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3 * Visual and Computer Graphics Library o o *
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29
30
31
32 #ifndef __VCGLIB_RAY2
33 #define __VCGLIB_RAY2
34
35 #include <vcg/space/point2.h>
36
37 namespace vcg {
38
39 /** \addtogroup space */
40 /*@{*/
41 /**
42 Templated class for 3D rays.
43 This is the class for infinite rays in 3D space. A Ray is stored just as two Point3:
44 an origin and a direction (not necessarily normalized).
45 @param RayScalarType (template parameter) Specifies the type of scalar used to represent coords.
46 @param NORM: if on, the direction is always Normalized
47 */
48 template <class RayScalarType, bool NORM=false>
49 class Ray2
50 {
51 public:
52
53 /// The scalar type
54 typedef RayScalarType ScalarType;
55
56 /// The point type
57 typedef Point2<RayScalarType> PointType;
58
59 /// The ray type
60 typedef Ray2<RayScalarType,NORM> RayType;
61
62 private:
63
64 /// Origin
65 PointType _ori;
66
67 /// Direction (not necessarily normalized, unless so specified by NORM)
68 PointType _dir;
69
70 public:
71
72 //@{
73 /** @name Members to access the origin or direction
74 Direction() cannot be assigned directly.
75 Use SetDirection() or Set() instead.
76 **/
77 ///
Origin()78 inline const PointType &Origin() const { return _ori; }
Origin()79 inline PointType &Origin() { return _ori; }
Direction()80 inline const PointType &Direction() const { return _dir; }
81 /// sets the origin
SetOrigin(const PointType & ori)82 inline void SetOrigin( const PointType & ori )
83 { _ori=ori; }
84 /// sets the direction
SetDirection(const PointType & dir)85 inline void SetDirection( const PointType & dir)
86 { _dir=dir; if (NORM) _dir.Normalize(); }
87 /// sets origin and direction.
Set(const PointType & ori,const PointType & dir)88 inline void Set( const PointType & ori, const PointType & dir )
89 { SetOrigin(ori); SetDirection(dir); }
90 //@}
91
92 //@{
93 /** @name Constructors
94 **/
95 /// The empty constructor
Ray2()96 Ray2() {};
97 /// The (origin, direction) constructor
Ray2(const PointType & ori,const PointType & dir)98 Ray2(const PointType &ori, const PointType &dir) {SetOrigin(ori); SetDirection(dir);};
99 //@}
100
101 /// Operator to compare two rays
102 inline bool operator == ( RayType const & p ) const
103 { return _ori==p._ori && _dir==p._dir; }
104 /// Operator to dispare two rays
105 inline bool operator != ( RayType const & p ) const
106 { return _ori!=p._ori || _dir!=p._dir; }
107 /// Projects a point on the ray
Projection(const PointType & p)108 inline ScalarType Projection( const PointType &p ) const
109 { if (NORM) return ScalarType((p-_ori)*_dir);
110 else return ScalarType((p-_ori)*_dir/_dir.SquaredNorm());
111 }
112 /// returns wheter this type is normalized or not
IsNormalized()113 static bool IsNormalized() {return NORM;};
114 /// calculates the point of parameter t on the ray.
P(const ScalarType t)115 inline PointType P( const ScalarType t ) const
116 { return _ori + _dir * t; }
117 /// normalizes direction field (returns a Normalized Ray)
Normalize()118 inline Ray2<ScalarType,true> &Normalize()
119 { if (!NORM) _dir.Normalize(); return *((Ray2<ScalarType,true>*)this);}
120 /// normalizes direction field (returns a Normalized Ray) - static version
Normalize(RayType & p)121 static Ray2<ScalarType,true> &Normalize(RayType &p)
122 { p.Normalize(); return *((Ray2<ScalarType,true>*)(&p));}
123 /// importer for different ray types (with any scalar type or normalization beaviour)
124 template <class Q, bool K>
Import(const Ray2<Q,K> & b)125 inline void Import( const Ray2<Q,K> & b )
126 { _ori.Import( b.Origin() ); _dir.Import( b.Direction() );
127 if ((NORM) && (!K)) _dir.Normalize();
128 //printf("(=)%c->%c ",(!NORM)?'N':'n', NORM?'N':'n');
129 }
130 /// constructs a new ray importing it from an existing one
131 template <class Q, bool K>
Construct(const Ray2<Q,K> & b)132 static RayType Construct( const Ray2<Q,K> & b )
133 { RayType res; res.Import(b); return res;
134 }
ClosestPoint(const PointType & p)135 PointType ClosestPoint(const PointType & p) const{
136 return P(Projection(p));
137 }
138 /// flips the ray
Flip()139 inline void Flip(){
140 _dir=-_dir;
141 };
142
143 //@{
144 /** @name Linearity for 3d rays
145 (operators +, -, *, /) so a ray can be set as a linear combination
146 of several rays. Note that the result of any operation returns
147 a non-normalized ray; however, the command r0 = r1*a + r2*b is licit
148 even if r0,r1,r2 are normalized rays, as the normalization will
149 take place within the final assignement operation.
150 **/
151 inline Ray2<ScalarType,false> operator + ( RayType const & p) const
152 {return Ray2<ScalarType,false> ( _ori+p.Origin(), _dir+p.Direction() );}
153 inline Ray2<ScalarType,false> operator - ( RayType const & p) const
154 {return Ray2<ScalarType,false> ( _ori-p.Origin(), _dir-p.Direction() );}
155 inline Ray2<ScalarType,false> operator * ( const ScalarType s ) const
156 {return Ray2<ScalarType,false> ( _ori*s, _dir*s );}
157 inline Ray2<ScalarType,false> operator / ( const ScalarType s ) const
158 {ScalarType s0=((ScalarType)1.0)/s; return RayType( _ori*s0, _dir*s0 );}
159 //@}
160
161
162 //@{
163 /** @name Automatic normalized to non-normalized
164 "Ray2dN r0 = r1" is equivalent to
165 "Ray2dN r0 = r1.Normalize()" if r1 is a Ray2d
166 **/
167 /// copy constructor that takes opposite beaviour
Ray2(const Ray2<ScalarType,!NORM> & r)168 Ray2(const Ray2<ScalarType,!NORM > &r)
169 { Import(r); };
170 /// assignment
171 inline RayType & operator = ( Ray2<ScalarType,!NORM> const &r)
172 { Import(r); return *this; };
173 //@}
174
175 }; // end class definition
176
177 typedef Ray2<short> Ray2s;
178 typedef Ray2<int> Ray2i;
179 typedef Ray2<float> Ray2f;
180 typedef Ray2<double> Ray2d;
181
182 typedef Ray2<short ,true> Ray2sN;
183 typedef Ray2<int ,true> Ray2iN;
184 typedef Ray2<float ,true> Ray2fN;
185 typedef Ray2<double,true> Ray2dN;
186
187 /// returns closest point
188 template <class ScalarType, bool NORM>
ClosestPoint(Ray2<ScalarType,NORM> r,const Point2<ScalarType> & p)189 Point2<ScalarType> ClosestPoint( Ray2<ScalarType,NORM> r, const Point2<ScalarType> & p)
190 {
191 ScalarType t = r.Projection(p);
192 if (t<0) return r.Origin();
193 return r.P(t);
194 }
195
196 /*@}*/
197
198 } // end namespace
199 #endif
200