1 ///////////////////////////////////////////////////////////////////////////
2 //
3 // Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
4 // Digital Ltd. LLC
5 //
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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
50 namespace Imath {
51
52
53 template <class T>
54 class Line3
55 {
56 public:
57
58 Vec3<T> pos;
59 Vec3<T> dir;
60
61 //-------------------------------------------------------------
62 // Constructors - default is normalized units along direction
63 //-------------------------------------------------------------
64
Line3()65 Line3() {}
66 Line3(const Vec3<T>& point1, const Vec3<T>& point2);
67
68 //------------------
69 // State Query/Set
70 //------------------
71
72 void set(const Vec3<T>& point1,
73 const Vec3<T>& point2);
74
75 //-------
76 // F(t)
77 //-------
78
79 Vec3<T> operator() (T parameter) const;
80
81 //---------
82 // Query
83 //---------
84
85 T distanceTo(const Vec3<T>& point) const;
86 T distanceTo(const Line3<T>& line) const;
87 Vec3<T> closestPointTo(const Vec3<T>& point) const;
88 Vec3<T> closestPointTo(const Line3<T>& line) const;
89 };
90
91
92 //--------------------
93 // Convenient typedefs
94 //--------------------
95
96 typedef Line3<float> Line3f;
97 typedef Line3<double> Line3d;
98
99
100 //---------------
101 // Implementation
102 //---------------
103
104 template <class T>
Line3(const Vec3<T> & p0,const Vec3<T> & p1)105 inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1)
106 {
107 set(p0,p1);
108 }
109
110 template <class T>
set(const Vec3<T> & p0,const Vec3<T> & p1)111 inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1)
112 {
113 pos = p0; dir = p1-p0;
114 dir.normalize();
115 }
116
117 template <class T>
operator()118 inline Vec3<T> Line3<T>::operator()(T parameter) const
119 {
120 return pos + dir * parameter;
121 }
122
123 template <class T>
distanceTo(const Vec3<T> & point)124 inline T Line3<T>::distanceTo(const Vec3<T>& point) const
125 {
126 return (closestPointTo(point)-point).length();
127 }
128
129 template <class T>
closestPointTo(const Vec3<T> & point)130 inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const
131 {
132 return ((point - pos) ^ dir) * dir + pos;
133 }
134
135 template <class T>
distanceTo(const Line3<T> & line)136 inline T Line3<T>::distanceTo(const Line3<T>& line) const
137 {
138 T d = (dir % line.dir) ^ (line.pos - pos);
139 return (d >= 0)? d: -d;
140 }
141
142 template <class T>
143 inline Vec3<T>
closestPointTo(const Line3<T> & line)144 Line3<T>::closestPointTo(const Line3<T>& line) const
145 {
146 // Assumes the lines are normalized
147
148 Vec3<T> posLpos = pos - line.pos ;
149 T c = dir ^ posLpos;
150 T a = line.dir ^ dir;
151 T f = line.dir ^ posLpos ;
152 T num = c - a * f;
153
154 T denom = a*a - 1;
155
156 T absDenom = ((denom >= 0)? denom: -denom);
157
158 if (absDenom < 1)
159 {
160 T absNum = ((num >= 0)? num: -num);
161
162 if (absNum >= absDenom * limits<T>::max())
163 return pos;
164 }
165
166 return pos + dir * (num / denom);
167 }
168
169 template<class T>
170 std::ostream& operator<< (std::ostream &o, const Line3<T> &line)
171 {
172 return o << "(" << line.pos << ", " << line.dir << ")";
173 }
174
175 template<class S, class T>
176 inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M)
177 {
178 return Line3<S>( line.pos * M, (line.pos + line.dir) * M );
179 }
180
181
182 } // namespace Imath
183
184 #endif
185