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Fix Hyperplane::Through(a,b,c) when points are aligned or identical. We use the stratgey as in Quaternion::setFromTwoVectors.

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This commit is contained in:
Gael Guennebaud
2014-11-26 15:01:53 +01:00
parent da584912b6
commit 8518ba0bbc
2 changed files with 40 additions and 1 deletions
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12
Eigen/src/Geometry/Hyperplane.h
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@@ -100,7 +100,17 @@ public:
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
Hyperplane result(p0.size());
result.normal() = (p2 - p0).cross(p1 - p0).normalized();
VectorType v0(p2 - p0), v1(p1 - p0);
result.normal() = v0.cross(v1);
RealScalar norm = result.normal().norm();
if(norm <= v0.norm() * v1.norm() * NumTraits<RealScalar>::epsilon())
{
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
result.normal() = svd.matrixV().col(2);
}
else
result.normal() /= norm;
result.offset() = -p0.dot(result.normal());
return result;
}