDataType.vector x_vVector2, DataType.BasicDataType.vector x_vVector3, double x_nLinePrecision, out DataType.BasicDataType.PlaneCoefficient x_pPlaneCoefficient)
{
x_pPlaneCoefficient.a = 0;
x_pPlaneCoefficient.b = 0;
x_pPlaneCoefficient.c = 0;
x_pPlaneCoefficient.d = 0;
bool l_bResule = false;
//l_bResule = ThreeColline(x_vVector1, x_vVector2, x_vVector3,x_nLinePrecision);
l_bResule = ThreeColline(x_vVector1, x_vVector2, x_vVector3, 0.0000001);
if (l_bResule == false)
{
DataType.BasicDataType.vector l_vVector1 = BasicMathTool.SubVector(x_vVector1, x_vVector2);
DataType.BasicDataType.vector l_vVector2 = BasicMathTool.SubVector(x_vVector1, x_vVector3);
DataType.BasicDataType.vector l_vVector3 = BasicMathTool.Vect3CrossPord(l_vVector1, l_vVector2);
x_pPlaneCoefficient.a = l_vVector3.x;
x_pPlaneCoefficient.b = l_vVector3.y;
x_pPlaneCoefficient.c = l_vVector3.z;
x_pPlaneCoefficient.d = -x_pPlaneCoefficient.a * x_vVector1.x - x_pPlaneCoefficient.b * x_vVector1.y - x_pPlaneCoefficient.c * x_vVector1.z;
l_bResule = true;
}
return(l_bResule);
}
