imstkPlane.cpp

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#include "imstkPlane.h"
#include "imstkLogger.h"

namespace imstk
{
Vec3d
Plane::getNormal(DataType type /* = DataType::PostTransform */)
{
    if (type == DataType::PostTransform)
    {
        this->updatePostTransformData();
        return m_normalPostTransform;
    }
    return m_normal;
}

void
Plane::setNormal(const Vec3d n)
{
    // A normal with no direction would destroy the basis
    // of the transform
    if (m_normal == n || n.norm() == 0.0)
    {
        return;
    }
    m_normal = n.normalized();
    m_transformApplied = false;
    this->postModified();
}

void
Plane::setNormal(const double x, const double y, const double z)
{
    this->setNormal(Vec3d(x, y, z));
}

double
Plane::getWidth()
{
    return m_width;
}

void
Plane::setWidth(const double w)
{
    if (m_width == w || m_width <= 0.0)
    {
        return;
    }
    m_width = w;
    this->postModified();
}

void
Plane::applyTransform(const Mat4d& m)
{
    AnalyticalGeometry::applyTransform(m);
    this->postModified();
}

void
Plane::updatePostTransformData() const
{
    if (m_transformApplied)
    {
        return;
    }
    AnalyticalGeometry::updatePostTransformData();
    m_normalPostTransform = m_orientation._transformVector(m_normal);
    m_transformApplied    = true;
}

void
Plane::computeBoundingBox(Vec3d& min, Vec3d& max, const double imstkNotUsed(paddingPercent))
{
    updatePostTransformData();

    Vec3d p1 = m_position + Vec3d(0.5, 0.0, 0.5);
    Vec3d p2 = m_position + Vec3d(0.5, 0.0, -0.5);
    Vec3d p3 = m_position + Vec3d(-0.5, 0.0, 0.5);
    Vec3d p4 = m_position + Vec3d(-0.5, 0.0, -0.5);

    p1 = (m_transform * Vec4d(p1[0], p1[1], p1[2], 1.0)).head<3>();
    p2 = (m_transform * Vec4d(p2[0], p2[1], p2[2], 1.0)).head<3>();
    p3 = (m_transform * Vec4d(p3[0], p3[1], p3[2], 1.0)).head<3>();
    p4 = (m_transform * Vec4d(p4[0], p4[1], p4[2], 1.0)).head<3>();

    min = p1.cwiseMin(p2);
    min = min.cwiseMin(p3);
    min = min.cwiseMin(p4);

    max = p1.cwiseMax(p2);
    max = max.cwiseMax(p3);
    max = max.cwiseMax(p4);
}
} // namespace imstk