line_segment_3d.inl

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/** @file
 *  @author Bram de Greve (bramz@users.sourceforge.net)
 *  @author Tom De Muer (tomdemuer@users.sourceforge.net)
 *
 *  *** BEGIN LICENSE INFORMATION ***
 *  
 *  The contents of this file are subject to the Common Public Attribution License 
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 *  the License. You may obtain a copy of the License at 
 *  http://lass.sourceforge.net/cpal-license. The License is based on the 
 *  Mozilla Public License Version 1.1 but Sections 14 and 15 have been added to cover 
 *  use of software over a computer network and provide for limited attribution for 
 *  the Original Developer. In addition, Exhibit A has been modified to be consistent 
 *  with Exhibit B.
 *  
 *  Software distributed under the License is distributed on an "AS IS" basis, WITHOUT 
 *  WARRANTY OF ANY KIND, either express or implied. See the License for the specific 
 *  language governing rights and limitations under the License.
 *  
 *  The Original Code is LASS - Library of Assembled Shared Sources.
 *  
 *  The Initial Developer of the Original Code is Bram de Greve and Tom De Muer.
 *  The Original Developer is the Initial Developer.
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 *
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 */



#ifndef LASS_GUARDIAN_OF_INCLUSION_PRIM_LINE_SEGMENT_3D_INL
#define LASS_GUARDIAN_OF_INCLUSION_PRIM_LINE_SEGMENT_3D_INL

#include "line_segment_3d.h"



namespace lass
{

namespace prim
{

template <typename T, class PP>
LineSegment3D<T, PP>::LineSegment3D():
    tail_(),
    head_()
{
    LASS_ASSERT(tail_.isZero());
    LASS_ASSERT(head_.isZero());
}



template <typename T, class PP>
LineSegment3D<T, PP>::LineSegment3D(const TPoint& iTail, const TPoint& iHead):
    tail_(iTail),
    head_(iHead)
{
}



template <typename T, class PP>
template <typename PP2>
LineSegment3D<T, PP>::LineSegment3D(const LineSegment3D<T, PP2>& iOther):
    tail_(iOther.tail()),
    head_(iOther.head())
{
}



template <typename T, class PP> inline
const typename LineSegment3D<T, PP>::TPoint&
LineSegment3D<T, PP>::tail() const
{
    return tail_;
}



template <typename T, class PP> inline
typename LineSegment3D<T, PP>::TPoint&
LineSegment3D<T, PP>::tail()
{
    return tail_;
}



template <typename T, class PP> inline
const typename LineSegment3D<T, PP>::TPoint&
LineSegment3D<T, PP>::head() const
{
    return head_;
}



template <typename T, class PP> inline
typename LineSegment3D<T, PP>::TPoint&
LineSegment3D<T, PP>::head()
{
    return head_;
}



/** Return point on ray by it's parameter.
 *  @return origin + t * direction
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TPoint
LineSegment3D<T, PP>::point(TParam iT) const
{
    TParameterPolicy::enforceRange(iT, TNumTraits::zero, TNumTraits::one);
    return tail_ + iT * vector();
}



/** Return parameter of @e projection of @a iPoint on line segment.
 *  @warning the result can be out of bound [0, 1] regardless the parameter policy used.
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TValue
LineSegment3D<T, PP>::t(const TPoint& iPoint) const
{
    const TVector v = vector();
    const TValue t1 =  dot(iPoint - tail_, v);
    const TValue t2 = -dot(iPoint - head_, v);
    const TValue t = std::max(t1,t2) / (t1 + t2);
    return t1 > t2 ? t : TNumTraits::one - t;
}

/** Return vector from tail to head.
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TVector
LineSegment3D<T, PP>::vector() const
{
    return head_ - tail_;
}



/** Return length of line segment.
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TValue
LineSegment3D<T, PP>::length() const
{
    const TVector v = vector();
    return v.norm();
}
/** t is parameter of closests point and return squared distance of a point to the line segment. 
*/
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TValue
LineSegment3D<T, PP>::closestsPoint(const TPoint &iPoint, T &oT) const
{
    oT = this->t(iPoint);
    if(oT < 0)
    {
        oT = 0.0;
        return (iPoint - tail_).squaredNorm();
    }
    if(oT > 1)
    {
        oT = 1.0;
        return (iPoint - head_).squaredNorm();
    }
    return (iPoint - this->point(oT)).squaredNorm();
}

/** Return squared distance of a point to line segment.
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TValue
LineSegment3D<T, PP>::squaredDistance(const TPoint& iPoint) const
{
    TParam t = this->t(iPoint);
    if(t < 0)
        return (iPoint - tail_).squaredNorm();
    if(t > 1)
        return (iPoint - head_).squaredNorm();
    return (iPoint - this->point(t)).squaredNorm();
}

/** Return distance of point to line segment.
 */
template <typename T, class PP>
const typename LineSegment3D<T, PP>::TValue
LineSegment3D<T, PP>::distance(const TPoint& iPoint) const
{
    TValue squaredDistance = this->squaredDistance(iPoint);
    return lass::num::sqrt(squaredDistance);
}

/** @relates lass::prim::LineSegment3D
 */
template <typename T, class PPa, class PPb> bool operator==(const LineSegment3D<T, PPa>& iA, const LineSegment3D<T, PPb>& iB)
{
    return iA.tail()==iB.tail() && iA.head()==iB.head();
}

/** @relates lass::prim::LineSegment3D
 */
template <typename T, class PPa, class PPb> bool operator!=(const LineSegment3D<T, PPa>& iA, const LineSegment3D<T, PPb>& iB)
{
    return !(iA==iB);
}


/** @relates lass::prim::LineSegment3D
 */
template<typename T, class PP>
std::ostream& operator<<(std::ostream& ioOStream, const LineSegment3D<T, PP>& iLineSegment)
{
    LASS_ENFORCE_STREAM(ioOStream) << "{T=" << iLineSegment.tail() << ", H=" << iLineSegment.head() << "}";
    return ioOStream;
}



/** @relates lass::prim::LineSegment3D
 */
template<typename T, class PP>
io::XmlOStream& operator<<(io::XmlOStream& ioOStream, const LineSegment3D<T, PP>& iLineSegment)
{
    LASS_ENFORCE_STREAM(ioOStream)
        << "<LineSegment3D>\n"
        << "<tail>" << iLineSegment.tail() << "</tail>\n"
        << "<head>" << iLineSegment.head() << "</head>\n"
        << "</LineSegment3D>\n";

    return ioOStream;
}



}

}

#endif