-
Notifications
You must be signed in to change notification settings - Fork 14
/
Plane.hpp
320 lines (273 loc) · 8.14 KB
/
Plane.hpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
#ifndef PLANE_HPP
#define PLANE_HPP
#include <boost/range/begin.hpp>
#include <boost/range/end.hpp>
#include <boost/array.hpp>
#include <boost/multi_array.hpp>
#include <utility>
#include <algorithm>
#include "utils/array_helper.hpp"
#include "Shape.hpp"
#include "linear_algebra.hpp"
template<typename T_>
class Plane
{
public:
typedef T_ value_type;
typedef Vector3<T_> position_type;
typedef T_ length_type;
public:
Plane(position_type const& position = position_type())
: position_(position),
units_(array_gen(
create_vector<position_type>(1., 0., 0.),
create_vector<position_type>(0., 1., 0.),
create_vector<position_type>(0., 0., 1.))),
half_extent_(array_gen<length_type>(0.5, 0.5)) {}
template<typename Tarray_>
Plane(position_type const& position, Tarray_ const& half_extent)
: position_(position),
units_(array_gen(
create_vector<position_type>(1., 0., 0.),
create_vector<position_type>(0., 1., 0.),
create_vector<position_type>(0., 0., 1.)))
{
std::copy(boost::begin(half_extent), boost::end(half_extent),
boost::begin(half_extent_));
}
template<typename Tarray1, typename Tarray2>
Plane(position_type const& position,
Tarray1 const& units, Tarray2 const& half_extent)
: position_(position)
{
std::copy(boost::begin(units), boost::end(units),
boost::begin(units_));
std::copy(boost::begin(half_extent), boost::end(half_extent),
boost::begin(half_extent_));
}
template<typename Tarray_>
Plane(position_type const& position,
position_type const& vx,
position_type const& vy,
Tarray_ const& half_extent = array_gen<length_type>(0.5, 0.5))
: position_(position), units_(array_gen(vx, vy, cross_product(vx, vy)))
{
std::copy(boost::begin(half_extent), boost::end(half_extent),
boost::begin(half_extent_));
}
Plane(position_type const& position,
position_type const& vx,
position_type const& vy,
length_type const& half_lx,
length_type const& half_ly)
: position_(position), units_(array_gen(vx, vy, cross_product(vx, vy))),
half_extent_(array_gen<length_type>(half_lx, half_ly)) {}
position_type const& position() const
{
return position_;
}
position_type& position()
{
return position_;
}
position_type const& unit_x() const
{
return units_[0];
}
position_type& unit_x()
{
return units_[0];
}
position_type const& unit_y() const
{
return units_[1];
}
position_type& unit_y()
{
return units_[1];
}
position_type const& unit_z() const
{
return units_[2];
}
position_type& unit_z()
{
return units_[2];
}
boost::array<position_type, 3> const& units() const
{
return units_;
}
boost::array<position_type, 3>& units()
{
return units_;
}
length_type const Lx() const
{
return 2 * half_extent_[0];
}
length_type Lx()
{
return 2 * half_extent_[0];
}
length_type const Ly() const
{
return 2 * half_extent_[1];
}
length_type Ly()
{
return 2 * half_extent_[1];
}
boost::array<length_type, 2> const& half_extent() const
{
return half_extent_;
}
boost::array<length_type, 2>& half_extent()
{
return half_extent_;
}
bool operator==(const Plane& rhs) const
{
return position_ == rhs.position_ && units_ == rhs.units_ &&
half_extent_ == rhs.half_extent_;
}
bool operator!=(const Plane& rhs) const
{
return !operator==(rhs);
}
std::string show(int precision)
{
std::ostringstream strm;
strm.precision(precision);
strm << *this;
return strm.str();
}
protected:
position_type position_;
boost::array<position_type, 3> units_;
boost::array<length_type, 2> half_extent_;
};
template<typename T_>
inline boost::array<typename Plane<T_>::length_type, 3>
to_internal(Plane<T_> const& obj, typename Plane<T_>::position_type const& pos)
{
typedef typename Plane<T_>::position_type position_type;
position_type pos_vector(subtract(pos, obj.position()));
return array_gen<typename Plane<T_>::length_type>(
dot_product(pos_vector, obj.unit_x()),
dot_product(pos_vector, obj.unit_y()),
dot_product(pos_vector, obj.unit_z()));
}
template<typename T_>
inline std::pair<typename Plane<T_>::position_type,
typename Plane<T_>::length_type>
projected_point(Plane<T_> const& obj, typename Plane<T_>::position_type const& pos)
{
boost::array<typename Plane<T_>::length_type, 3> x_y_z(to_internal(obj, pos));
return std::make_pair(
add(add(obj.position(), multiply(obj.unit_x(), x_y_z[0])),
multiply(obj.unit_y(), x_y_z[1])),
x_y_z[2]);
}
template<typename T_>
inline typename Plane<T_>::length_type
distance(Plane<T_> const& obj, typename Plane<T_>::position_type const& pos)
{
typedef typename Plane<T_>::length_type length_type;
boost::array<length_type, 3> const x_y_z(to_internal(obj, pos));
length_type const dx(subtract(abs(x_y_z[0]), obj.half_extent()[0]));
length_type const dy(subtract(abs(x_y_z[1]), obj.half_extent()[1]));
if (dx < 0 && dy < 0) {
// Projected point of pos is on the plane.
// Probably an infinite plane anyway.
return x_y_z[2];
}
if (dx > 0)
{
if (dy > 0)
{
// Far away from plane.
return std::sqrt(gsl_pow_2(dx) + gsl_pow_2(dy) +
gsl_pow_2(x_y_z[2]));
}
else
{
return std::sqrt(gsl_pow_2(dx) + gsl_pow_2(x_y_z[2]));
}
}
else
{
if (dy > 0)
{
return std::sqrt(gsl_pow_2(dy) + gsl_pow_2(x_y_z[2]));
}
else
{
// Already tested above.
return x_y_z[2];
}
}
}
template<typename T, typename Trng>
inline typename Plane<T>::position_type
random_position(Plane<T> const& shape, Trng& rng)
{
typedef typename Plane<T>::length_type length_type;
// -1 < rng() < 1. See for example PlanarSurface.hpp.
return add(
shape.position(),
add(multiply(shape.units()[0], shape.half_extent()[0] * rng()),
multiply(shape.units()[1], shape.half_extent()[1] * rng())));
}
template<typename T>
inline Plane<T> const& shape(Plane<T> const& shape)
{
return shape;
}
template<typename T>
inline Plane<T>& shape(Plane<T>& shape)
{
return shape;
}
template<typename T_>
struct is_shape<Plane<T_> >: public boost::mpl::true_ {};
template<typename T_>
struct shape_position_type<Plane<T_> >
{
typedef typename Plane<T_>::position_type type;
};
template<typename Tstrm_, typename Ttraits_, typename T_>
inline std::basic_ostream<Tstrm_, Ttraits_>& operator<<(std::basic_ostream<Tstrm_, Ttraits_>& strm,
const Plane<T_>& v)
{
strm << "{" << v.position() << ", " << v.unit_x() << ", " << v.unit_y() << "," << v.Lx() << ", " << v.Ly() << "}";
return strm;
}
#if defined(HAVE_TR1_FUNCTIONAL)
namespace std { namespace tr1 {
#elif defined(HAVE_STD_HASH)
namespace std {
#elif defined(HAVE_BOOST_FUNCTIONAL_HASH_HPP)
namespace boost {
#endif
template<typename T_>
struct hash<Plane<T_> >
{
typedef Plane<T_> argument_type;
std::size_t operator()(argument_type const& val)
{
return hash<typename argument_type::position_type>()(val.position()) ^
hash<typename argument_type::position_type>()(val.unit_x()) ^
hash<typename argument_type::position_type>()(val.unit_y()) ^
hash<typename argument_type::length_type>()(val.half_extent()[0]) ^
hash<typename argument_type::length_type>()(val.half_extent()[1]);
}
};
#if defined(HAVE_TR1_FUNCTIONAL)
} } // namespace std::tr1
#elif defined(HAVE_STD_HASH)
} // namespace std
#elif defined(HAVE_BOOST_FUNCTIONAL_HASH_HPP)
} // namespace boost
#endif
#endif /* PLANE_HPP */