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ImathLine.h
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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 
52 
53 
54 template <class T>
55 class Line3
56 {
57  public:
58 
61 
62  //-------------------------------------------------------------
63  // Constructors - default is normalized units along direction
64  //-------------------------------------------------------------
65 
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 
99 
100 
101 //---------------
102 // Implementation
103 //---------------
104 
105 template <class T>
106 inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1)
107 {
108  set(p0,p1);
109 }
110 
111 template <class T>
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>
119 inline Vec3<T> Line3<T>::operator()(T parameter) const
120 {
121  return pos + dir * parameter;
122 }
123 
124 template <class T>
125 inline T Line3<T>::distanceTo(const Vec3<T>& point) const
126 {
127  return (closestPointTo(point)-point).length();
128 }
129 
130 template <class T>
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>
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>
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 
184 
185 #endif // INCLUDED_IMATHLINE_H
Line3()
Definition: ImathLine.h:66
#define IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
Mat3< typename promote< S, T >::type > operator*(S scalar, const Mat3< T > &m)
Multiply each element of the given matrix by scalar and return the result.
Definition: Mat3.h:609
Vec3< T > pos
Definition: ImathLine.h:59
#define IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
GLboolean GLboolean GLboolean GLboolean a
Definition: glcorearb.h:1221
T distanceTo(const Vec3< T > &point) const
Definition: ImathLine.h:125
GLfloat f
Definition: glcorearb.h:1925
Vec3< T > operator()(T parameter) const
Definition: ImathLine.h:119
Vec3< T > dir
Definition: ImathLine.h:60
Vec3< T > closestPointTo(const Vec3< T > &point) const
Definition: ImathLine.h:131
void set(const Vec3< T > &point1, const Vec3< T > &point2)
Definition: ImathLine.h:112
const Vec3 & normalize()
Definition: ImathVec.h:1682
Line3< double > Line3d
Definition: ImathLine.h:98
png_infop png_uint_32 int num
Definition: png.h:2158
Line3< float > Line3f
Definition: ImathLine.h:97