420 lines
12 KiB
C++
420 lines
12 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) 2004-2016 \/)\/ *
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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 1.12 2006/06/21 11:06:16 ganovelli
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changed return type of Zero() (to void)
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Revision 1.11 2005/04/13 09:40:30 ponchio
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Including math/bash.h
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Revision 1.10 2005/03/18 16:34:42 fiorin
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minor changes to comply gcc compiler
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Revision 1.9 2005/01/21 18:02:11 ponchio
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Removed dependence from matrix44 and changed VectProd
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Revision 1.8 2005/01/12 11:25:02 ganovelli
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added Dimension
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Revision 1.7 2004/10/11 17:46:11 ganovelli
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added definition of vector product (not implemented)
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Revision 1.6 2004/05/10 11:16:19 ganovelli
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include assert.h added
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Revision 1.5 2004/03/31 10:09:58 cignoni
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missing return value in zero()
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Revision 1.4 2004/03/11 17:17:49 tarini
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added commets (doxy), uniformed with new style, now using math::, ...
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added HomoNormalize(), Zero()... remade StableDot() (hand made sort).
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Revision 1.1 2004/02/10 01:11:28 cignoni
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Edited Comments and GPL license
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****************************************************************************/
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#ifndef __VCGLIB_POINT4
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#define __VCGLIB_POINT4
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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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/** \addtogroup space */
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/*@{*/
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/**
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The templated class for representing a point in 4D space.
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The class is templated over the ScalarType class that is used to represent coordinates.
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All the usual operator (* + - ...) are defined.
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*/
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template <class T> class Point4
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{
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public:
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/// The only data member. Hidden to user.
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T _v[4];
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public:
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typedef T ScalarType;
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enum {Dimension = 4};
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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 Point4 () { }
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inline Point4 ( const T nx, const T ny, const T nz , const T nw )
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{
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_v[0] = nx; _v[1] = ny; _v[2] = nz; _v[3] = nw;
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}
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inline Point4 ( const T p[4] )
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{
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_v[0] = p[0]; _v[1]= p[1]; _v[2] = p[2]; _v[3]= p[3];
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}
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inline Point4 ( const Point4 & p ) = default;
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inline void SetZero()
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{
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_v[0] = _v[1] = _v[2] = _v[3]= 0;
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}
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template <class Q>
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/// importer from different Point4 types
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inline void Import( const Point4<Q> & b )
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{
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_v[0] = T(b[0]); _v[1] = T(b[1]);
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_v[2] = T(b[2]);
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_v[3] = T(b[3]);
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}
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template <class EigenVector>
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inline void FromEigenVector( const EigenVector & 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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_v[3] = T(b[3]);
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}
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template <class EigenVector>
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inline void ToEigenVector( EigenVector & b ) const
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{
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b[0]=_v[0];
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b[1]=_v[1];
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b[2]=_v[2];
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b[3]=_v[3];
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}
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template <class EigenVector>
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inline EigenVector ToEigenVector(void) const
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{
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assert(EigenVector::RowsAtCompileTime == 4);
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EigenVector b;
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b << _v[0], _v[1], _v[2], _v[3];
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return b;
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}
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/// constructor that imports from different Point4 types
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template <class Q>
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static inline Point4 Construct( const Point4<Q> & b )
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{
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return Point4(T(b[0]),T(b[1]),T(b[2]),T(b[3]));
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}
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static inline Point4 Zero(void)
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{
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return Point4(0,0,0,0);
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}
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static inline Point4 One(void)
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{
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return Point4(1,1,1,1);
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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,w)
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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<4);
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return _v[i];
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}
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inline T & operator [] ( const int i )
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{
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assert(i>=0 && i<4);
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return _v[i];
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}
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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 T &W() {return _v[3];}
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inline T const * V() const
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{
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return _v;
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}
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inline T * V()
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{
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return _v;
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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<4);
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return _v[i];
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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<4);
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return _v[i];
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}
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/// Padding function: give a default 0 value to all the elements that are not in the [0..2] range.
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/// Useful for managing in a consistent way object that could have point2 / point3 / point4
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inline T Ext( const int i ) const
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{
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if(i>=0 && i<=3) return _v[i];
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else return 0;
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}
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//@}
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//@{
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/** @name Linear operators and the likes
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**/
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inline Point4 operator + ( const Point4 & p) const
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{
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return Point4( _v[0]+p._v[0], _v[1]+p._v[1], _v[2]+p._v[2], _v[3]+p._v[3] );
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}
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inline Point4 operator - ( const Point4 & p) const
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{
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return Point4( _v[0]-p._v[0], _v[1]-p._v[1], _v[2]-p._v[2], _v[3]-p._v[3] );
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}
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inline Point4 operator * ( const T s ) const
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{
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return Point4( _v[0]*s, _v[1]*s, _v[2]*s, _v[3]*s );
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}
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inline Point4 operator / ( const T s ) const
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{
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return Point4( _v[0]/s, _v[1]/s, _v[2]/s, _v[3]/s );
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}
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inline Point4 & operator += ( const Point4 & p)
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{
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_v[0] += p._v[0]; _v[1] += p._v[1]; _v[2] += p._v[2]; _v[3] += p._v[3];
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return *this;
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}
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inline Point4 & operator -= ( const Point4 & p )
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{
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_v[0] -= p._v[0]; _v[1] -= p._v[1]; _v[2] -= p._v[2]; _v[3] -= p._v[3];
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return *this;
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}
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inline Point4 & operator *= ( const T s )
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{
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_v[0] *= s; _v[1] *= s; _v[2] *= s; _v[3] *= s;
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return *this;
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}
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inline Point4 & operator /= ( const T s )
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{
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_v[0] /= s; _v[1] /= s; _v[2] /= s; _v[3] /= s;
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return *this;
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}
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inline Point4 operator - () const
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{
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return Point4( -_v[0], -_v[1], -_v[2], -_v[3] );
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}
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inline Point4 VectProd ( const Point4 &x, const Point4 &z ) const
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{
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Point4 res;
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const Point4 &y = *this;
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res[0] = y[1]*x[2]*z[3]-y[1]*x[3]*z[2]-x[1]*y[2]*z[3]+
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x[1]*y[3]*z[2]+z[1]*y[2]*x[3]-z[1]*y[3]*x[2];
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res[1] = y[0]*x[3]*z[2]-z[0]*y[2]*x[3]-y[0]*x[2]*
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z[3]+z[0]*y[3]*x[2]+x[0]*y[2]*z[3]-x[0]*y[3]*z[2];
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res[2] = -y[0]*z[1]*x[3]+x[0]*z[1]*y[3]+y[0]*x[1]*
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z[3]-x[0]*y[1]*z[3]-z[0]*x[1]*y[3]+z[0]*y[1]*x[3];
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res[3] = -z[0]*y[1]*x[2]-y[0]*x[1]*z[2]+x[0]*y[1]*
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z[2]+y[0]*z[1]*x[2]-x[0]*z[1]*y[2]+z[0]*x[1]*y[2];
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return res;
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}
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//@}
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//@{
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/** @name Norms and normalizations
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**/
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/// Euclidian normal
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inline T Norm() const
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{
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return math::Sqrt( _v[0]*_v[0] + _v[1]*_v[1] + _v[2]*_v[2] + _v[3]*_v[3] );
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}
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/// Squared euclidian normal
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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] + _v[3]*_v[3];
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}
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/// Euclidian normalization
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inline Point4 & Normalize()
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{
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T n = sqrt(_v[0]*_v[0] + _v[1]*_v[1] + _v[2]*_v[2] + _v[3]*_v[3] );
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if(n>0.0) { _v[0] /= n; _v[1] /= n; _v[2] /= n; _v[3] /= n; }
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return *this;
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}
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/// Homogeneous normalization (division by W)
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inline Point4 & HomoNormalize(){
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if (_v[3]!=0.0) { _v[0] /= _v[3]; _v[1] /= _v[3]; _v[2] /= _v[3]; _v[3]=1.0; }
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return *this;
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};
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//@}
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//@{
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/** @name Comparison operators (lexicographical order)
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**/
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inline bool operator == ( const Point4& 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] && _v[3]==p._v[3];
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}
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inline bool operator != ( const Point4 & 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] || _v[3]!=p._v[3];
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}
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inline bool operator < ( Point4 const & p ) const
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{
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return (_v[3]!=p._v[3])?(_v[3]<p._v[3]):
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(_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 > ( const Point4 & p ) const
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{
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return (_v[3]!=p._v[3])?(_v[3]>p._v[3]):
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(_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 <= ( const Point4 & p ) const
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{
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return (_v[3]!=p._v[3])?(_v[3]< p._v[3]):
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(_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 >= ( const Point4 & p ) const
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{
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return (_v[3]!=p._v[3])?(_v[3]> p._v[3]):
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(_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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//@}
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//@{
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/** @name Dot products
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**/
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// dot product
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inline T operator * ( const Point4 & 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] + _v[3]*p._v[3];
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}
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inline T dot( const Point4 & p ) const { return (*this) * p; }
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inline Point4 operator ^ ( const Point4& /*p*/ ) const
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{
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assert(0);// not defined by two vectors (only put for metaprogramming)
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return Point4();
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}
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/// slower version, more stable (double precision only)
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T StableDot ( const Point4<T> & p ) const
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{
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T k0=_v[0]*p._v[0], k1=_v[1]*p._v[1], k2=_v[2]*p._v[2], k3=_v[3]*p._v[3];
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int exp0,exp1,exp2,exp3;
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frexp( double(k0), &exp0 );frexp( double(k1), &exp1 );
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frexp( double(k2), &exp2 );frexp( double(k3), &exp3 );
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if (exp0>exp1) { std::swap(k0,k1); std::swap(exp0,exp1); }
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if (exp2>exp3) { std::swap(k2,k3); std::swap(exp2,exp3); }
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if (exp0>exp2) { std::swap(k0,k2); std::swap(exp0,exp2); }
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if (exp1>exp3) { std::swap(k1,k3); std::swap(exp1,exp3); }
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if (exp2>exp3) { std::swap(k2,k3); std::swap(exp2,exp3); }
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return ( (k0 + k1) + k2 ) +k3;
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}
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//@}
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}; // end class definition
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template <class T>
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T Angle( const Point4<T>& p1, const Point4<T> & 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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return T( math::Acos(t) );
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}
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template <class T>
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inline T Norm( const Point4<T> & 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( const Point4<T> & 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 T Distance( const Point4<T> & p1, const Point4<T> & p2 )
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{
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return Norm(p1-p2);
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}
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template <class T>
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inline T SquaredDistance( const Point4<T> & p1, const Point4<T> & p2 )
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{
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return SquaredNorm(p1-p2);
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}
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/// slower version of dot product, more stable (double precision only)
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template<class T>
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double StableDot ( Point4<T> const & p0, Point4<T> const & p1 )
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{
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return p0.StableDot(p1);
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}
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typedef Point4<short> Point4s;
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typedef Point4<int> Point4i;
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typedef Point4<float> Point4f;
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typedef Point4<double> Point4d;
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/*@}*/
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} // end namespace
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#endif
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