How to find the orthogonal projection of a point onto a plane

3dmath

Lets say I have point (x,y,z) and plane with point (a,b,c) and normal (d,e,f). I want to find the point that is the result of the orthogonal projection of the first point onto the plane. I am using this in 3d graphics programming. I want to achieve some sort of clipping onto the plane.

Best Answer

The projection of a point q = (x, y, z) onto a plane given by a point p = (a, b, c) and a normal n = (d, e, f) is

q_proj = q - dot(q - p, n) * n

This calculation assumes that n is a unit vector.

Related Solutions

Java – Fastest way to determine if an integer’s square root is an integer

I figured out a method that works ~35% faster than your 6bits+Carmack+sqrt code, at least with my CPU (x86) and programming language (C/C++). Your results may vary, especially because I don't know how the Java factor will play out.

My approach is threefold:

First, filter out obvious answers. This includes negative numbers and looking at the last 4 bits. (I found looking at the last six didn't help.) I also answer yes for 0. (In reading the code below, note that my input is int64 x.)
```
if( x < 0 || (x&2) || ((x & 7) == 5) || ((x & 11) == 8) )
    return false;
if( x == 0 )
    return true;
```
Next, check if it's a square modulo 255 = 3 * 5 * 17. Because that's a product of three distinct primes, only about 1/8 of the residues mod 255 are squares. However, in my experience, calling the modulo operator (%) costs more than the benefit one gets, so I use bit tricks involving 255 = 2^8-1 to compute the residue. (For better or worse, I am not using the trick of reading individual bytes out of a word, only bitwise-and and shifts.)
```
int64 y = x;
y = (y & 4294967295LL) + (y >> 32); 
y = (y & 65535) + (y >> 16);
y = (y & 255) + ((y >> 8) & 255) + (y >> 16);
// At this point, y is between 0 and 511.  More code can reduce it farther.
```
To actually check if the residue is a square, I look up the answer in a precomputed table.
```
if( bad255[y] )
    return false;
// However, I just use a table of size 512
```
Finally, try to compute the square root using a method similar to Hensel's lemma. (I don't think it's applicable directly, but it works with some modifications.) Before doing that, I divide out all powers of 2 with a binary search:
```
if((x & 4294967295LL) == 0)
    x >>= 32;
if((x & 65535) == 0)
    x >>= 16;
if((x & 255) == 0)
    x >>= 8;
if((x & 15) == 0)
    x >>= 4;
if((x & 3) == 0)
    x >>= 2;
```
At this point, for our number to be a square, it must be 1 mod 8.
```
if((x & 7) != 1)
    return false;
```
The basic structure of Hensel's lemma is the following. (Note: untested code; if it doesn't work, try t=2 or 8.)
```
int64 t = 4, r = 1;
t <<= 1; r += ((x - r * r) & t) >> 1;
t <<= 1; r += ((x - r * r) & t) >> 1;
t <<= 1; r += ((x - r * r) & t) >> 1;
// Repeat until t is 2^33 or so.  Use a loop if you want.
```
The idea is that at each iteration, you add one bit onto r, the "current" square root of x; each square root is accurate modulo a larger and larger power of 2, namely t/2. At the end, r and t/2-r will be square roots of x modulo t/2. (Note that if r is a square root of x, then so is -r. This is true even modulo numbers, but beware, modulo some numbers, things can have even more than 2 square roots; notably, this includes powers of 2.) Because our actual square root is less than 2^32, at that point we can actually just check if r or t/2-r are real square roots. In my actual code, I use the following modified loop:
```
int64 r, t, z;
r = start[(x >> 3) & 1023];
do {
    z = x - r * r;
    if( z == 0 )
        return true;
    if( z < 0 )
        return false;
    t = z & (-z);
    r += (z & t) >> 1;
    if( r > (t >> 1) )
        r = t - r;
} while( t <= (1LL << 33) );
```
The speedup here is obtained in three ways: precomputed start value (equivalent to ~10 iterations of the loop), earlier exit of the loop, and skipping some t values. For the last part, I look at z = r - x * x, and set t to be the largest power of 2 dividing z with a bit trick. This allows me to skip t values that wouldn't have affected the value of r anyway. The precomputed start value in my case picks out the "smallest positive" square root modulo 8192.

Even if this code doesn't work faster for you, I hope you enjoy some of the ideas it contains. Complete, tested code follows, including the precomputed tables.

typedef signed long long int int64;

int start[1024] =
{1,3,1769,5,1937,1741,7,1451,479,157,9,91,945,659,1817,11,
1983,707,1321,1211,1071,13,1479,405,415,1501,1609,741,15,339,1703,203,
129,1411,873,1669,17,1715,1145,1835,351,1251,887,1573,975,19,1127,395,
1855,1981,425,453,1105,653,327,21,287,93,713,1691,1935,301,551,587,
257,1277,23,763,1903,1075,1799,1877,223,1437,1783,859,1201,621,25,779,
1727,573,471,1979,815,1293,825,363,159,1315,183,27,241,941,601,971,
385,131,919,901,273,435,647,1493,95,29,1417,805,719,1261,1177,1163,
1599,835,1367,315,1361,1933,1977,747,31,1373,1079,1637,1679,1581,1753,1355,
513,1539,1815,1531,1647,205,505,1109,33,1379,521,1627,1457,1901,1767,1547,
1471,1853,1833,1349,559,1523,967,1131,97,35,1975,795,497,1875,1191,1739,
641,1149,1385,133,529,845,1657,725,161,1309,375,37,463,1555,615,1931,
1343,445,937,1083,1617,883,185,1515,225,1443,1225,869,1423,1235,39,1973,
769,259,489,1797,1391,1485,1287,341,289,99,1271,1701,1713,915,537,1781,
1215,963,41,581,303,243,1337,1899,353,1245,329,1563,753,595,1113,1589,
897,1667,407,635,785,1971,135,43,417,1507,1929,731,207,275,1689,1397,
1087,1725,855,1851,1873,397,1607,1813,481,163,567,101,1167,45,1831,1205,
1025,1021,1303,1029,1135,1331,1017,427,545,1181,1033,933,1969,365,1255,1013,
959,317,1751,187,47,1037,455,1429,609,1571,1463,1765,1009,685,679,821,
1153,387,1897,1403,1041,691,1927,811,673,227,137,1499,49,1005,103,629,
831,1091,1449,1477,1967,1677,697,1045,737,1117,1737,667,911,1325,473,437,
1281,1795,1001,261,879,51,775,1195,801,1635,759,165,1871,1645,1049,245,
703,1597,553,955,209,1779,1849,661,865,291,841,997,1265,1965,1625,53,
1409,893,105,1925,1297,589,377,1579,929,1053,1655,1829,305,1811,1895,139,
575,189,343,709,1711,1139,1095,277,993,1699,55,1435,655,1491,1319,331,
1537,515,791,507,623,1229,1529,1963,1057,355,1545,603,1615,1171,743,523,
447,1219,1239,1723,465,499,57,107,1121,989,951,229,1521,851,167,715,
1665,1923,1687,1157,1553,1869,1415,1749,1185,1763,649,1061,561,531,409,907,
319,1469,1961,59,1455,141,1209,491,1249,419,1847,1893,399,211,985,1099,
1793,765,1513,1275,367,1587,263,1365,1313,925,247,1371,1359,109,1561,1291,
191,61,1065,1605,721,781,1735,875,1377,1827,1353,539,1777,429,1959,1483,
1921,643,617,389,1809,947,889,981,1441,483,1143,293,817,749,1383,1675,
63,1347,169,827,1199,1421,583,1259,1505,861,457,1125,143,1069,807,1867,
2047,2045,279,2043,111,307,2041,597,1569,1891,2039,1957,1103,1389,231,2037,
65,1341,727,837,977,2035,569,1643,1633,547,439,1307,2033,1709,345,1845,
1919,637,1175,379,2031,333,903,213,1697,797,1161,475,1073,2029,921,1653,
193,67,1623,1595,943,1395,1721,2027,1761,1955,1335,357,113,1747,1497,1461,
1791,771,2025,1285,145,973,249,171,1825,611,265,1189,847,1427,2023,1269,
321,1475,1577,69,1233,755,1223,1685,1889,733,1865,2021,1807,1107,1447,1077,
1663,1917,1129,1147,1775,1613,1401,555,1953,2019,631,1243,1329,787,871,885,
449,1213,681,1733,687,115,71,1301,2017,675,969,411,369,467,295,693,
1535,509,233,517,401,1843,1543,939,2015,669,1527,421,591,147,281,501,
577,195,215,699,1489,525,1081,917,1951,2013,73,1253,1551,173,857,309,
1407,899,663,1915,1519,1203,391,1323,1887,739,1673,2011,1585,493,1433,117,
705,1603,1111,965,431,1165,1863,533,1823,605,823,1179,625,813,2009,75,
1279,1789,1559,251,657,563,761,1707,1759,1949,777,347,335,1133,1511,267,
833,1085,2007,1467,1745,1805,711,149,1695,803,1719,485,1295,1453,935,459,
1151,381,1641,1413,1263,77,1913,2005,1631,541,119,1317,1841,1773,359,651,
961,323,1193,197,175,1651,441,235,1567,1885,1481,1947,881,2003,217,843,
1023,1027,745,1019,913,717,1031,1621,1503,867,1015,1115,79,1683,793,1035,
1089,1731,297,1861,2001,1011,1593,619,1439,477,585,283,1039,1363,1369,1227,
895,1661,151,645,1007,1357,121,1237,1375,1821,1911,549,1999,1043,1945,1419,
1217,957,599,571,81,371,1351,1003,1311,931,311,1381,1137,723,1575,1611,
767,253,1047,1787,1169,1997,1273,853,1247,413,1289,1883,177,403,999,1803,
1345,451,1495,1093,1839,269,199,1387,1183,1757,1207,1051,783,83,423,1995,
639,1155,1943,123,751,1459,1671,469,1119,995,393,219,1743,237,153,1909,
1473,1859,1705,1339,337,909,953,1771,1055,349,1993,613,1393,557,729,1717,
511,1533,1257,1541,1425,819,519,85,991,1693,503,1445,433,877,1305,1525,
1601,829,809,325,1583,1549,1991,1941,927,1059,1097,1819,527,1197,1881,1333,
383,125,361,891,495,179,633,299,863,285,1399,987,1487,1517,1639,1141,
1729,579,87,1989,593,1907,839,1557,799,1629,201,155,1649,1837,1063,949,
255,1283,535,773,1681,461,1785,683,735,1123,1801,677,689,1939,487,757,
1857,1987,983,443,1327,1267,313,1173,671,221,695,1509,271,1619,89,565,
127,1405,1431,1659,239,1101,1159,1067,607,1565,905,1755,1231,1299,665,373,
1985,701,1879,1221,849,627,1465,789,543,1187,1591,923,1905,979,1241,181};

bool bad255[512] =
{0,0,1,1,0,1,1,1,1,0,1,1,1,1,1,0,0,1,1,0,1,0,1,1,1,0,1,1,1,1,0,1,
 1,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,1,1,0,1,1,1,1,0,1,1,1,
 0,1,0,1,1,0,0,1,1,1,1,1,0,1,1,1,1,0,1,1,0,0,1,1,1,1,1,1,1,1,0,1,
 1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,0,1,1,1,0,1,1,1,1,0,0,1,1,1,1,1,1,
 1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,0,0,1,1,1,1,1,0,1,1,0,1,1,1,1,1,
 1,1,1,1,1,1,0,1,1,0,1,0,1,1,0,1,1,1,1,1,1,1,1,1,1,1,0,1,1,0,1,1,
 1,1,1,0,0,1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,1,1,1,
 1,0,1,1,1,0,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,
 0,0,1,1,0,1,1,1,1,0,1,1,1,1,1,0,0,1,1,0,1,0,1,1,1,0,1,1,1,1,0,1,
 1,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,1,1,0,1,1,1,1,0,1,1,1,
 0,1,0,1,1,0,0,1,1,1,1,1,0,1,1,1,1,0,1,1,0,0,1,1,1,1,1,1,1,1,0,1,
 1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,0,1,1,1,0,1,1,1,1,0,0,1,1,1,1,1,1,
 1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,0,0,1,1,1,1,1,0,1,1,0,1,1,1,1,1,
 1,1,1,1,1,1,0,1,1,0,1,0,1,1,0,1,1,1,1,1,1,1,1,1,1,1,0,1,1,0,1,1,
 1,1,1,0,0,1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,1,1,1,
 1,0,1,1,1,0,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,
 0,0};

inline bool square( int64 x ) {
    // Quickfail
    if( x < 0 || (x&2) || ((x & 7) == 5) || ((x & 11) == 8) )
        return false;
    if( x == 0 )
        return true;

    // Check mod 255 = 3 * 5 * 17, for fun
    int64 y = x;
    y = (y & 4294967295LL) + (y >> 32);
    y = (y & 65535) + (y >> 16);
    y = (y & 255) + ((y >> 8) & 255) + (y >> 16);
    if( bad255[y] )
        return false;

    // Divide out powers of 4 using binary search
    if((x & 4294967295LL) == 0)
        x >>= 32;
    if((x & 65535) == 0)
        x >>= 16;
    if((x & 255) == 0)
        x >>= 8;
    if((x & 15) == 0)
        x >>= 4;
    if((x & 3) == 0)
        x >>= 2;

    if((x & 7) != 1)
        return false;

    // Compute sqrt using something like Hensel's lemma
    int64 r, t, z;
    r = start[(x >> 3) & 1023];
    do {
        z = x - r * r;
        if( z == 0 )
            return true;
        if( z < 0 )
            return false;
        t = z & (-z);
        r += (z & t) >> 1;
        if( r > (t  >> 1) )
            r = t - r;
    } while( t <= (1LL << 33) );

    return false;
}

Easy interview question got harder: given numbers 1..100, find the missing number(s) given exactly k are missing

Here's a summary of Dimitris Andreou's link.

Remember sum of i-th powers, where i=1,2,..,k. This reduces the problem to solving the system of equations

a₁ + a₂ + ... + a_k = b₁

a₁² + a₂² + ... + a_k² = b₂

...

a₁^k + a₂^k + ... + a_k^k = b_k

Using Newton's identities, knowing b_i allows to compute

c₁ = a₁ + a₂ + ... a_k

c₂ = a₁a₂ + a₁a₃ + ... + a_k-1a_k

...

c_k = a₁a₂ ... a_k

If you expand the polynomial (x-a₁)...(x-a_k) the coefficients will be exactly c₁, ..., c_k - see Viète's formulas. Since every polynomial factors uniquely (ring of polynomials is an Euclidean domain), this means a_i are uniquely determined, up to permutation.

This ends a proof that remembering powers is enough to recover the numbers. For constant k, this is a good approach.

However, when k is varying, the direct approach of computing c₁,...,c_k is prohibitely expensive, since e.g. c_k is the product of all missing numbers, magnitude n!/(n-k)!. To overcome this, perform computations in Z_q field, where q is a prime such that n <= q < 2n - it exists by Bertrand's postulate. The proof doesn't need to be changed, since the formulas still hold, and factorization of polynomials is still unique. You also need an algorithm for factorization over finite fields, for example the one by Berlekamp or Cantor-Zassenhaus.

High level pseudocode for constant k:

Compute i-th powers of given numbers
Subtract to get sums of i-th powers of unknown numbers. Call the sums b_i.
Use Newton's identities to compute coefficients from b_i; call them c_i. Basically, c₁ = b₁; c₂ = (c₁b₁ - b₂)/2; see Wikipedia for exact formulas
Factor the polynomial x^k-c₁x^k-1 + ... + c_k.
The roots of the polynomial are the needed numbers a₁, ..., a_k.

For varying k, find a prime n <= q < 2n using e.g. Miller-Rabin, and perform the steps with all numbers reduced modulo q.

EDIT: The previous version of this answer stated that instead of Z_q, where q is prime, it is possible to use a finite field of characteristic 2 (q=2^(log n)). This is not the case, since Newton's formulas require division by numbers up to k.

Best Answer

Related Solutions

Java – Fastest way to determine if an integer’s square root is an integer

Easy interview question got harder: given numbers 1..100, find the missing number(s) given exactly k are missing

Related Topic