/////////////////////////////////////////////////////////////////////////// // // Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas // Digital Ltd. LLC // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are // met: // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // * Redistributions in binary form must reproduce the above // copyright notice, this list of conditions and the following disclaimer // in the documentation and/or other materials provided with the // distribution. // * Neither the name of Industrial Light & Magic nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // /////////////////////////////////////////////////////////////////////////// #ifndef INCLUDED_IMATHLINE_H #define INCLUDED_IMATHLINE_H //------------------------------------- // // A 3D line class template // //------------------------------------- #include "ImathVec.h" #include "ImathLimits.h" #include "ImathMatrix.h" #include "ImathNamespace.h" IMATH_INTERNAL_NAMESPACE_HEADER_ENTER template <class T> class Line3 { public: Vec3<T> pos; Vec3<T> dir; //------------------------------------------------------------- // Constructors - default is normalized units along direction //------------------------------------------------------------- Line3() {} Line3(const Vec3<T>& point1, const Vec3<T>& point2); //------------------ // State Query/Set //------------------ void set(const Vec3<T>& point1, const Vec3<T>& point2); //------- // F(t) //------- Vec3<T> operator() (T parameter) const; //--------- // Query //--------- T distanceTo(const Vec3<T>& point) const; T distanceTo(const Line3<T>& line) const; Vec3<T> closestPointTo(const Vec3<T>& point) const; Vec3<T> closestPointTo(const Line3<T>& line) const; }; //-------------------- // Convenient typedefs //-------------------- typedef Line3<float> Line3f; typedef Line3<double> Line3d; //--------------- // Implementation //--------------- template <class T> inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1) { set(p0,p1); } template <class T> inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1) { pos = p0; dir = p1-p0; dir.normalize(); } template <class T> inline Vec3<T> Line3<T>::operator()(T parameter) const { return pos + dir * parameter; } template <class T> inline T Line3<T>::distanceTo(const Vec3<T>& point) const { return (closestPointTo(point)-point).length(); } template <class T> inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const { return ((point - pos) ^ dir) * dir + pos; } template <class T> inline T Line3<T>::distanceTo(const Line3<T>& line) const { T d = (dir % line.dir) ^ (line.pos - pos); return (d >= 0)? d: -d; } template <class T> inline Vec3<T> Line3<T>::closestPointTo(const Line3<T>& line) const { // Assumes the lines are normalized Vec3<T> posLpos = pos - line.pos ; T c = dir ^ posLpos; T a = line.dir ^ dir; T f = line.dir ^ posLpos ; T num = c - a * f; T denom = a*a - 1; T absDenom = ((denom >= 0)? denom: -denom); if (absDenom < 1) { T absNum = ((num >= 0)? num: -num); if (absNum >= absDenom * limits<T>::max()) return pos; } return pos + dir * (num / denom); } template<class T> std::ostream& operator<< (std::ostream &o, const Line3<T> &line) { return o << "(" << line.pos << ", " << line.dir << ")"; } template<class S, class T> inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M) { return Line3<S>( line.pos * M, (line.pos + line.dir) * M ); } IMATH_INTERNAL_NAMESPACE_HEADER_EXIT #endif // INCLUDED_IMATHLINE_H