Changes in src/vector.cpp [7b36fe:b998c3]

File:

• src/vector.cpp (modified) (8 diffs)

src/vector.cpp

@@ -8 +8 @@
 #include "defs.hpp"
 #include "helpers.hpp"
-#include "info.hpp"
-#include "gslmatrix.hpp"
+#include "memoryallocator.hpp"
 #include "leastsquaremin.hpp"
 #include "log.hpp"
-#include "memoryallocator.hpp"
 #include "vector.hpp"
 #include "verbose.hpp"
-
-#include <gsl/gsl_linalg.h>
-#include <gsl/gsl_matrix.h>
-#include <gsl/gsl_permutation.h>
-#include <gsl/gsl_vector.h>
 
 /************************************ Functions for class vector ************************************/
@@ -222 +215 @@
  * \param *Origin first vector of line
  * \param *LineVector second vector of line
- * \return true -  \a this contains intersection point on return, false - line is parallel to plane (even if in-plane)
+ * \return true -  \a this contains intersection point on return, false - line is parallel to plane
  */
 bool Vector::GetIntersectionWithPlane(const Vector * const PlaneNormal, const Vector * const PlaneOffset, const Vector * const Origin, const Vector * const LineVector)
 {
-  Info FunctionInfo(__func__);
   double factor;
   Vector Direction, helper;
@@ -234 +226 @@
   Direction.SubtractVector(Origin);
   Direction.Normalize();
-  Log() << Verbose(1) << "INFO: Direction is " << Direction << "." << endl;
-  //Log() << Verbose(1) << "INFO: PlaneNormal is " << *PlaneNormal << " and PlaneOffset is " << *PlaneOffset << "." << endl;
+  //Log() << Verbose(4) << "INFO: Direction is " << Direction << "." << endl;
   factor = Direction.ScalarProduct(PlaneNormal);
-  if (fabs(factor) < MYEPSILON) { // Uniqueness: line parallel to plane?
-    Log() << Verbose(1) << "BAD: Line is parallel to plane, no intersection." << endl;
+  if (factor < MYEPSILON) { // Uniqueness: line parallel to plane?
+    eLog() << Verbose(2) << "Line is parallel to plane, no intersection." << endl;
     return false;
   }
@@ -244 +235 @@
   helper.SubtractVector(Origin);
   factor = helper.ScalarProduct(PlaneNormal)/factor;
-  if (fabs(factor) < MYEPSILON) { // Origin is in-plane
-    Log() << Verbose(1) << "GOOD: Origin of line is in-plane." << endl;
+  if (factor < MYEPSILON) { // Origin is in-plane
+    //Log() << Verbose(2) << "Origin of line is in-plane, simple." << endl;
     CopyVector(Origin);
     return true;
@@ -252 +243 @@
   Direction.Scale(factor);
   CopyVector(Origin);
-  Log() << Verbose(1) << "INFO: Scaled direction is " << Direction << "." << endl;
+  //Log() << Verbose(4) << "INFO: Scaled direction is " << Direction << "." << endl;
   AddVector(&Direction);
 
@@ -259 +250 @@
   helper.SubtractVector(PlaneOffset);
   if (helper.ScalarProduct(PlaneNormal) < MYEPSILON) {
-    Log() << Verbose(1) << "GOOD: Intersection is " << *this << "." << endl;
+    //Log() << Verbose(2) << "INFO: Intersection at " << *this << " is good." << endl;
     return true;
   } else {
@@ -295 +286 @@
 
 /** Calculates the intersection of the two lines that are both on the same plane.
- * This is taken from Weisstein, Eric W. "Line-Line Intersection." From MathWorld--A Wolfram Web Resource. http://mathworld.wolfram.com/Line-LineIntersection.html 
+ * We construct auxiliary plane with its vector normal to one line direction and the PlaneNormal, then a vector
+ * from the first line's offset onto the plane. Finally, scale by factor is 1/cos(angle(line1,line2..)) = 1/SP(...), and
+ * project onto the first line's direction and add its offset.
  * \param *out output stream for debugging
  * \param *Line1a first vector of first line
@@ -306 +299 @@
 bool Vector::GetIntersectionOfTwoLinesOnPlane(const Vector * const Line1a, const Vector * const Line1b, const Vector * const Line2a, const Vector * const Line2b, const Vector *PlaneNormal)
 {
-  Info FunctionInfo(__func__);
-
-  GSLMatrix *M = new GSLMatrix(4,4);
-
-  M->SetAll(1.);
-  for (int i=0;i<3;i++) {
-    M->Set(0, i, Line1a->x[i]);
-    M->Set(1, i, Line1b->x[i]);
-    M->Set(2, i, Line2a->x[i]);
-    M->Set(3, i, Line2b->x[i]);
-  }
-  
-  //Log() << Verbose(1) << "Coefficent matrix is:" << endl;
-  //for (int i=0;i<4;i++) {
-  //  for (int j=0;j<4;j++)
-  //    cout << "\t" << M->Get(i,j);
-  //  cout << endl;
-  //}
-  if (fabs(M->Determinant()) > MYEPSILON) {
-    Log() << Verbose(1) << "Determinant of coefficient matrix is NOT zero." << endl;
+  bool result = true;
+  Vector Direction, OtherDirection;
+  Vector AuxiliaryNormal;
+  Vector Distance;
+  const Vector *Normal = NULL;
+  Vector *ConstructedNormal = NULL;
+  bool FreeNormal = false;
+
+  // construct both direction vectors
+  Zero();
+  Direction.CopyVector(Line1b);
+  Direction.SubtractVector(Line1a);
+  if (Direction.IsZero())
     return false;
-  }
-  Log() << Verbose(1) << "INFO: Line1a = " << *Line1a << ", Line1b = " << *Line1b << ", Line2a = " << *Line2a << ", Line2b = " << *Line2b << "." << endl;
-
-
-  // constuct a,b,c
-  Vector a;
-  Vector b;
-  Vector c;
-  Vector d;
-  a.CopyVector(Line1b);
-  a.SubtractVector(Line1a);
-  b.CopyVector(Line2b);
-  b.SubtractVector(Line2a);
-  c.CopyVector(Line2a);
-  c.SubtractVector(Line1a);
-  d.CopyVector(Line2b);
-  d.SubtractVector(Line1b);
-  Log() << Verbose(1) << "INFO: a = " << a << ", b = " << b << ", c = " << c << "." << endl;
-  if ((a.NormSquared() < MYEPSILON) || (b.NormSquared() < MYEPSILON)) {
-   Zero();
-   Log() << Verbose(1) << "At least one of the lines is ill-defined, i.e. offset equals second vector." << endl;
-   return false;
-  }
-
-  // check for parallelity
-  Vector parallel;
-  double factor = 0.;
-  if (fabs(a.ScalarProduct(&b)*a.ScalarProduct(&b)/a.NormSquared()/b.NormSquared() - 1.) < MYEPSILON) {
-    parallel.CopyVector(Line1a);
-    parallel.SubtractVector(Line2a);
-    factor = parallel.ScalarProduct(&a)/a.Norm();
-    if ((factor >= -MYEPSILON) && (factor - 1. < MYEPSILON)) {
-      CopyVector(Line2a);
-      Log() << Verbose(1) << "Lines conincide." << endl;
-      return true;
+  OtherDirection.CopyVector(Line2b);
+  OtherDirection.SubtractVector(Line2a);
+  if (OtherDirection.IsZero())
+    return false;
+
+  Direction.Normalize();
+  OtherDirection.Normalize();
+
+  //Log() << Verbose(4) << "INFO: Normalized Direction " << Direction << " and OtherDirection " << OtherDirection << "." << endl;
+
+  if (fabs(OtherDirection.ScalarProduct(&Direction) - 1.) < MYEPSILON) { // lines are parallel
+    if ((Line1a == Line2a) || (Line1a == Line2b))
+      CopyVector(Line1a);
+    else if ((Line1b == Line2b) || (Line1b == Line2b))
+        CopyVector(Line1b);
+    else
+      return false;
+    Log() << Verbose(4) << "INFO: Intersection is " << *this << "." << endl;
+    return true;
+  } else {
+    // check whether we have a plane normal vector
+    if (PlaneNormal == NULL) {
+      ConstructedNormal = new Vector;
+      ConstructedNormal->MakeNormalVector(&Direction, &OtherDirection);
+      Normal = ConstructedNormal;
+      FreeNormal = true;
+    } else
+      Normal = PlaneNormal;
+
+    AuxiliaryNormal.MakeNormalVector(&OtherDirection, Normal);
+    //Log() << Verbose(4) << "INFO: PlaneNormal is " << *Normal << " and AuxiliaryNormal " << AuxiliaryNormal << "." << endl;
+
+    Distance.CopyVector(Line2a);
+    Distance.SubtractVector(Line1a);
+    //Log() << Verbose(4) << "INFO: Distance is " << Distance << "." << endl;
+    if (Distance.IsZero()) {
+      // offsets are equal, match found
+      CopyVector(Line1a);
+      result = true;
     } else {
-      parallel.CopyVector(Line1a);
-      parallel.SubtractVector(Line2b);
-      factor = parallel.ScalarProduct(&a)/a.Norm();
-      if ((factor >= -MYEPSILON) && (factor - 1. < MYEPSILON)) {
-        CopyVector(Line2b);
-        Log() << Verbose(1) << "Lines conincide." << endl;
-        return true;
-      }
+      CopyVector(Distance.Projection(&AuxiliaryNormal));
+      //Log() << Verbose(4) << "INFO: Projected Distance is " << *this << "." << endl;
+      double factor = Direction.ScalarProduct(&AuxiliaryNormal);
+      //Log() << Verbose(4) << "INFO: Scaling factor is " << factor << "." << endl;
+      Scale(1./(factor*factor));
+      //Log() << Verbose(4) << "INFO: Scaled Distance is " << *this << "." << endl;
+      CopyVector(Projection(&Direction));
+      //Log() << Verbose(4) << "INFO: Distance, projected into Direction, is " << *this << "." << endl;
+      if (this->IsZero())
+        result = false;
+      else
+        result = true;
+      AddVector(Line1a);
     }
-    Log() << Verbose(1) << "Lines are parallel." << endl;
-    Zero();
-    return false;
-  }
-
-  // obtain s
-  double s;
-  Vector temp1, temp2;
-  temp1.CopyVector(&c);
-  temp1.VectorProduct(&b);
-  temp2.CopyVector(&a);
-  temp2.VectorProduct(&b);
-  Log() << Verbose(1) << "INFO: temp1 = " << temp1 << ", temp2 = " << temp2 << "." << endl;
-  if (fabs(temp2.NormSquared()) > MYEPSILON)
-    s = temp1.ScalarProduct(&temp2)/temp2.NormSquared();
-  else
-    s = 0.;
-  Log() << Verbose(1) << "Factor s is " << temp1.ScalarProduct(&temp2) << "/" << temp2.NormSquared() << " = " << s << "." << endl;
-
-  // construct intersection
-  CopyVector(&a);
-  Scale(s);
-  AddVector(Line1a);
-  Log() << Verbose(1) << "Intersection is at " << *this << "." << endl;
-
-  return true;
+
+    if (FreeNormal)
+      delete(ConstructedNormal);
+  }
+  if (result)
+    Log() << Verbose(4) << "INFO: Intersection is " << *this << "." << endl;
+
+  return result;
 };