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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* 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 VCG_USE_EIGEN
#include "deprecated_point3.h"
#else
#ifndef __VCGLIB_POINT3
#define __VCGLIB_POINT3
#include "../math/eigen.h"
namespace vcg{
template<typename Scalar> class Point3;
}
namespace Eigen{
template<typename Scalar> struct ei_traits<vcg::Point3<Scalar> > : ei_traits<Eigen::Matrix<Scalar,3,1> > {};
template<typename XprType> struct ei_to_vcgtype<XprType,3,1,0,3,1>
{ typedef vcg::Point3<typename XprType::Scalar> type; };
template<typename Scalar>
struct NumTraits<vcg::Point3<Scalar> > : NumTraits<Scalar>
{
enum {
ReadCost = 3,
AddCost = 3,
MulCost = 3
};
};
}
namespace vcg {
template<typename Scalar> class Box3;
/** \addtogroup space */
/*@{*/
/**
The templated class for representing a point in 3D space.
The class is templated over the ScalarType class that is used to represent coordinates. All the usual
operator overloading (* + - ...) is present.
*/
template <class _Scalar> class Point3 : public Eigen::Matrix<_Scalar,3,1>
{
//----------------------------------------
// template typedef part
// use it as follow: typename Point3<S>::Type instead of simply Point3<S>
//----------------------------------------
public:
typedef Eigen::Matrix<_Scalar,3,1> Type;
//----------------------------------------
// inheritence part
//----------------------------------------
private:
typedef Eigen::Matrix<_Scalar,3,1> _Base;
public:
using _Base::Construct;
_EIGEN_GENERIC_PUBLIC_INTERFACE(Point3,_Base);
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Point3)
/** @name Standard Constructors and Initializers
No casting operators have been introduced to avoid automatic unattended (and costly) conversion between different point types
**/
inline Point3 () {}
inline Point3 ( const Scalar nx, const Scalar ny, const Scalar nz ) : Base(nx,ny,nz) {}
inline Point3 ( Point3 const & p ) : Base(p) {}
inline Point3 ( const Scalar nv[3] ) : Base(nv) {}
template<typename OtherDerived>
inline Point3(const Eigen::MatrixBase<OtherDerived>& other) : Base(other) {}
// this one is very useless
template <class Q>
static inline Point3 Construct( const Q & P0, const Q & P1, const Q & P2)
{
return Point3(Scalar(P0),Scalar(P1),Scalar(P2));
}
vcg::Box3<_Scalar> GetBBox(vcg::Box3<_Scalar> &bb) const;
}; // end class definition (Point3)
// Dot product preciso numericamente (solo double!!)
// Implementazione: si sommano i prodotti per ordine di esponente
// (prima le piu' grandi)
template<class Scalar>
double stable_dot ( Point3<Scalar> const & p0, Point3<Scalar> const & p1 )
{
Scalar k0 = p0.data()[0]*p1.data()[0];
Scalar k1 = p0.data()[1]*p1.data()[1];
Scalar k2 = p0.data()[2]*p1.data()[2];
int exp0,exp1,exp2;
frexp( double(k0), &exp0 );
frexp( double(k1), &exp1 );
frexp( double(k2), &exp2 );
if( exp0<exp1 )
{
if(exp0<exp2)
return (k1+k2)+k0;
else
return (k0+k1)+k2;
}
else
{
if(exp1<exp2)
return(k0+k2)+k1;
else
return (k0+k1)+k2;
}
}
/// Point(p) Edge(v1-v2) dist, q is the point in v1-v2 with min dist
template<class Scalar>
Scalar PSDist( const Point3<Scalar> & p,
const Point3<Scalar> & v1,
const Point3<Scalar> & v2,
Point3<Scalar> & q )
{
Point3<Scalar> e = v2-v1;
Scalar t = ((p-v1).dot(e))/e.SquaredNorm();
if(t<0) t = 0;
else if(t>1) t = 1;
q = v1+e*t;
return Distance(p,q);
}
template <class Scalar>
void GetUV( Point3<Scalar> &n,Point3<Scalar> &u, Point3<Scalar> &v, Point3<Scalar> up=(Point3<Scalar>(0,1,0)) )
{
n.Normalize();
const double LocEps=double(1e-7);
u=n^up;
double len = u.Norm();
if(len < LocEps)
{
if(fabs(n[0])<fabs(n[1])){
if(fabs(n[0])<fabs(n[2])) up=Point3<Scalar>(1,0,0); // x is the min
else up=Point3<Scalar>(0,0,1); // z is the min
}else {
if(fabs(n[1])<fabs(n[2])) up=Point3<Scalar>(0,1,0); // y is the min
else up=Point3<Scalar>(0,0,1); // z is the min
}
u=n^up;
}
u.Normalize();
v=n^u;
v.Normalize();
Point3<Scalar> uv=u^v;
}
/*@}*/
typedef Point3<short> Point3s;
typedef Point3<int> Point3i;
typedef Point3<float> Point3f;
typedef Point3<double> Point3d;
// typedef Eigen::Matrix<short ,3,1> Point3s;
// typedef Eigen::Matrix<int ,3,1> Point3i;
// typedef Eigen::Matrix<float ,3,1> Point3f;
// typedef Eigen::Matrix<double,3,1> Point3d;
// typedef Eigen::Matrix<short ,3,1> Vector3s;
// typedef Eigen::Matrix<int ,3,1> Vector3i;
// typedef Eigen::Matrix<float ,3,1> Vector3f;
// typedef Eigen::Matrix<double,3,1> Vector3d;
} // end namespace
#endif
#endif
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