+++ /dev/null
-///////////////////////////////////////////////////////////////////////////
-//
-// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
-// Digital Ltd. LLC
-//
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are
-// met:
-// * Redistributions of source code must retain the above copyright
-// notice, this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above
-// copyright notice, this list of conditions and the following disclaimer
-// in the documentation and/or other materials provided with the
-// distribution.
-// * Neither the name of Industrial Light & Magic nor the names of
-// its contributors may be used to endorse or promote products derived
-// from this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////
-
-
-
-#ifndef INCLUDED_IMATHLINE_H
-#define INCLUDED_IMATHLINE_H
-
-//-------------------------------------
-//
-// A 3D line class template
-//
-//-------------------------------------
-
-#include "ImathVec.h"
-#include "ImathLimits.h"
-#include "ImathMatrix.h"
-
-namespace Imath {
-
-
-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 );
-}
-
-
-} // namespace Imath
-
-#endif
projects / opencv / blobdiff