public static bool IsInsideOfPlane(Point3D inPoint, Point3D inP1, Point3D inP2, Point3D inP3, double dblProximityValue)
{
double l, m, n, k;
Vector3D normal = Vector3D.CrossProduct(CommonFunctions.GetVector(inP2) - CommonFunctions.GetVector(inP1), (CommonFunctions.GetVector(inP3) - CommonFunctions.GetVector(inP1)));
l = normal.X;
m = normal.Y;
n = normal.Z;
k = -(inP1.X * l + inP1.Y * m + inP1.Z * n);
/* Modified on 29-Jan-04. Even if the point is outside but close enough to the plane,
* //we will consider it to be inside of it.=================================================
* if(valFromPlaneEqn(inPoint, l, m, n, k) <= 0 )
* return true ;
* else
* return false ;
*/
if (PlaneEquation.ValueInPlaneEquation(inPoint, l, m, n, k) <= dblProximityValue)
{
return(true);
}
else
{
return(false);
}
//End of modification=====================================================================
}
public static bool SetNearFarRectangle(ref Point3D[] arrFarPlane, ref Point3D[] arrNearPlane, ref double dNear, ref double dFar, ref bool blnCamInCuboid,
Point3D[] arrCuboidFt, Point3D[] arrCuboidBk, Point3D inCameraLocation, Point3D inLookingAt, CameraRatio cameraRatio, bool blnCameraAtInfinity, double dblProximityValue)
{
//////////////////Variable Declaration////////////////////////////////////////////////////
//constants for the plane equation
double l;
double m;
double n;
double k; //constant for the plane passing through inCameraLocation
double kFarPlane; //constant in the far plane equation
double kNearPlane; //constant in the near plane equation
double sign;
double tempVal;
bool flgFound; //flag to indicate whether the target cuboid is within the aperture of the
//image taken
double maxConst = 0.0f; //Stores the maximum value that should be added to the equation of plane
//passing through inCameraLocation, so that a far plane is decided
//which covers up all the cuboid points to be processed
uint i; //Counter variable
Vector3D vDirection = new Vector3D();
Vector3D upDirection = new Vector3D();
Vector3D rightDirection = new Vector3D(); //directions on the far plane
double dtr, t; //used in calculating distance of midPt from the camera location
Point3D midPt = new Point3D();
Point3D midPtNear = new Point3D(); //the point at the center of the far rectangle
double xScope, yScope; //half lengths of the area covered by the camera on Far rectangle
double distance; //distance of midPt from the camera location
/////////////////////////////////////////////////////////////////////////////////////////
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~step 1~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Find the equation of the plane passing through the inCameraLocation. Equation is in */
/* the form x l + y m + z n + k = 0 */
//get the direction of view
vDirection = new Vector3D(inLookingAt.X, inLookingAt.Y, inLookingAt.Z) - new Vector3D(inCameraLocation.X, inCameraLocation.Y, inCameraLocation.Z);
if (vDirection.Length == 0)
{
throw new Exception("The looking vector was found to be null");
}
//divide by modulus to get the unit vector
vDirection = vDirection / vDirection.Length;
//directional cosines of the plane
l = vDirection.X;
m = vDirection.Y;
n = vDirection.Z;
//constant for the equation of plane
k = -(inCameraLocation.X * l + inCameraLocation.Y * m + inCameraLocation.Z * n);
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~step 2~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Get the equation of the far plane parallel to this plane and enclosing all the */
/* Cuboid points and the CameraLocation on the same side */
//target cuboid points which are in range should lie on the same side of the plane passing
//through CameraLocation
sign = PlaneEquation.ValueInPlaneEquation(inLookingAt, l, m, n, k);
//If any of the target cuboid points gives the same sign, then the cuboid has to be
//processed, otherwise it lies outside the purview of the taken snapshot
flgFound = false;
for (i = 0; i <= 7; i++)
{
if (i <= 3)
{
tempVal = PlaneEquation.ValueInPlaneEquation(arrCuboidFt[i], l, m, n, k);
}
else
{
tempVal = PlaneEquation.ValueInPlaneEquation(arrCuboidBk[i - 4], l, m, n, k);
}
//i-4 is done to traverse from 0 to 3 for back face after traversing through
//the front face
if (CommonFunctions.HasSameSigns(sign, tempVal))
{
if (flgFound == false)
{
maxConst = tempVal;
flgFound = true;
}
else if (CommonFunctions.ModValue(maxConst) < CommonFunctions.ModValue(tempVal))
{
maxConst = tempVal;
}
}
}
if (flgFound)
{
kFarPlane = k - maxConst; // constant for the equation of the far plane
}
else
{
throw new Exception("Image shot out of target");
}
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ step 3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Make the bounding rectangle on the far plane. We need to find out the four */
/* directions from the central point on the plane along which the four corner points */
/* lie. If the view direction would have been along the -ve z axis, then the upward */
/* direction would have been the positive direction of y axis and moving towards */
/* right would mean moving in the positive direction of x axis. */
//check whether the vector is along the x, y or z axis
if (vDirection.X != 0 && vDirection.Y == 0 && vDirection.Z == 0)
{
//aligned along the x axis
upDirection = new Vector3D(0.0f, 1.0f, 0.0f);
if (vDirection.X > 0)
{
rightDirection = new Vector3D(0.0f, 0.0f, 1.0f);
}
else
{
rightDirection = new Vector3D(0.0f, 0.0f, -1.0f);
}
}
else if (vDirection.Y != 0 && vDirection.X == 0 && vDirection.Z == 0)
{
//aligned along the y axis
if (vDirection.Y > 0)
{
upDirection = new Vector3D(0.0f, 0.0f, 1.0f);
}
else
{
upDirection = new Vector3D(0.0f, 0.0f, -1.0f);
}
rightDirection = new Vector3D(1.0f, 0.0f, 0.0f);
}
else if (vDirection.Z != 0 && vDirection.Y == 0 && vDirection.X == 0)
{
//aligned along the z axis
upDirection = new Vector3D(0.0f, 1.0f, 0.0f);
if (vDirection.Z > 0)
{
rightDirection = new Vector3D(-1.0f, 0.0f, 0.0f);
}
else
{
rightDirection = new Vector3D(1.0f, 0.0f, 0.0f);
}
}
else if (vDirection.X == 0 && vDirection.Y != 0 && vDirection.Z != 0)
{
//In the yz plane
if (vDirection.Z < 0)
{
rightDirection = new Vector3D(1.0f, 0.0f, 0.0f);
}
else
{
rightDirection = new Vector3D(-1.0f, 0.0f, 0.0f);
}
upDirection = Vector3D.CrossProduct(rightDirection, vDirection);
}
else if (vDirection.X != 0 && vDirection.Y == 0 && vDirection.Z != 0)
{
//In the xz plane
upDirection = new Vector3D(0.0f, 1.0f, 0.0f);
rightDirection = Vector3D.CrossProduct(vDirection, upDirection);
}
else if (vDirection.X != 0 && vDirection.Y != 0 && vDirection.Z == 0)
{
//In the xy plane
if (vDirection.X > 0)
{
rightDirection = new Vector3D(0.0f, 0.0f, 1.0f);
}
else
{
rightDirection = new Vector3D(0.0f, 0.0f, -1.0f);
}
upDirection = Vector3D.CrossProduct(rightDirection, vDirection);
}
else if (vDirection.X != 0 && vDirection.Y != 0 && vDirection.Z != 0)
{
//Not along the axis, neither along the three planes
if ((vDirection.Z < 0 && vDirection.X > 0) ||
(vDirection.Z > 0 && vDirection.X < 0))
{
upDirection = Vector3D.CrossProduct(new Vector3D(vDirection.X, 0.0f, 0.0f), vDirection);
}
else
{
upDirection = Vector3D.CrossProduct(vDirection, new Vector3D(vDirection.X, 0.0f, 0.0f));
}
rightDirection = Vector3D.CrossProduct(vDirection, upDirection);
}
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Step 4~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Find the co-ordinates of the point at which the perpendicular line from the */
/* CameraLocation intersects the far plane. Since the point lies on the line it should */
/* satisfy the following equations : x = x1 + l t; y = y1 + m t; z = z1 + n t; */
/* Putting the values for the point in the equation of the plane: xl+ym+zn+kFarPlane=0 */
/* we can get the value of t. */
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
dtr = l * l + m * m + n * n;
if (dtr == 0)
{
throw new Exception("Division by zero attempted in set near far rectangle function");
}
t = -(kFarPlane + inCameraLocation.X * l + inCameraLocation.Y * m
+ inCameraLocation.Z * n) / dtr;
midPt = new Point3D(inCameraLocation.X + l * t, inCameraLocation.Y + m * t,
inCameraLocation.Z + n * t);
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Step 5~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*~Adjust the magnitude of the vectors so that they cover the required area in ~*/
/*~the far plane ~*/
if (blnCameraAtInfinity)
{
if (cameraRatio.xRangeAtInfinity <= 0 ||
cameraRatio.yRangeAtInfinity <= 0)
{
throw new Exception("Invalid range at infinity values found in the set near far rectangle function.");
}
//Correction done on 28th Jan 2004. The infinite range values should also be
//divided by two
//xScope = dataPtr.cameraRatio.xRangeAtInfinity;
//yScope = dataPtr.cameraRatio.yRangeAtInfinity;
xScope = cameraRatio.xRangeAtInfinity / 2.0f;
yScope = cameraRatio.yRangeAtInfinity / 2.0f;
}
else
{
distance = (CommonFunctions.GetVector(midPt) - CommonFunctions.GetVector(inCameraLocation)).Length;
xScope = (distance * cameraRatio.xRatio) / 2.0f;
yScope = (distance * cameraRatio.yRatio) / 2.0f;
}
if (upDirection.Length != 0 && rightDirection.Length != 0)
{
upDirection = upDirection * (yScope / upDirection.Length);
rightDirection = rightDirection * (xScope / rightDirection.Length);
}
else
{
throw new Exception("Division by zero attempted in set near far rectangle function.");
}
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Step 6~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Using the vector equations and this point, find the corners of the far plane */
//top left
arrFarPlane[0].X = midPt.X + upDirection.X - rightDirection.X;
arrFarPlane[0].Y = midPt.Y + upDirection.Y - rightDirection.Y;
arrFarPlane[0].Z = midPt.Z + upDirection.Z - rightDirection.Z;
//bottom left
arrFarPlane[1].X = midPt.X - upDirection.X - rightDirection.X;
arrFarPlane[1].Y = midPt.Y - upDirection.Y - rightDirection.Y;
arrFarPlane[1].Z = midPt.Z - upDirection.Z - rightDirection.Z;
//bottom right
arrFarPlane[2].X = midPt.X - upDirection.X + rightDirection.X;
arrFarPlane[2].Y = midPt.Y - upDirection.Y + rightDirection.Y;
arrFarPlane[2].Z = midPt.Z - upDirection.Z + rightDirection.Z;
//top right
arrFarPlane[3].X = midPt.X + upDirection.X + rightDirection.X;
arrFarPlane[3].Y = midPt.Y + upDirection.Y + rightDirection.Y;
arrFarPlane[3].Z = midPt.Z + upDirection.Z + rightDirection.Z;
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Step 7~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/* Find distance of the Near Plane from Camera if it lies outside the cuboid. ~~~~~~~~*/
if (WithinFrustum(inCameraLocation, arrCuboidFt, arrCuboidBk, dblProximityValue))
{
blnCamInCuboid = true;
}
else
{
blnCamInCuboid = false;
//find the distance of the near plane from the camera location
for (i = 0; i <= 7; i++)
{
if (i <= 3)
{
tempVal = PlaneEquation.ValueInPlaneEquation(arrCuboidFt[i], l, m, n,
kFarPlane);
}
else
{
tempVal = PlaneEquation.ValueInPlaneEquation(arrCuboidBk[i - 4], l, m, n,
kFarPlane);
}
if (i == 0)
{
maxConst = tempVal;
}
else if (CommonFunctions.ModValue(maxConst) < CommonFunctions.ModValue(tempVal))
{
maxConst = tempVal;
}
}
kNearPlane = kFarPlane - maxConst; //constant for the near plane
dNear = CommonFunctions.ModValue(k - kNearPlane); //distances of near and far plane
dFar = CommonFunctions.ModValue(k - kFarPlane); //from the CameraLocation
}
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Step 8~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*~~~~~ If the object is at infinity then define the corners of the near plane ~~~~~~~*/
if (blnCameraAtInfinity)
{
//mblnCamAtInfinity = true ;
if (blnCamInCuboid)
{
throw new Exception("Error occured inside the set near far rectangle function: Camera at infinity found inside the cuboid.");
}
//get the middle point of the near plane
midPtNear = CommonFunctions.GetMiddlePoint(inCameraLocation, midPt, dNear, dFar);
/* Using the vector equations and this point, find the corners of the near plane */
//top left
arrNearPlane[0].X = midPtNear.X + upDirection.X - rightDirection.X;
arrNearPlane[0].Y = midPtNear.Y + upDirection.Y - rightDirection.Y;
arrNearPlane[0].Z = midPtNear.Z + upDirection.Z - rightDirection.Z;
//bottom left
arrNearPlane[1].X = midPtNear.X - upDirection.X - rightDirection.X;
arrNearPlane[1].Y = midPtNear.Y - upDirection.Y - rightDirection.Y;
arrNearPlane[1].Z = midPtNear.Z - upDirection.Z - rightDirection.Z;
//bottom right
arrNearPlane[2].X = midPtNear.X - upDirection.X + rightDirection.X;
arrNearPlane[2].Y = midPtNear.Y - upDirection.Y + rightDirection.Y;
arrNearPlane[2].Z = midPtNear.Z - upDirection.Z + rightDirection.Z;
//top right
arrNearPlane[3].X = midPtNear.X + upDirection.X + rightDirection.X;
arrNearPlane[3].Y = midPtNear.Y + upDirection.Y + rightDirection.Y;
arrNearPlane[3].Z = midPtNear.Z + upDirection.Z + rightDirection.Z;
} //else
//mblnCamAtInfinity = false ;
return(true);
}