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/*****************************************************************************
* $CAMITK_LICENCE_BEGIN$
*
* CamiTK - Computer Assisted Medical Intervention ToolKit
* (c) 2001-2018 Univ. Grenoble Alpes, CNRS, TIMC-IMAG UMR 5525 (GMCAO)
*
* Visit http://camitk.imag.fr for more information
*
* This file is part of CamiTK.
*
* CamiTK is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License version 3
* only, as published by the Free Software Foundation.
*
* CamiTK 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 Lesser General Public License version 3 for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* version 3 along with CamiTK. If not, see <http://www.gnu.org/licenses/>.
*
* $CAMITK_LICENCE_END$
****************************************************************************/
#ifndef TOOLS_TOOLS_H
#define TOOLS_TOOLS_H
#include <MonitoringModel.hxx>
#include <cmath>
/// compute euclidian distance
double distance(double pos[3], double pos2[3]);
/** compute the distance of a point to the plane defined by a 3D triangle.
* It is the distance between the given point and its projection on the triangle plane.
*
* @param point coords of the point
* @param tri1 coords of the 1st point of the triangle
* @param tri2 coords of the 2nd point of the triangle
* @param tri3 coords of the 3rd point of the triangle
*/
double distanceToTrianglePlane(double point[3], double tri1[3], double tri2[3], double tri3[3]);
/// convert a TimeParameter (from xsd-cxx generetaed file) to double
double timeParameter2double(mml::TimeParameter& t);
/// compute dot product
double dotProduct(double vec1[3], double vec2[3]);
/// compute cross product
void crossProduct(double vec1[3], double vec2[3], double res[3]);
/// normalize vector
void normalize(double vec[3]);
/// norm of vector
double normOf(double vec[3]);
// -------------------- distance --------------------
inline double distance(double pos[3], double pos2[3]) {
return sqrt((pos[0] - pos2[0]) * (pos[0] - pos2[0])
+ (pos[1] - pos2[1]) * (pos[1] - pos2[1])
+ (pos[2] - pos2[2]) * (pos[2] - pos2[2]));
}
// -------------------- dotProduct --------------------
inline double dotProduct(double vec1[3], double vec2[3]) {
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
}
// -------------------- distance --------------------
inline void crossProduct(double vec1[3], double vec2[3], double res[3]) {
res[0] = vec1[1] * vec1[2] - vec1[2] * vec1[1];
res[1] = vec1[2] * vec1[0] - vec1[0] * vec1[2];
res[2] = vec1[0] * vec1[1] - vec1[1] * vec1[0];
}
// -------------------- normalize --------------------
inline void normalize(double vec[3]) {
double norm = sqrt(vec[0] * vec[0] + vec[1] * vec[1] + vec[2] * vec[2]);
if (norm > 0) {
vec[0] = vec[0] / norm;
vec[1] = vec[1] / norm;
vec[2] = vec[2] / norm;
}
}
// -------------------- normOf --------------------
inline double normOf(double vec[3]) {
return sqrt(vec[0] * vec[0] + vec[1] * vec[1] + vec[2] * vec[2]);
}
#endif // TOOLS_TOOLS_H
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