2004-03-03 15:22:48 +01:00
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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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2004-03-07 23:45:32 +01:00
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2008-10-27 20:35:17 +01:00
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#ifndef VCG_USE_EIGEN
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#include "deprecated_point3.h"
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#else
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2004-03-03 15:22:48 +01:00
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#ifndef __VCGLIB_POINT3
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#define __VCGLIB_POINT3
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2008-10-27 20:35:17 +01:00
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#include "../math/eigen.h"
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2004-03-03 15:22:48 +01:00
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2008-10-27 20:35:17 +01:00
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namespace vcg{
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2008-10-28 21:06:17 +01:00
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template<typename Scalar> class Point3;
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2008-10-27 20:35:17 +01:00
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}
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namespace Eigen{
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2008-10-28 21:06:17 +01:00
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template<typename Scalar> struct ei_traits<vcg::Point3<Scalar> > : ei_traits<Eigen::Matrix<Scalar,3,1> > {};
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make point2 derived Eigen's Matrix, and a set of minimal fixes to make meshlab compile
with both old and new version. The fixes include:
- dot product: vec0 * vec1 => vec0.dot(vec1) (I added .dot() to the old Point classes too)
- Transpose: Transpose is an Eigen type, so we cannot keep it if Eigen is used. Therefore
I added a .tranpose() to old matrix classes, and modified most of the Transpose() to transpose()
both in vcg and meshlab. In fact, transpose() are free with Eigen, it simply returns a transpose
expression without copies. On the other be carefull: m = m.transpose() won't work as expected,
here me must evaluate to a temporary: m = m.transpose().eval(); However, this operation in very
rarely needed: you transpose at the same sime you set m, or you use m.transpose() directly.
- the last issue is Normalize which both modifies *this and return a ref to it. This behavior
don't make sense anymore when using expression template, e.g., in (a+b).Normalize(), the type
of a+b if not a Point (or whatever Vector types), it an expression of the addition of 2 points,
so we cannot modify the value of *this, since there is no value. Therefore I've already changed
all those .Normalize() of expressions to the Eigen's version .normalized().
- Finally I've changed the Zero to SetZero in the old Point classes too.
2008-10-28 01:59:46 +01:00
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template<typename Scalar>
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struct NumTraits<vcg::Point3<Scalar> > : NumTraits<Scalar>
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{
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enum {
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ReadCost = 3,
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AddCost = 3,
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MulCost = 3
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};
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};
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2008-10-27 20:35:17 +01:00
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}
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2004-03-03 15:22:48 +01:00
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namespace vcg {
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2004-10-13 14:45:51 +02:00
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2008-10-28 21:06:17 +01:00
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template<typename Scalar> class Box3;
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2004-03-03 15:22:48 +01:00
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/** \addtogroup space */
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/*@{*/
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2008-10-28 21:06:17 +01:00
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/**
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The templated class for representing a point in 3D space.
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The class is templated over the ScalarType class that is used to represent coordinates. All the usual
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operator overloading (* + - ...) is present.
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*/
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2008-10-27 20:35:17 +01:00
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template <class _Scalar> class Point3 : public Eigen::Matrix<_Scalar,3,1>
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2004-03-03 15:22:48 +01:00
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{
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2008-10-28 21:06:17 +01:00
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//----------------------------------------
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// template typedef part
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// use it as follow: typename Point3<S>::Type instead of simply Point3<S>
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//----------------------------------------
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public:
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typedef Eigen::Matrix<_Scalar,3,1> Type;
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//----------------------------------------
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// inheritence part
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//----------------------------------------
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private:
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typedef Eigen::Matrix<_Scalar,3,1> _Base;
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using _Base::Construct;
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public:
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_EIGEN_GENERIC_PUBLIC_INTERFACE(Point3,_Base);
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VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Point3)
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2004-03-03 15:22:48 +01:00
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/** @name Standard Constructors and Initializers
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No casting operators have been introduced to avoid automatic unattended (and costly) conversion between different point types
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**/
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inline Point3 () {}
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inline Point3 ( const Scalar nx, const Scalar ny, const Scalar nz ) : Base(nx,ny,nz) {}
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inline Point3 ( Point3 const & p ) : Base(p) {}
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inline Point3 ( const Scalar nv[3] ) : Base(nv) {}
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template<typename OtherDerived>
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inline Point3(const Eigen::MatrixBase<OtherDerived>& other) : Base(other) {}
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2008-10-28 21:06:17 +01:00
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// this one is very useless
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2006-10-13 14:59:24 +02:00
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template <class Q>
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static inline Point3 Construct( const Q & P0, const Q & P1, const Q & P2)
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{
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return Point3(Scalar(P0),Scalar(P1),Scalar(P2));
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2006-10-13 14:59:24 +02:00
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}
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vcg::Box3<_Scalar> GetBBox(vcg::Box3<_Scalar> &bb) const;
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2006-10-13 14:59:24 +02:00
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2008-10-28 21:06:17 +01:00
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}; // end class definition (Point3)
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2004-03-03 15:22:48 +01:00
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// Dot product preciso numericamente (solo double!!)
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// Implementazione: si sommano i prodotti per ordine di esponente
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// (prima le piu' grandi)
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2008-10-27 20:35:17 +01:00
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template<class Scalar>
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double stable_dot ( Point3<Scalar> const & p0, Point3<Scalar> const & p1 )
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{
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Scalar k0 = p0.data()[0]*p1.data()[0];
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Scalar k1 = p0.data()[1]*p1.data()[1];
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Scalar k2 = p0.data()[2]*p1.data()[2];
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2004-03-03 15:22:48 +01:00
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int exp0,exp1,exp2;
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frexp( double(k0), &exp0 );
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frexp( double(k1), &exp1 );
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frexp( double(k2), &exp2 );
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if( exp0<exp1 )
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{
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if(exp0<exp2)
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return (k1+k2)+k0;
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else
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return (k0+k1)+k2;
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}
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else
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{
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if(exp1<exp2)
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return(k0+k2)+k1;
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else
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return (k0+k1)+k2;
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}
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2008-10-28 21:06:17 +01:00
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}
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2004-03-03 15:22:48 +01:00
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/// Point(p) Edge(v1-v2) dist, q is the point in v1-v2 with min dist
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2008-10-27 20:35:17 +01:00
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template<class Scalar>
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Scalar PSDist( const Point3<Scalar> & p,
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const Point3<Scalar> & v1,
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const Point3<Scalar> & v2,
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Point3<Scalar> & q )
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{
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Point3<Scalar> e = v2-v1;
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Scalar t = ((p-v1).dot(e))/e.SquaredNorm();
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2004-03-03 15:22:48 +01:00
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if(t<0) t = 0;
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else if(t>1) t = 1;
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q = v1+e*t;
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return Distance(p,q);
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}
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2008-10-27 20:35:17 +01:00
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template <class Scalar>
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void GetUV( Point3<Scalar> &n,Point3<Scalar> &u, Point3<Scalar> &v, Point3<Scalar> up=(Point3<Scalar>(0,1,0)) )
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2004-11-09 16:49:07 +01:00
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{
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n.Normalize();
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const double LocEps=double(1e-7);
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u=n^up;
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double len = u.Norm();
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if(len < LocEps)
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{
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if(fabs(n[0])<fabs(n[1])){
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if(fabs(n[0])<fabs(n[2])) up=Point3<Scalar>(1,0,0); // x is the min
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else up=Point3<Scalar>(0,0,1); // z is the min
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2004-11-09 16:49:07 +01:00
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}else {
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if(fabs(n[1])<fabs(n[2])) up=Point3<Scalar>(0,1,0); // y is the min
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else up=Point3<Scalar>(0,0,1); // z is the min
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2004-11-09 16:49:07 +01:00
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}
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u=n^up;
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}
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u.Normalize();
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v=n^u;
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v.Normalize();
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2008-10-27 20:35:17 +01:00
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Point3<Scalar> uv=u^v;
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2004-11-09 16:49:07 +01:00
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}
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2008-10-28 21:06:17 +01:00
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/*@}*/
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2005-11-09 17:11:55 +01:00
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2004-03-03 15:22:48 +01:00
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typedef Point3<short> Point3s;
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typedef Point3<int> Point3i;
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typedef Point3<float> Point3f;
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typedef Point3<double> Point3d;
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2008-10-28 21:06:17 +01:00
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// typedef Eigen::Matrix<short ,3,1> Point3s;
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// typedef Eigen::Matrix<int ,3,1> Point3i;
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// typedef Eigen::Matrix<float ,3,1> Point3f;
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// typedef Eigen::Matrix<double,3,1> Point3d;
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// typedef Eigen::Matrix<short ,3,1> Vector3s;
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// typedef Eigen::Matrix<int ,3,1> Vector3i;
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// typedef Eigen::Matrix<float ,3,1> Vector3f;
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// typedef Eigen::Matrix<double,3,1> Vector3d;
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2004-10-13 14:45:51 +02:00
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2004-03-03 15:22:48 +01:00
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} // end namespace
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2004-10-13 14:45:51 +02:00
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2004-03-03 15:22:48 +01:00
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#endif
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2008-10-27 20:35:17 +01:00
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#endif
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