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///////////////////////////////////////////////////////////////////////////
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// Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas
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///////////////////////////////////////////////////////////////////////////
#ifndef INCLUDED_IMATHLINE_H
#define INCLUDED_IMATHLINE_H
//-------------------------------------
//
// A 3D line class template
//
//-------------------------------------
#include "ImathVec.h"
#include "ImathLimits.h"
#include "ImathMatrix.h"
#include "ImathNamespace.h"
IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
template <class T>
class Line3
{
public:
Vec3<T> pos;
Vec3<T> dir;
//-------------------------------------------------------------
// Constructors - default is normalized units along direction
//-------------------------------------------------------------
Line3() {}
Line3(const Vec3<T>& point1, const Vec3<T>& point2);
//------------------
// State Query/Set
//------------------
void set(const Vec3<T>& point1,
const Vec3<T>& point2);
//-------
// F(t)
//-------
Vec3<T> operator() (T parameter) const;
//---------
// Query
//---------
T distanceTo(const Vec3<T>& point) const;
T distanceTo(const Line3<T>& line) const;
Vec3<T> closestPointTo(const Vec3<T>& point) const;
Vec3<T> closestPointTo(const Line3<T>& line) const;
};
//--------------------
// Convenient typedefs
//--------------------
typedef Line3<float> Line3f;
typedef Line3<double> Line3d;
//---------------
// Implementation
//---------------
template <class T>
inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1)
{
set(p0,p1);
}
template <class T>
inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1)
{
pos = p0; dir = p1-p0;
dir.normalize();
}
template <class T>
inline Vec3<T> Line3<T>::operator()(T parameter) const
{
return pos + dir * parameter;
}
template <class T>
inline T Line3<T>::distanceTo(const Vec3<T>& point) const
{
return (closestPointTo(point)-point).length();
}
template <class T>
inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const
{
return ((point - pos) ^ dir) * dir + pos;
}
template <class T>
inline T Line3<T>::distanceTo(const Line3<T>& line) const
{
T d = (dir % line.dir) ^ (line.pos - pos);
return (d >= 0)? d: -d;
}
template <class T>
inline Vec3<T>
Line3<T>::closestPointTo(const Line3<T>& line) const
{
// Assumes the lines are normalized
Vec3<T> posLpos = pos - line.pos ;
T c = dir ^ posLpos;
T a = line.dir ^ dir;
T f = line.dir ^ posLpos ;
T num = c - a * f;
T denom = a*a - 1;
T absDenom = ((denom >= 0)? denom: -denom);
if (absDenom < 1)
{
T absNum = ((num >= 0)? num: -num);
if (absNum >= absDenom * limits<T>::max())
return pos;
}
return pos + dir * (num / denom);
}
template<class T>
std::ostream& operator<< (std::ostream &o, const Line3<T> &line)
{
return o << "(" << line.pos << ", " << line.dir << ")";
}
template<class S, class T>
inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M)
{
return Line3<S>( line.pos * M, (line.pos + line.dir) * M );
}
IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
#endif // INCLUDED_IMATHLINE_H
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