185 lines
4.7 KiB
C++
185 lines
4.7 KiB
C++
///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
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// Digital Ltd. LLC
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//
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Industrial Light & Magic nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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///////////////////////////////////////////////////////////////////////////
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#ifndef INCLUDED_IMATHLINE_H
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#define INCLUDED_IMATHLINE_H
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//-------------------------------------
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//
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// A 3D line class template
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//
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//-------------------------------------
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#include "ImathVec.h"
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#include "ImathLimits.h"
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#include "ImathMatrix.h"
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namespace Imath {
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template <class T>
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class Line3
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{
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public:
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Vec3<T> pos;
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Vec3<T> dir;
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//-------------------------------------------------------------
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// Constructors - default is normalized units along direction
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//-------------------------------------------------------------
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Line3() {}
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Line3(const Vec3<T>& point1, const Vec3<T>& point2);
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//------------------
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// State Query/Set
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//------------------
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void set(const Vec3<T>& point1,
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const Vec3<T>& point2);
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//-------
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// F(t)
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//-------
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Vec3<T> operator() (T parameter) const;
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//---------
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// Query
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//---------
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T distanceTo(const Vec3<T>& point) const;
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T distanceTo(const Line3<T>& line) const;
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Vec3<T> closestPointTo(const Vec3<T>& point) const;
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Vec3<T> closestPointTo(const Line3<T>& line) const;
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};
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//--------------------
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// Convenient typedefs
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//--------------------
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typedef Line3<float> Line3f;
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typedef Line3<double> Line3d;
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//---------------
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// Implementation
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//---------------
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template <class T>
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inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1)
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{
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set(p0,p1);
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}
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template <class T>
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inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1)
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{
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pos = p0; dir = p1-p0;
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dir.normalize();
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}
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template <class T>
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inline Vec3<T> Line3<T>::operator()(T parameter) const
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{
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return pos + dir * parameter;
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}
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template <class T>
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inline T Line3<T>::distanceTo(const Vec3<T>& point) const
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{
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return (closestPointTo(point)-point).length();
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}
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template <class T>
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inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const
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{
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return ((point - pos) ^ dir) * dir + pos;
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}
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template <class T>
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inline T Line3<T>::distanceTo(const Line3<T>& line) const
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{
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T d = (dir % line.dir) ^ (line.pos - pos);
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return (d >= 0)? d: -d;
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}
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template <class T>
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inline Vec3<T>
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Line3<T>::closestPointTo(const Line3<T>& line) const
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{
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// Assumes the lines are normalized
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Vec3<T> posLpos = pos - line.pos ;
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T c = dir ^ posLpos;
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T a = line.dir ^ dir;
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T f = line.dir ^ posLpos ;
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T num = c - a * f;
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T denom = a*a - 1;
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T absDenom = ((denom >= 0)? denom: -denom);
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if (absDenom < 1)
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{
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T absNum = ((num >= 0)? num: -num);
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if (absNum >= absDenom * limits<T>::max())
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return pos;
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}
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return pos + dir * (num / denom);
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}
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template<class T>
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std::ostream& operator<< (std::ostream &o, const Line3<T> &line)
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{
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return o << "(" << line.pos << ", " << line.dir << ")";
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}
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template<class S, class T>
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inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M)
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{
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return Line3<S>( line.pos * M, (line.pos + line.dir) * M );
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}
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} // namespace Imath
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#endif
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