+ Scalar intersectRay(const Ray<3>& ray, Ray<3>::Intersection& intersection)
+ {
+ // solve: [(ray.point + t*ray.direction) dot normal] + d = 0
+
+ Scalar denominator = cml::dot(ray.direction, normal);
+
+ // check for parallel condition
+ if (denominator == SCALAR(0.0))
+ {
+ if (isEqual(cml::dot(ray.point, normal), -d))
+ {
+ // the ray lies on the plane
+ intersection.point = ray.point;
+ intersection.normal = normal;
+ return SCALAR(0.0);
+ }
+
+ // no solution
+ return SCALAR(-1.0);
+ }
+
+ Scalar t = (cml::dot(ray.point, normal) + d) / denominator;
+ if (t > SCALAR(0.0))
+ {
+ ray.solve(intersection.point, t);
+ intersection.normal = normal;
+ }
+
+ return t;
+ }
+
+