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00026 #ifndef WFMATH_SEGMENT_H
00027 #define WFMATH_SEGMENT_H
00028
00029 #include <wfmath/const.h>
00030 #include <wfmath/vector.h>
00031 #include <wfmath/point.h>
00032 #include <wfmath/axisbox.h>
00033 #include <wfmath/rotbox.h>
00034 #include <wfmath/ball.h>
00035 #include <wfmath/intersect_decls.h>
00036
00037 namespace WFMath {
00038
00039 template<const int dim> class Segment;
00040
00041 template<const int dim>
00042 std::ostream& operator<<(std::ostream& os, const Segment<dim>& s);
00043 template<const int dim>
00044 std::istream& operator>>(std::istream& is, Segment<dim>& s);
00045
00047
00051 template<const int dim>
00052 class Segment
00053 {
00054 public:
00056 Segment() {}
00058 Segment(const Point<dim>& p1, const Point<dim>& p2) : m_p1(p1), m_p2(p2) {}
00060 Segment(const Segment& s) : m_p1(s.m_p1), m_p2(s.m_p2) {}
00061
00062 ~Segment() {}
00063
00064 friend std::ostream& operator<< <dim>(std::ostream& os, const Segment& s);
00065 friend std::istream& operator>> <dim>(std::istream& is, Segment& s);
00066
00067 Segment& operator=(const Segment& s)
00068 {m_p1 = s.m_p1; m_p2 = s.m_p2; return *this;}
00069
00070 bool isEqualTo(const Segment& s, double epsilon = WFMATH_EPSILON) const;
00071
00072 bool operator==(const Segment& b) const {return isEqualTo(b);}
00073 bool operator!=(const Segment& b) const {return !isEqualTo(b);}
00074
00075 bool isValid() const {return m_p1.isValid() && m_p2.isValid();}
00076
00077
00078
00079 int numCorners() const {return 2;}
00080 Point<dim> getCorner(int i) const {assert(i == 0 || i == 1); return i ? m_p2 : m_p1;}
00081 Point<dim> getCenter() const {return Midpoint(m_p1, m_p2);}
00082
00084 const Point<dim>& endpoint(const int i) const {return i ? m_p2 : m_p1;}
00086 Point<dim>& endpoint(const int i) {return i ? m_p2 : m_p1;}
00087
00088
00089
00090 Segment& shift(const Vector<dim>& v)
00091 {m_p1 += v; m_p2 += v; return *this;}
00092 Segment& moveCornerTo(const Point<dim>& p, int corner);
00093 Segment& moveCenterTo(const Point<dim>& p)
00094 {return shift(p - getCenter());}
00095
00096 Segment& rotateCorner(const RotMatrix<dim>& m, int corner);
00097 Segment& rotateCenter(const RotMatrix<dim>& m)
00098 {rotatePoint(m, getCenter()); return *this;}
00099 Segment<dim>& rotatePoint(const RotMatrix<dim>& m, const Point<dim>& p)
00100 {m_p1.rotate(m, p); m_p2.rotate(m, p); return *this;}
00101
00102
00103 Segment<3>& rotateCorner(const Quaternion& q, int corner);
00104 Segment<3>& rotateCenter(const Quaternion& q)
00105 {rotatePoint(q, getCenter()); return *this;}
00106 Segment<3>& rotatePoint(const Quaternion& q, const Point<3>& p)
00107 {m_p1.rotate(q, p); m_p2.rotate(q, p); return *this;}
00108
00109
00110
00111 AxisBox<dim> boundingBox() const {return AxisBox<dim>(m_p1, m_p2);}
00112 Ball<dim> boundingSphere() const
00113 {return Ball<dim>(getCenter(), Distance(m_p1, m_p2) / 2);}
00114 Ball<dim> boundingSphereSloppy() const
00115 {return Ball<dim>(getCenter(), SloppyDistance(m_p1, m_p2) / 2);}
00116
00117 Segment toParentCoords(const Point<dim>& origin,
00118 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00119 {return Segment(m_p1.toParentCoords(origin, rotation),
00120 m_p2.toParentCoords(origin, rotation));}
00121 Segment toParentCoords(const AxisBox<dim>& coords) const
00122 {return Segment(m_p1.toParentCoords(coords), m_p2.toParentCoords(coords));}
00123 Segment toParentCoords(const RotBox<dim>& coords) const
00124 {return Segment(m_p1.toParentCoords(coords), m_p2.toParentCoords(coords));}
00125
00126
00127
00128
00129
00130 Segment toLocalCoords(const Point<dim>& origin,
00131 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00132 {return Segment(m_p1.toLocalCoords(origin, rotation),
00133 m_p2.toLocalCoords(origin, rotation));}
00134 Segment toLocalCoords(const AxisBox<dim>& coords) const
00135 {return Segment(m_p1.toLocalCoords(coords), m_p2.toLocalCoords(coords));}
00136 Segment toLocalCoords(const RotBox<dim>& coords) const
00137 {return Segment(m_p1.toLocalCoords(coords), m_p2.toLocalCoords(coords));}
00138
00139
00140 Segment<3> toParentCoords(const Point<3>& origin, const Quaternion& rotation) const
00141 {return Segment<3>(m_p1.toParentCoords(origin, rotation),
00142 m_p2.toParentCoords(origin, rotation));}
00143 Segment<3> toLocalCoords(const Point<3>& origin, const Quaternion& rotation) const
00144 {return Segment<3>(m_p1.toLocalCoords(origin, rotation),
00145 m_p2.toLocalCoords(origin, rotation));}
00146
00147 friend bool Intersect<dim>(const Segment& s, const Point<dim>& p, bool proper);
00148 friend bool Contains<dim>(const Point<dim>& p, const Segment& s, bool proper);
00149
00150 friend bool Intersect<dim>(const Segment& s, const AxisBox<dim>& b, bool proper);
00151 friend bool Contains<dim>(const AxisBox<dim>& b, const Segment& s, bool proper);
00152
00153 friend bool Intersect<dim>(const Segment& s, const Ball<dim>& b, bool proper);
00154 friend bool Contains<dim>(const Ball<dim>& b, const Segment& s, bool proper);
00155
00156 friend bool Intersect<dim>(const Segment& s1, const Segment& s2, bool proper);
00157 friend bool Contains<dim>(const Segment& s1, const Segment& s2, bool proper);
00158
00159 friend bool Intersect<dim>(const RotBox<dim>& r, const Segment& s, bool proper);
00160 friend bool Contains<dim>(const RotBox<dim>& r, const Segment& s, bool proper);
00161 friend bool Contains<dim>(const Segment& s, const RotBox<dim>& r, bool proper);
00162
00163 friend bool Intersect<dim>(const Polygon<dim>& r, const Segment& s, bool proper);
00164 friend bool Contains<dim>(const Polygon<dim>& p, const Segment& s, bool proper);
00165 friend bool Contains<dim>(const Segment& s, const Polygon<dim>& p, bool proper);
00166
00167 private:
00168
00169 Point<dim> m_p1, m_p2;
00170 };
00171
00172 }
00173
00174 #include <wfmath/segment_funcs.h>
00175
00176 #endif // WFMATH_SEGMENT_H