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vcglib/vcg/math/eigen.h

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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef EIGEN_VCGLIB
#define EIGEN_VCGLIB
// TODO enable the vectorization
// #define EIGEN_DONT_VECTORIZE
#define EIGEN_MATRIXBASE_PLUGIN <vcg/math/eigen_matrixbase_addons.h>
#define EIGEN_MATRIX_PLUGIN <vcg/math/eigen_matrix_addons.h>
// forward declarations
namespace Eigen {
template<typename T> struct ei_traits;
template<typename A,typename B> struct ei_is_same_type;
template<typename Derived1, typename Derived2, int Size> struct ei_lexi_comparison;
template<typename Derived1, typename Derived2,
bool SameType = ei_is_same_type<Derived1,Derived2>::ret,
bool SameSize = Derived1::SizeAtCompileTime==Derived2::SizeAtCompileTime>
struct ei_import_selector;
template<typename XprType,
int Rows = ei_traits<XprType>::RowsAtCompileTime,
int Cols = ei_traits<XprType>::ColsAtCompileTime,
int StorageOrder = ei_traits<XprType>::Flags&1,
int MRows = ei_traits<XprType>::MaxRowsAtCompileTime,
int MCols = ei_traits<XprType>::MaxColsAtCompileTime>
struct ei_to_vcgtype;
}
#include "base.h"
#include "../Eigen/LU"
#include "../Eigen/Geometry"
#include "../Eigen/Array"
#include "../Eigen/Core"
// add support for unsigned char and short int
namespace Eigen {
template<> struct NumTraits<unsigned char>
{
typedef unsigned char Real;
typedef float FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 1,
AddCost = 1,
MulCost = 1
};
};
template<> struct NumTraits<short int>
{
typedef short int Real;
typedef float FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 1,
AddCost = 1,
MulCost = 1
};
};
// WARNING this is a default version provided so that Intersection() stuff can compile.
// Indeed, the compiler try to instanciate all versions of Intersection() leading to
// the instanciation of Eigen::Matrix<Face,...> !!!
template<typename T> struct NumTraits
{
struct wrong_type
{
wrong_type() { assert(0 && "Eigen: you are using a wrong scalar type" ); }
};
typedef wrong_type Real;
typedef wrong_type FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 0,
AddCost = 0,
MulCost = 0
};
};
// implementation of Lexicographic order comparison
// TODO should use meta unrollers
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,2>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,3>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,4>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)< b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)> b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)< b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)> b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
// implementation of Import
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,true,true>
{
static void run(Derived1& a, const Derived2& b) { a = b; }
};
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,false,true>
{
static void run(Derived1& a, const Derived2& b)
{ a = b.template cast<typename Derived1::Scalar>(); }
};
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,false,false>
{
static void run(Derived1& a, const Derived2& b)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1);
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1);
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2);
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2);
enum {
Size1 = Derived1::SizeAtCompileTime,
Size2 = Derived2::SizeAtCompileTime
};
assert(Size1<=4 && Size2<=4);
a.coeffRef(0) = Scalar(b.coeff(0));
if (Size1>1) { if (Size2>1) a.coeffRef(1) = Scalar(b.coeff(1)); else a.coeffRef(1) = 0; }
if (Size1>2) { if (Size2>2) a.coeffRef(2) = Scalar(b.coeff(2)); else a.coeffRef(2) = 0; }
if (Size1>3) { if (Size2>3) a.coeffRef(3) = Scalar(b.coeff(3)); else a.coeffRef(3) = 0; }
}
};
// default implementation of ei_to_vcgtype
// the specialization are with
template<typename XprType,int Rows,int Cols,int StorageOrder,int MRows,int MCols>
struct ei_to_vcgtype { typedef Matrix<typename XprType::Scalar,Rows,Cols,StorageOrder,MRows,MCols> type; };
}
#define VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
template<typename OtherDerived> \
Derived& operator Op(const Eigen::MatrixBase<OtherDerived>& other) \
{ \
Base::operator Op(other.derived()); return *this;\
} \
Derived& operator Op(const Derived& other) \
{ \
Base::operator Op(other); return *this;\
}
#define VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
template<typename Other> \
Derived& operator Op(const Other& scalar) \
{ \
Base::operator Op(scalar); return *this;\
}
#define VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
namespace vcg {
template<typename Derived1, typename Derived2>
typename Eigen::ei_traits<Derived1>::Scalar
Angle(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1)
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2)
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived1,Derived2)
typedef typename Eigen::ei_traits<Derived1>::Scalar Scalar;
Scalar w = p1.norm()*p2.norm();
if(w==0) return Scalar(-1);
Scalar t = (p1.dot(p2))/w;
if(t>1) t = 1;
else if(t<-1) t = -1;
return vcg::math::Acos(t);
}
template<typename Derived1, typename Derived2>
typename Eigen::ei_traits<Derived1>::Scalar
AngleN(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1)
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2)
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived1,Derived2)
typedef typename Eigen::ei_traits<Derived1>::Scalar Scalar;
Scalar t = (p1.dot(p2));
if(t>1) t = 1;
else if(t<-1) t = -1;
return vcg::math::Acos(t);
}
template<typename Derived1>
inline typename Eigen::ei_traits<Derived1>::Scalar Norm( const Eigen::MatrixBase<Derived1>& p)
{ return p.norm(); }
template<typename Derived1>
inline typename Eigen::ei_traits<Derived1>::Scalar SquaredNorm( const Eigen::MatrixBase<Derived1>& p)
{ return p.squaredNorm(); }
template<typename Derived1, typename Derived2>
inline typename Eigen::ei_traits<Derived1>::Scalar
Distance(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{ return (p1-p2).norm(); }
template<typename Derived1, typename Derived2>
inline typename Eigen::ei_traits<Derived1>::Scalar
SquaredDistance(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{ return (p1-p2).squaredNorm(); }
template<typename Derived>
inline const Eigen::CwiseUnaryOp<Eigen::ei_scalar_abs_op<typename Eigen::ei_traits<Derived>::Scalar>, Derived>
Abs(const Eigen::MatrixBase<Derived>& p)
{ return p.cwise().abs(); }
/** \deprecated use transposeInPlace() or transpose() */
template<typename Scalar,int Size,int StorageOrder>
EIGEN_DEPRECATED inline Eigen::Matrix<Scalar,Size,Size,StorageOrder>&
Transpose(const Eigen::Matrix<Scalar,Size,Size,StorageOrder>& m)
{ return m.transposeInPlace(); return m; }
template<typename Derived>
inline const Eigen::CwiseBinaryOp<Eigen::ei_scalar_max_op<typename Eigen::ei_traits<Derived>::Scalar>,
Derived,
Eigen::NestByValue<typename Derived::ConstantReturnType> >
LowClampToZero(const Eigen::MatrixBase<Derived>& p)
{ return p.cwise().max(Derived::Zero().nestByValue()); }
}
#endif
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