toxiclibs 0.2-java → 0.5.0-java

data/src/toxi/geom/Triangle2D.java

@@ -0,0 +1,422 @@
+/*
+ *   __               .__       .__  ._____.           
+ * _/  |_  _______  __|__| ____ |  | |__\_ |__   ______
+ * \   __\/  _ \  \/  /  |/ ___\|  | |  || __ \ /  ___/
+ *  |  | (  <_> >    <|  \  \___|  |_|  || \_\ \\___ \ 
+ *  |__|  \____/__/\_ \__|\___  >____/__||___  /____  >
+ *                   \/       \/             \/     \/ 
+ *
+ * Copyright (c) 2006-2011 Karsten Schmidt
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * http://creativecommons.org/licenses/LGPL/2.1/
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+package toxi.geom;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+import javax.xml.bind.annotation.XmlAccessType;
+import javax.xml.bind.annotation.XmlAccessorType;
+import javax.xml.bind.annotation.XmlElement;
+import javax.xml.bind.annotation.XmlTransient;
+
+import toxi.geom.Line2D.LineIntersection.Type;
+import toxi.math.MathUtils;
+
+/**
+ *
+ * @author tux
+ */
+@XmlAccessorType(XmlAccessType.FIELD)
+public class Triangle2D implements Shape2D {
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @return
+     */
+    public static Triangle2D createEquilateralFrom(ReadonlyVec2D a,
+            ReadonlyVec2D b) {
+        Vec2D c = a.interpolateTo(b, 0.5f);
+        Vec2D dir = a.sub(b);
+        Vec2D n = dir.getPerpendicular();
+        c.addSelf(n.normalizeTo(dir.magnitude() * MathUtils.SQRT3 / 2));
+        return new Triangle2D(a, b, c);
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     * @return
+     */
+    public static boolean isClockwise(Vec2D a, Vec2D b, Vec2D c) {
+        float determ = (b.x - a.x) * (c.y - a.y) - (c.x - a.x) * (b.y - a.y);
+        return (determ > 0.0);
+    }
+
+    @XmlElement(required = true)
+    public Vec2D a,
+
+    /**
+     *
+     */
+
+    /**
+     *
+     */
+    b,
+
+    /**
+     *
+     */
+
+    /**
+     *
+     */
+    c;
+
+    /**
+     *
+     */
+    @XmlTransient
+    public Vec2D centroid;
+
+    /**
+     *
+     */
+    public Triangle2D() {
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     */
+    public Triangle2D(ReadonlyVec2D a, ReadonlyVec2D b, ReadonlyVec2D c) {
+        this.a = a.copy();
+        this.b = b.copy();
+        this.c = c.copy();
+    }
+
+    /**
+     *
+     * @param offset
+     * @return
+     */
+    public Triangle2D adjustTriangleSizeBy(float offset) {
+        return adjustTriangleSizeBy(offset, offset, offset);
+    }
+
+    /**
+     *
+     * @param offAB
+     * @param offBC
+     * @param offCA
+     * @return
+     */
+    public Triangle2D adjustTriangleSizeBy(float offAB, float offBC, float offCA) {
+        computeCentroid();
+        Line2D ab = new Line2D(a.copy(), b.copy()).offsetAndGrowBy(offAB,
+                100000, centroid);
+        Line2D bc = new Line2D(b.copy(), c.copy()).offsetAndGrowBy(offBC,
+                100000, centroid);
+        Line2D ca = new Line2D(c.copy(), a.copy()).offsetAndGrowBy(offCA,
+                100000, centroid);
+        a = ab.intersectLine(ca).getPos();
+        b = ab.intersectLine(bc).getPos();
+        c = bc.intersectLine(ca).getPos();
+        computeCentroid();
+        return this;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Vec2D computeCentroid() {
+        centroid = a.add(b).addSelf(c).scaleSelf(1f / 3);
+        return centroid;
+    }
+
+    /**
+     * Checks if the given point is inside the triangle created by the points a,
+     * b and c. The triangle vertices are inclusive themselves.
+     * 
+     * @param p
+     * @return true, if point is in triangle.
+     */
+    @Override
+    public boolean containsPoint(ReadonlyVec2D p) {
+        Vec2D v1 = p.sub(a);
+        Vec2D v2 = p.sub(b);
+        Vec2D v3 = p.sub(c);
+        if (v1.isZeroVector() || v2.isZeroVector() || v3.isZeroVector()) {
+            return true;
+        }
+        v1.normalize();
+        v2.normalize();
+        v3.normalize();
+        double total_angles = Math.acos(v1.dot(v2));
+        total_angles += Math.acos(v2.dot(v3));
+        total_angles += Math.acos(v3.dot(v1));
+        return (MathUtils.abs(total_angles - MathUtils.TWO_PI) <= 0.001);
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Triangle2D copy() {
+        return new Triangle2D(a.copy(), b.copy(), c.copy());
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Triangle2D flipVertexOrder() {
+        Vec2D t = a;
+        a = c;
+        c = t;
+        return this;
+    }
+
+    /**
+     *
+     * @param p
+     * @return
+     */
+    public Vec2D fromBarycentric(ReadonlyVec3D p) {
+        return new Vec2D(a.x * p.x() + b.x * p.y() + c.x * p.z(), a.y * p.x()
+                + b.y * p.y() + c.y * p.z());
+    }
+
+    @Override
+    public float getArea() {
+        return b.sub(a).cross(c.sub(a)) * 0.5f;
+    }
+
+    @Override
+    public Circle getBoundingCircle() {
+        return Circle.from3Points(a, b, c);
+    }
+
+    @Override
+    public Rect getBounds() {
+        return new Rect(Vec2D.min(Vec2D.min(a, b), c), Vec2D.max(
+                Vec2D.max(a, b), c));
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Circle getCircumCircle() {
+        Vec3D cr = a.bisect(b).cross(b.bisect(c));
+        Vec2D circ = new Vec2D(cr.x / cr.z, cr.y / cr.z);
+        float sa = a.distanceTo(b);
+        float sb = b.distanceTo(c);
+        float sc = c.distanceTo(a);
+        float radius = sa
+                * sb
+                * sc
+                / (float) Math.sqrt((sa + sb + sc) * (-sa + sb + sc)
+                        * (sa - sb + sc) * (sa + sb - sc));
+        return new Circle(circ, radius);
+    }
+
+    @Override
+    public float getCircumference() {
+        return a.distanceTo(b) + b.distanceTo(c) + c.distanceTo(a);
+    }
+
+    /**
+     * Finds and returns the closest point on any of the triangle edges to the
+     * point given.
+     * 
+     * @param p
+     *            point to check
+     * @return closest point
+     */
+    public Vec2D getClosestPointTo(ReadonlyVec2D p) {
+        Line2D edge = new Line2D(a, b);
+        Vec2D Rab = edge.closestPointTo(p);
+        Vec2D Rbc = edge.set(b, c).closestPointTo(p);
+        Vec2D Rca = edge.set(c, a).closestPointTo(p);
+
+        float dAB = p.sub(Rab).magSquared();
+        float dBC = p.sub(Rbc).magSquared();
+        float dCA = p.sub(Rca).magSquared();
+
+        float min = dAB;
+        Vec2D result = Rab;
+
+        if (dBC < min) {
+            min = dBC;
+            result = Rbc;
+        }
+        if (dCA < min) {
+            result = Rca;
+        }
+
+        return result;
+    }
+
+    @Override
+    public List<Line2D> getEdges() {
+        return toPolygon2D().getEdges();
+    }
+
+    /**
+     * Creates a random point within the triangle using barycentric coordinates.
+     * 
+     * @return Vec2D
+     */
+    @Override
+    public Vec2D getRandomPoint() {
+        List<Float> barycentric = new ArrayList<>(3);
+        barycentric.add(MathUtils.random(1f));
+        barycentric.add(MathUtils.random(1f - barycentric.get(0)));
+        barycentric.add(1 - (barycentric.get(0) + barycentric.get(1)));
+        Collections.shuffle(barycentric);
+        return fromBarycentric(new Vec3D(barycentric.get(0),
+                barycentric.get(1), barycentric.get(2)));
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Vec2D[] getVertexArray() {
+        return getVertexArray(null, 0);
+    }
+
+    /**
+     *
+     * @param array
+     * @param offset
+     * @return
+     */
+    public Vec2D[] getVertexArray(Vec2D[] array, int offset) {
+        if (array == null) {
+            array = new Vec2D[3];
+        }
+        array[offset++] = a;
+        array[offset++] = b;
+        array[offset] = c;
+        return array;
+    }
+
+    /**
+     * Checks if this triangle intersects the given one. The check handles both
+     * partial and total containment as well as intersections of all edges.
+     * 
+     * @param tri
+     * @return true, if intersecting
+     */
+    public boolean intersectsTriangle(Triangle2D tri) {
+        if (containsPoint(tri.a) || containsPoint(tri.b)
+                || containsPoint(tri.c)) {
+            return true;
+        }
+        if (tri.containsPoint(a) || tri.containsPoint(b)
+                || tri.containsPoint(c)) {
+            return true;
+        }
+        Line2D[] ea = new Line2D[] {
+                new Line2D(a, b), new Line2D(b, c), new Line2D(c, a)
+        };
+        Line2D[] eb = new Line2D[] {
+                new Line2D(tri.a, tri.b), new Line2D(tri.b, tri.c),
+                new Line2D(tri.c, tri.a)
+        };
+        for (Line2D la : ea) {
+            for (Line2D lb : eb) {
+                Type type = la.intersectLine(lb).getType();
+                if (type != Type.NON_INTERSECTING && type != Type.PARALLEL) {
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public boolean isClockwise() {
+        return Triangle2D.isClockwise(a, b, c);
+    }
+
+    /**
+     *
+     * @param a2
+     * @param b2
+     * @param c2
+     */
+    public void set(Vec2D a2, Vec2D b2, Vec2D c2) {
+        a = a2;
+        b = b2;
+        c = c2;
+    }
+
+    /**
+     * Produces the barycentric coordinates of the given point within this
+     * triangle. These coordinates can then be used to re-project the point into
+     * a different triangle using its {@link #fromBarycentric(ReadonlyVec3D)}
+     * method.
+     * 
+     * @param p
+     *            point in world space
+     * @return barycentric coords as {@link Vec3D}
+     */
+    public Vec3D toBarycentric(ReadonlyVec2D p) {
+        return new Triangle3D(a.to3DXY(), b.to3DXY(), c.to3DXY())
+                .toBarycentric(p.to3DXY());
+    }
+
+    /**
+     * Creates a {@link Polygon2D} instance of the triangle. The vertices of
+     * this polygon are disconnected from the ones defining this triangle.
+     * 
+     * @return triangle as polygon
+     */
+    @Override
+    public Polygon2D toPolygon2D() {
+        Polygon2D poly = new Polygon2D();
+        poly.add(a.copy());
+        poly.add(b.copy());
+        poly.add(c.copy());
+        return poly;
+    }
+
+    /**
+     *
+     * @return
+     */
+    @Override
+    public String toString() {
+        return "Triangle2D: " + a + "," + b + "," + c;
+    }
+}

data/src/toxi/geom/Triangle3D.java

@@ -0,0 +1,456 @@
+/*
+ *   __               .__       .__  ._____.           
+ * _/  |_  _______  __|__| ____ |  | |__\_ |__   ______
+ * \   __\/  _ \  \/  /  |/ ___\|  | |  || __ \ /  ___/
+ *  |  | (  <_> >    <|  \  \___|  |_|  || \_\ \\___ \ 
+ *  |__|  \____/__/\_ \__|\___  >____/__||___  /____  >
+ *                   \/       \/             \/     \/ 
+ *
+ * Copyright (c) 2006-2011 Karsten Schmidt
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * http://creativecommons.org/licenses/LGPL/2.1/
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+package toxi.geom;
+
+import javax.xml.bind.annotation.XmlAccessType;
+import javax.xml.bind.annotation.XmlAccessorType;
+import javax.xml.bind.annotation.XmlElement;
+import javax.xml.bind.annotation.XmlTransient;
+
+import toxi.math.MathUtils;
+
+/**
+ *
+ * @author tux
+ */
+@XmlAccessorType(XmlAccessType.FIELD)
+public class Triangle3D implements Shape3D {
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @return
+     */
+    public static Triangle3D createEquilateralFrom(Vec3D a, Vec3D b) {
+        Vec3D c = a.interpolateTo(b, 0.5f);
+        Vec3D dir = b.sub(a);
+        Vec3D n = a.cross(dir.normalize());
+        c.addSelf(n.normalizeTo(dir.magnitude() * MathUtils.SQRT3 / 2));
+        return new Triangle3D(a, b, c);
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     * @return
+     */
+    public static boolean isClockwiseInXY(Vec3D a, Vec3D b, Vec3D c) {
+        float determ = (b.x - a.x) * (c.y - a.y) - (c.x - a.x) * (b.y - a.y);
+        return (determ < 0.0);
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     * @return
+     */
+    public static boolean isClockwiseInXZ(Vec3D a, Vec3D b, Vec3D c) {
+        float determ = (b.x - a.x) * (c.z - a.z) - (c.x - a.x) * (b.z - a.z);
+        return (determ < 0.0);
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     * @return
+     */
+    public static boolean isClockwiseInYZ(Vec3D a, Vec3D b, Vec3D c) {
+        float determ = (b.y - a.y) * (c.z - a.z) - (c.y - a.y) * (b.z - a.z);
+        return (determ < 0.0);
+    }
+
+    @XmlElement(required = true)
+    public Vec3D a,
+
+    /**
+     *
+     */
+
+    /**
+     *
+     */
+    b,
+
+    /**
+     *
+     */
+
+    /**
+     *
+     */
+    c;
+
+    /**
+     *
+     */
+    @XmlElement(required = true)
+    public Vec3D normal;
+
+    /**
+     *
+     */
+    @XmlTransient
+    public Vec3D centroid;
+
+    /**
+     *
+     */
+    public Triangle3D() {
+    }
+
+    /**
+     *
+     * @param a
+     * @param b
+     * @param c
+     */
+    public Triangle3D(Vec3D a, Vec3D b, Vec3D c) {
+        this.a = a;
+        this.b = b;
+        this.c = c;
+    }
+
+    /**
+     * Computes the the point closest to the current vector on the surface of
+     * triangle abc.
+     * 
+     * From Real-Time Collision Detection by Christer Ericson, published by
+     * Morgan Kaufmann Publishers, Copyright 2005 Elsevier Inc
+     * 
+     * @param p
+     * @return closest point on triangle (result may also be one of a, b or c)
+     */
+    public Vec3D closestPointOnSurface(Vec3D p) {
+        Vec3D ab = b.sub(a);
+        Vec3D ac = c.sub(a);
+        Vec3D bc = c.sub(b);
+
+        ReadonlyVec3D pa = p.sub(a);
+        ReadonlyVec3D pb = p.sub(b);
+        ReadonlyVec3D pc = p.sub(c);
+
+        Vec3D ap = a.sub(p);
+        Vec3D bp = b.sub(p);
+        Vec3D cp = c.sub(p);
+
+        // Compute parametric position s for projection P' of P on AB,
+        // P' = A + s*AB, s = snom/(snom+sdenom)
+        float snom = pa.dot(ab);
+
+        // Compute parametric position t for projection P' of P on AC,
+        // P' = A + t*AC, s = tnom/(tnom+tdenom)
+        float tnom = pa.dot(ac);
+
+        if (snom <= 0.0f && tnom <= 0.0f) {
+            return a; // Vertex region early out
+        }
+
+        float sdenom = pb.dot(a.sub(b));
+        float tdenom = pc.dot(a.sub(c));
+
+        // Compute parametric position u for projection P' of P on BC,
+        // P' = B + u*BC, u = unom/(unom+udenom)
+        float unom = pb.dot(bc);
+        float udenom = pc.dot(b.sub(c));
+
+        if (sdenom <= 0.0f && unom <= 0.0f) {
+            return b; // Vertex region early out
+        }
+        if (tdenom <= 0.0f && udenom <= 0.0f) {
+            return c; // Vertex region early out
+        }
+
+        // P is outside (or on) AB if the triple scalar product [N PA PB] <= 0
+        ReadonlyVec3D n = ab.cross(ac);
+        float vc = n.dot(ap.crossSelf(bp));
+
+        // If P outside AB and within feature region of AB,
+        // return projection of P onto AB
+        if (vc <= 0.0f && snom >= 0.0f && sdenom >= 0.0f) {
+            // return a + snom / (snom + sdenom) * ab;
+            return a.add(ab.scaleSelf(snom / (snom + sdenom)));
+        }
+
+        // P is outside (or on) BC if the triple scalar product [N PB PC] <= 0
+        float va = n.dot(bp.crossSelf(cp));
+        // If P outside BC and within feature region of BC,
+        // return projection of P onto BC
+        if (va <= 0.0f && unom >= 0.0f && udenom >= 0.0f) {
+            // return b + unom / (unom + udenom) * bc;
+            return b.add(bc.scaleSelf(unom / (unom + udenom)));
+        }
+
+        // P is outside (or on) CA if the triple scalar product [N PC PA] <= 0
+        float vb = n.dot(cp.crossSelf(ap));
+        // If P outside CA and within feature region of CA,
+        // return projection of P onto CA
+        if (vb <= 0.0f && tnom >= 0.0f && tdenom >= 0.0f) {
+            // return a + tnom / (tnom + tdenom) * ac;
+            return a.add(ac.scaleSelf(tnom / (tnom + tdenom)));
+        }
+
+        // P must project inside face region. Compute Q using barycentric
+        // coordinates
+        float u = va / (va + vb + vc);
+        float v = vb / (va + vb + vc);
+        float w = 1.0f - u - v; // = vc / (va + vb + vc)
+        // return u * a + v * b + w * c;
+        return a.scale(u).addSelf(b.scale(v)).addSelf(c.scale(w));
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Vec3D computeCentroid() {
+        centroid = a.add(b).addSelf(c).scaleSelf(1f / 3);
+        return centroid;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Vec3D computeNormal() {
+        normal = a.sub(c).crossSelf(a.sub(b)).normalize();
+        return normal;
+    }
+
+    /**
+     * Checks if point vector is inside the triangle created by the points a, b
+     * and c. These points will create a plane and the point checked will have
+     * to be on this plane in the region between a,b,c (triangle vertices
+     * inclusive).
+     * 
+     * @param p
+     * @return true, if point is in triangle.
+     */
+    @Override
+    public boolean containsPoint(ReadonlyVec3D p) {
+        Vec3D v0 = c.sub(a);
+        Vec3D v1 = b.sub(a);
+        Vec3D v2 = p.sub(a);
+
+        // Compute dot products
+        float dot00 = v0.dot(v0);
+        float dot01 = v0.dot(v1);
+        float dot02 = v0.dot(v2);
+        float dot11 = v1.dot(v1);
+        float dot12 = v1.dot(v2);
+
+        // Compute barycentric coordinates
+        float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+        // Check if point is in triangle
+        return (u >= 0.0) && (v >= 0.0) && (u + v <= 1.0);
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Triangle3D flipVertexOrder() {
+        Vec3D t = a;
+        a = c;
+        c = t;
+        return this;
+    }
+
+    /**
+     *
+     * @param p
+     * @return
+     */
+    public Vec3D fromBarycentric(ReadonlyVec3D p) {
+        return new Vec3D(a.x * p.x() + b.x * p.y() + c.x * p.z(), a.y * p.x()
+                + b.y * p.y() + c.y * p.z(), a.z * p.x() + b.z * p.y() + c.z
+                * p.z());
+    }
+
+    /**
+     *
+     * @return
+     */
+    public AABB getBoundingBox() {
+        Vec3D min = Vec3D.min(Vec3D.min(a, b), c);
+        Vec3D max = Vec3D.max(Vec3D.max(a, b), c);
+        return AABB.fromMinMax(min, max);
+    }
+
+    /**
+     * Finds and returns the closest point on any of the triangle edges to the
+     * point given.
+     * 
+     * @param p
+     *            point to check
+     * @return closest point
+     */
+
+    public Vec3D getClosestPointTo(ReadonlyVec3D p) {
+        Line3D edge = new Line3D(a, b);
+        final Vec3D Rab = edge.closestPointTo(p);
+        final Vec3D Rbc = edge.set(b, c).closestPointTo(p);
+        final Vec3D Rca = edge.set(c, a).closestPointTo(p);
+
+        final float dAB = p.sub(Rab).magSquared();
+        final float dBC = p.sub(Rbc).magSquared();
+        final float dCA = p.sub(Rca).magSquared();
+
+        float min = dAB;
+        Vec3D result = Rab;
+
+        if (dBC < min) {
+            min = dBC;
+            result = Rbc;
+        }
+        if (dCA < min) {
+            result = Rca;
+        }
+
+        return result;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public Vec3D[] getVertexArray() {
+        return getVertexArray(null, 0);
+    }
+
+    /**
+     *
+     * @param array
+     * @param offset
+     * @return
+     */
+    public Vec3D[] getVertexArray(Vec3D[] array, int offset) {
+        if (array == null) {
+            array = new Vec3D[3];
+        }
+        array[offset++] = a;
+        array[offset++] = b;
+        array[offset] = c;
+        return array;
+    }
+
+    /**
+     *
+     * @return
+     */
+    public boolean isClockwiseInXY() {
+        return Triangle3D.isClockwiseInXY(a, b, c);
+    }
+
+    /**
+     *
+     * @return
+     */
+    public boolean isClockwiseInXZ() {
+        return Triangle3D.isClockwiseInXY(a, b, c);
+    }
+
+    /**
+     *
+     * @return
+     */
+    public boolean isClockwiseInYZ() {
+        return Triangle3D.isClockwiseInXY(a, b, c);
+    }
+
+    private boolean isSameClockDir(Vec3D a, Vec3D b, ReadonlyVec3D p, Vec3D norm) {
+        float bax = b.x - a.x;
+        float bay = b.y - a.y;
+        float baz = b.z - a.z;
+        float pax = p.x() - a.x;
+        float pay = p.y() - a.y;
+        float paz = p.z() - a.z;
+        float nx = bay * paz - pay * baz;
+        float ny = baz * pax - paz * bax;
+        float nz = bax * pay - pax * bay;
+        float dotprod = nx * norm.x + ny * norm.y + nz * norm.z;
+        return dotprod < 0;
+    }
+
+    /**
+     *
+     * @param a2
+     * @param b2
+     * @param c2
+     */
+    public void set(Vec3D a2, Vec3D b2, Vec3D c2) {
+        a = a2;
+        b = b2;
+        c = c2;
+    }
+
+    /**
+     *
+     * @param p
+     * @return
+     */
+    public Vec3D toBarycentric(ReadonlyVec3D p) {
+        Vec3D e = b.sub(a).cross(c.sub(a));
+        Vec3D n = e.getNormalized();
+
+        // Compute twice area of triangle ABC
+        float areaABC = n.dot(e);
+        // Compute lambda1
+        float areaPBC = n.dot(b.sub(p).cross(c.sub(p)));
+        float l1 = areaPBC / areaABC;
+
+        // Compute lambda2
+        float areaPCA = n.dot(c.sub(p).cross(a.sub(p)));
+        float l2 = areaPCA / areaABC;
+
+        // Compute lambda3
+        float l3 = 1.0f - l1 - l2;
+
+        return new Vec3D(l1, l2, l3);
+        // return new Vec3D(a.x * l1 + b.x * l2 + c.x * l3, a.y * l1 + b.y * l2
+        // + c.y * l3, a.z * l1 + b.z * l2 + c.z * l3);
+    }
+
+    /**
+     *
+     * @return
+     */
+    @Override
+    public String toString() {
+        return "Triangle3D: " + a + "," + b + "," + c;
+    }
+}