480 lines
11 KiB
C++
480 lines
11 KiB
C++
/****************************************************************************
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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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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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Revision 1.4 2004/02/09 13:48:02 cignoni
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Edited doxygen comments
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Revision 1.3 2004/02/06 02:25:54 cignoni
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First working release.
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Revision 1.2 2004/02/06 02:17:09 cignoni
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First commit...
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****************************************************************************/
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#ifndef __VCGLIB_POINT3
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#define __VCGLIB_POINT3
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#include <assert.h>
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#include <vcg/math/base.h>
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namespace vcg {
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/** The templated class for representing a point in 3D space.
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* The class is templated over the scalar value representing coordinates.
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*/
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template <class T> class Point3
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{
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protected:
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/// The only data member. Hidden to user.
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T _v[3];
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public:
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typedef T scalar;
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//@{
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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 T nx, const T ny, const T nz )
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{
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_v[0] = nx;
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_v[1] = ny;
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_v[2] = nz;
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}
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inline Point3 ( Point3 const & p )
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{
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_v[0]= p._v[0];
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_v[1]= p._v[1];
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_v[2]= p._v[2];
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}
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inline Point3 ( const T nv[3] )
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{
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_v[0] = nv[0];
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_v[1] = nv[1];
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_v[2] = nv[2];
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}
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inline Point3 & operator =( Point3 const & p )
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{
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_v[0]= p._v[0]; _v[1]= p._v[1]; _v[2]= p._v[2];
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return *this;
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}
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inline void zero()
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{
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_v[0] = 0;
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_v[1] = 0;
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_v[2] = 0;
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}
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/// Questa funzione estende il vettore ad un qualsiasi numero di dimensioni
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/// paddando gli elementi estesi con zeri
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inline T Ext( const int i ) const
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{
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if(i>=0 && i<=2) return _v[i];
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else return 0;
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}
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template <class Q>
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inline void Import( const Point3<Q> & b )
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{
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_v[0] = T(b[0]);
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_v[1] = T(b[1]);
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_v[2] = T(b[2]);
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}
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template <class Q>
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static inline Point3 Construct( const Point3<Q> & b )
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{
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return Point3(T(b[0]),T(b[1]),T(b[2]));
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}
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//@}
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//@{
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/** @name Data Access.
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access to data is done by overloading of [] or explicit naming of coords (x,y,z)**/
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inline T & operator [] ( const int i )
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{
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assert(i>=0 && i<3);
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return _v[i];
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}
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inline const T & operator [] ( const int i ) const
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{
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assert(i>=0 && i<3);
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return _v[i];
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}
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inline const T &X() const { return _v[0]; }
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inline const T &Y() const { return _v[1]; }
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inline const T &Z() const { return _v[2]; }
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inline T &X() { return _v[0]; }
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inline T &Y() { return _v[1]; }
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inline T &Z() { return _v[2]; }
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inline const T * V() const
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{
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return _v;
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}
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inline T & V( const int i )
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{
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assert(i>=0 && i<3);
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return _v[i];
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}
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inline const T & V( const int i ) const
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{
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assert(i>=0 && i<3);
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return _v[i];
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}
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//@}
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//@{
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/** @name Classical overloading of operators
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Note
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**/
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inline Point3 operator + ( Point3 const & p) const
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{
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return Point3<T>( _v[0]+p._v[0], _v[1]+p._v[1], _v[2]+p._v[2] );
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}
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inline Point3 operator - ( Point3 const & p) const
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{
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return Point3<T>( _v[0]-p._v[0], _v[1]-p._v[1], _v[2]-p._v[2] );
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}
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inline Point3 operator * ( const T s ) const
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{
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return Point3<T>( _v[0]*s, _v[1]*s, _v[2]*s );
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}
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inline Point3 operator / ( const T s ) const
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{
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return Point3<T>( _v[0]/s, _v[1]/s, _v[2]/s );
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}
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/// Dot product
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inline T operator * ( Point3 const & p ) const
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{
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return ( _v[0]*p._v[0] + _v[1]*p._v[1] + _v[2]*p._v[2] );
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}
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/// Cross product
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inline Point3 operator ^ ( Point3 const & p ) const
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{
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return Point3 <T>
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(
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_v[1]*p._v[2] - _v[2]*p._v[1],
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_v[2]*p._v[0] - _v[0]*p._v[2],
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_v[0]*p._v[1] - _v[1]*p._v[0]
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);
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}
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inline Point3 & operator += ( Point3 const & p)
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{
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_v[0] += p._v[0];
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_v[1] += p._v[1];
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_v[2] += p._v[2];
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return *this;
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}
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inline Point3 & operator -= ( Point3 const & p)
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{
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_v[0] -= p._v[0];
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_v[1] -= p._v[1];
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_v[2] -= p._v[2];
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return *this;
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}
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inline Point3 & operator *= ( const T s )
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{
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_v[0] *= s;
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_v[1] *= s;
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_v[2] *= s;
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return *this;
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}
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inline Point3 & operator /= ( const T s )
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{
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_v[0] /= s;
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_v[1] /= s;
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_v[2] /= s;
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return *this;
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}
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// Norme
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inline T Norm() const
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{
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return Sqrt( _v[0]*_v[0] + _v[1]*_v[1] + _v[2]*_v[2] );
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}
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inline T SquaredNorm() const
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{
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return ( _v[0]*_v[0] + _v[1]*_v[1] + _v[2]*_v[2] );
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}
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// Scalatura differenziata
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inline Point3 & Scale( const T sx, const T sy, const T sz )
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{
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_v[0] *= sx;
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_v[1] *= sy;
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_v[2] *= sz;
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return *this;
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}
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inline Point3 & Scale( const Point3 & p )
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{
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_v[0] *= p._v[0];
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_v[1] *= p._v[1];
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_v[2] *= p._v[2];
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return *this;
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}
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// Normalizzazione
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inline Point3 & Normalize()
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{
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T n = Sqrt(_v[0]*_v[0] + _v[1]*_v[1] + _v[2]*_v[2]);
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if(n>0.0) { _v[0] /= n; _v[1] /= n; _v[2] /= n; }
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return *this;
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}
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// Polarizzazione
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void Polar( T & ro, T & tetha, T & fi ) const
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{
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ro = Norm();
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tetha = (T)atan2( _v[1], _v[0] );
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fi = (T)acos( _v[2]/ro );
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}
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//@}
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//@{
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/** @name Comparison Operators.
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Note that the reverse z prioritized ordering, useful in many situations.
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**/
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inline bool operator == ( Point3 const & p ) const
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{
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return _v[0]==p._v[0] && _v[1]==p._v[1] && _v[2]==p._v[2];
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}
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inline bool operator != ( Point3 const & p ) const
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{
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return _v[0]!=p._v[0] || _v[1]!=p._v[1] || _v[2]!=p._v[2];
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}
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inline bool operator < ( Point3 const & p ) const
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{
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return (_v[2]!=p._v[2])?(_v[2]<p._v[2]):
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(_v[1]!=p._v[1])?(_v[1]<p._v[1]):
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(_v[0]<p._v[0]);
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}
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inline bool operator > ( Point3 const & p ) const
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{
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return (_v[2]!=p._v[2])?(_v[2]>p._v[2]):
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(_v[1]!=p._v[1])?(_v[1]>p._v[1]):
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(_v[0]>p._v[0]);
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}
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inline bool operator <= ( Point3 const & p ) const
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{
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return (_v[2]!=p._v[2])?(_v[2]< p._v[2]):
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(_v[1]!=p._v[1])?(_v[1]< p._v[1]):
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(_v[0]<=p._v[0]);
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}
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inline bool operator >= ( Point3 const & p ) const
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{
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return (_v[2]!=p._v[2])?(_v[2]> p._v[2]):
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(_v[1]!=p._v[1])?(_v[1]> p._v[1]):
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(_v[0]>=p._v[0]);
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}
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inline Point3 operator - () const
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{
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return Point3<T> ( -_v[0], -_v[1], -_v[2] );
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}
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//@}
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// Casts
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#ifdef __VCG_USE_CAST
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inline operator Point3<int> (){ return Point3<int> (_v[0],_v[1],_v[2]); }
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inline operator Point3<unsigned int> (){ return Point3<unsigned int>(_v[0],_v[1],_v[2]); }
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inline operator Point3<double> (){ return Point3<double> (_v[0],_v[1],_v[2]); }
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inline operator Point3<float> (){ return Point3<float> (_v[0],_v[1],_v[2]); }
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inline operator Point3<short> (){ return Point3<short> (_v[0],_v[1],_v[2]); }
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#endif
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}; // end class definition
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template <class T>
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inline T Angle( Point3<T> const & p1, Point3<T> const & p2 )
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{
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T w = p1.Norm()*p2.Norm();
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if(w==0) return -1;
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T t = (p1*p2)/w;
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if(t>1) t = 1;
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else if(t<-1) t = -1;
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return (T) acos(t);
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}
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// versione uguale alla precedente ma che assume che i due vettori sono unitari
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template <class T>
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inline T AngleN( Point3<T> const & p1, Point3<T> const & p2 )
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{
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T w = p1*p2;
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if(w>1)
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w = 1;
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else if(w<-1)
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w=-1;
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return (T) acos(w);
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}
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template <class T>
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inline T Norm( Point3<T> const & p )
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{
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return p.Norm();
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}
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template <class T>
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inline T SquaredNorm( Point3<T> const & p )
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{
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return p.SquaredNorm();
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}
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template <class T>
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inline Point3<T> & Normalize( Point3<T> & p )
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{
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p.Normalize();
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return p;
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}
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template <class T>
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inline T Distance( Point3<T> const & p1,Point3<T> const & p2 )
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{
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return (p1-p2).Norm();
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}
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template <class T>
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inline T SquaredDistance( Point3<T> const & p1,Point3<T> const & p2 )
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{
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return (p1-p2).SquaredNorm();
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}
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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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template<class T>
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double stable_dot ( Point3<T> const & p0, Point3<T> const & p1 )
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{
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T k0 = p0._v[0]*p1._v[0];
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T k1 = p0._v[1]*p1._v[1];
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T k2 = p0._v[2]*p1._v[2];
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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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}
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// Returns 2*AreaTri/(MaxEdge^2), range [0.0, 0.866]
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// e.g. halfsquare: 1/2, Equitri sqrt(3)/2, ecc
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// Modificata il 7/sep/00 per evitare l'allocazione temporanea di variabili
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template<class T>
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T Quality( Point3<T> const &p0, Point3<T> const & p1, Point3<T> const & p2)
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{
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Point3<T> d10=p1-p0;
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Point3<T> d20=p2-p0;
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Point3<T> d12=p1-p2;
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Point3<T> x = d10^d20;
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T a = Norm( x );
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if(a==0) return 0; // Area zero triangles have surely quality==0;
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T b = SquaredNorm( d10 );
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T t = b;
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t = SquaredNorm( d20 ); if ( b<t ) b = t;
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t = SquaredNorm( d12 ); if ( b<t ) b = t;
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assert(b!=0.0);
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return a/b;
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}
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// Return the value of the face normal (internal use only)
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template<class T>
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Point3<T> Normal(const Point3<T> & p0, const Point3<T> & p1, const Point3<T> & p2)
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{
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return ((p1 - p0) ^ (p2 - p0));
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}
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// Return the value of the face normal (internal use only)
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template<class T>
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Point3<T> NormalizedNormal(const Point3<T> & p0, const Point3<T> & p1, const Point3<T> & p2)
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{
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return ((p1 - p0) ^ (p2 - p0)).Normalize();
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}
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template<class T>
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Point3<T> Jitter(Point3<T> &n, T RadAngle)
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{
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Point3<T> rnd(1.0 - 2.0*T(rand())/RAND_MAX, 1.0 - 2.0*T(rand())/RAND_MAX, 1.0 - 2.0*T(rand())/RAND_MAX);
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rnd*=Sin(RadAngle);
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return (n+rnd).Normalize();
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}
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// Point(p) Edge(v1-v2) dist, q is the point in v1-v2 with min dist
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template<class T>
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T PSDist( const Point3<T> & p,
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const Point3<T> & v1,
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const Point3<T> & v2,
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Point3<T> & q )
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{
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Point3<T> e = v2-v1;
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T t = ((p-v1)*e)/e.SquaredNorm();
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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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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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} // end namespace
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#endif
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