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33 ///////////////////////////////////////////////////////////////////////////
34
35
36
37 #ifndef INCLUDED_IMATHLINE_H
38 #define INCLUDED_IMATHLINE_H
39
40 //-------------------------------------
41 //
42 // A 3D line class template
43 //
44 //-------------------------------------
45
46 #include "ImathVec.h"
47 #include "ImathLimits.h"
48 #include "ImathMatrix.h"
49 #include "ImathNamespace.h"
50
51 IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
52
53
54 template <class T>
55 class Line3
56 {
57 public:
58
59 Vec3<T> pos;
60 Vec3<T> dir;
61
62 //-------------------------------------------------------------
63 // Constructors - default is normalized units along direction
64 //-------------------------------------------------------------
65
Line3()66 Line3() {}
67 Line3(const Vec3<T>& point1, const Vec3<T>& point2);
68
69 //------------------
70 // State Query/Set
71 //------------------
72
73 void set(const Vec3<T>& point1,
74 const Vec3<T>& point2);
75
76 //-------
77 // F(t)
78 //-------
79
80 Vec3<T> operator() (T parameter) const;
81
82 //---------
83 // Query
84 //---------
85
86 T distanceTo(const Vec3<T>& point) const;
87 T distanceTo(const Line3<T>& line) const;
88 Vec3<T> closestPointTo(const Vec3<T>& point) const;
89 Vec3<T> closestPointTo(const Line3<T>& line) const;
90 };
91
92
93 //--------------------
94 // Convenient typedefs
95 //--------------------
96
97 typedef Line3<float> Line3f;
98 typedef Line3<double> Line3d;
99
100
101 //---------------
102 // Implementation
103 //---------------
104
105 template <class T>
Line3(const Vec3<T> & p0,const Vec3<T> & p1)106 inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1)
107 {
108 set(p0,p1);
109 }
110
111 template <class T>
set(const Vec3<T> & p0,const Vec3<T> & p1)112 inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1)
113 {
114 pos = p0; dir = p1-p0;
115 dir.normalize();
116 }
117
118 template <class T>
operator()119 inline Vec3<T> Line3<T>::operator()(T parameter) const
120 {
121 return pos + dir * parameter;
122 }
123
124 template <class T>
distanceTo(const Vec3<T> & point)125 inline T Line3<T>::distanceTo(const Vec3<T>& point) const
126 {
127 return (closestPointTo(point)-point).length();
128 }
129
130 template <class T>
closestPointTo(const Vec3<T> & point)131 inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const
132 {
133 return ((point - pos) ^ dir) * dir + pos;
134 }
135
136 template <class T>
distanceTo(const Line3<T> & line)137 inline T Line3<T>::distanceTo(const Line3<T>& line) const
138 {
139 T d = (dir % line.dir) ^ (line.pos - pos);
140 return (d >= 0)? d: -d;
141 }
142
143 template <class T>
144 inline Vec3<T>
closestPointTo(const Line3<T> & line)145 Line3<T>::closestPointTo(const Line3<T>& line) const
146 {
147 // Assumes the lines are normalized
148
149 Vec3<T> posLpos = pos - line.pos ;
150 T c = dir ^ posLpos;
151 T a = line.dir ^ dir;
152 T f = line.dir ^ posLpos ;
153 T num = c - a * f;
154
155 T denom = a*a - 1;
156
157 T absDenom = ((denom >= 0)? denom: -denom);
158
159 if (absDenom < 1)
160 {
161 T absNum = ((num >= 0)? num: -num);
162
163 if (absNum >= absDenom * limits<T>::max())
164 return pos;
165 }
166
167 return pos + dir * (num / denom);
168 }
169
170 template<class T>
171 std::ostream& operator<< (std::ostream &o, const Line3<T> &line)
172 {
173 return o << "(" << line.pos << ", " << line.dir << ")";
174 }
175
176 template<class S, class T>
177 inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M)
178 {
179 return Line3<S>( line.pos * M, (line.pos + line.dir) * M );
180 }
181
182
183 IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
184
185 #endif // INCLUDED_IMATHLINE_H
186