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Class template for Plucker coordinates of a line.

License: Creative Commons Zero v1.0 Universal

CMake 9.41% C++ 90.37% C 0.22%

plucker's Introduction

plucker

About

Class template for Plücker coordinates of a line.
Header-only.

Compatibility

Supports C++ 11 or higher.

Compiler	Version	Remarks
gcc	5.5.0 or higher.
clang	7.0.0 or higher.
msvc	16.5.4 or higher.

Older versions of compilers might work as well but they are not tested.

Dependencies

Eigen

usage

#include <plucker/plucker.h>

using value_type = double;
using Vector3 = plucker::Vector3<value_type>;
using Vector4 = plucker::Vector4<value_type>;
using Plucker = plucker::Plucker<value_type>;

bool has_intersection(
    const Plucker& ray,
    const Vector4& p1,
    const Vector4& p2,
    const Vector4& p3)
{
    if(ray * Plucker(p1, p2) > 0.0)
        return false;
    if(ray * Plucker(p2, p3) > 0.0)
        return false;
    if(ray * Plucker(p3, p1) > 0.0)
        return false;
    return true;
}

int main()
{
    // Plucker coordinates of a ray.
    const auto from = Vector4(0.0, 1.0, 6.0, 1.0);
    const auto to = Vector4(0.0, 1.0, 4.0, 1.0);
    const auto ray = Plucker(from, to);

    // Points of a triangle.
    // Here, the front facing of a triangle is counterclockwise.
    const auto p1 = Vector4(3.0, 0.0, -2.0, 1.0);
    const auto p2 = Vector4(0.0, 3.0, -2.0, 1.0);
    const auto p3 = Vector4(-3.0, 0.0, -2.0, 1.0);

    // Does a ray have an intersection with a triangle?
    const auto res = has_intersection(ray, p1, p2, p3);

    std::cout << "has_intersection: " << res << std::endl;  // true

    return 0;
}