d609550e
 David Mayerich
fixed bug in plan...
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#ifndef RTS_RECT_H
#define RTS_RECT_H
//enable CUDA_CALLABLE macro
#include "../cuda/callable.h"
#include "../math/vector.h"
#include "../math/triangle.h"
#include "../math/quaternion.h"
#include <iostream>
#include <iomanip>
#include <algorithm>
namespace rts{
//template for a rectangle class in ND space
template <class T, int N = 3>
struct rect
{
/*
^ O
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Y C
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O---------X--------->
*/
private:
rts::vec<T, N> C;
rts::vec<T, N> X;
rts::vec<T, N> Y;
CUDA_CALLABLE void scale(T factor){
X *= factor;
Y *= factor;
}
CUDA_CALLABLE void normal(vec<T, N> n){ //orient the rectangle along the specified normal
n = n.norm(); //normalize, just in case
vec<T, N> n_current = X.cross(Y).norm(); //compute the current normal
quaternion<T> q; //create a quaternion
q.CreateRotation(n_current, n); //initialize a rotation from n_current to n
//apply the quaternion to the vectors and position
X = q.toMatrix3() * X;
Y = q.toMatrix3() * Y;
}
CUDA_CALLABLE void init(){
C = vec<T, N>(0, 0, 0);
X = vec<T, N>(1, 0, 0);
Y = vec<T, N>(0, 1, 0);
}
public:
CUDA_CALLABLE rect(){
init();
}
CUDA_CALLABLE rect(T size, T z_pos = (T)0){
init(); //use the default setup
scale(size); //scale the rectangle
C[2] = z_pos;
}
CUDA_CALLABLE rect(T size, vec<T, N> c, vec<T, N> n = vec<T, N>(0, 0, 1)){
init(); //start with the default setting
C = c;
scale(size); //scale the rectangle
normal(n); //orient
}
/*CUDA_CALLABLE rect(vec<T, N> a, vec<T, N> b, vec<T, N> c)
{
A = a;
Y = b - a;
X = c - a - Y;
}*/
/*******************************************************************
Constructor - create a rect from a position, normal, and rotation
*******************************************************************/
/*CUDA_CALLABLE rect(rts::vec<T, N> c, rts::vec<T, N> normal, T width, T height, T theta)
{
//compute the X direction - start along world-space X
Y = rts::vec<T, N>(0, 1, 0);
if(Y == normal)
Y = rts::vec<T, N>(0, 0, 1);
X = Y.cross(normal).norm();
std::cout<<X<<std::endl;
//rotate the X axis by theta radians
rts::quaternion<T> q;
q.CreateRotation(theta, normal);
X = q.toMatrix3() * X;
Y = normal.cross(X);
//normalize everything
X = X.norm();
Y = Y.norm();
//scale to match the rect width and height
X = X * width;
Y = Y * height;
//set the corner of the plane
A = c - X * 0.5f - Y * 0.5f;
std::cout<<X<<std::endl;
}*/
//boolean comparison
bool operator==(const rect<T, N> & rhs)
{
if(C == rhs.C && X == rhs.X && Y == rhs.Y)
return true;
else
return false;
}
/*******************************************
Return the normal for the rect
*******************************************/
CUDA_CALLABLE rts::vec<T, N> n()
{
return (X.cross(Y)).norm();
}
CUDA_CALLABLE rts::vec<T, N> p(T a, T b)
{
rts::vec<T, N> result;
//given the two parameters a, b = [0 1], returns the position in world space
vec<T, N> A = C - X * (T)0.5 - Y * (T)0.5;
result = A + X * a + Y * b;
return result;
}
CUDA_CALLABLE rts::vec<T, N> operator()(T a, T b)
{
return p(a, b);
}
std::string str()
{
std::stringstream ss;
vec<T, N> A = C - X * (T)0.5 - Y * (T)0.5;
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d609550e
David Mayerich
fixed bug in plan...
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return ss.str();
}
CUDA_CALLABLE rect<T, N> operator*(T rhs)
{
//scales the plane by a scalar value
//create the new rectangle
rect<T, N> result = *this;
result.scale(rhs);
return result;
}
CUDA_CALLABLE T dist(vec<T, N> p)
{
//compute the distance between a point and this rect
vec<T, N> A = C - X * (T)0.5 - Y * (T)0.5;
//first break the rect up into two triangles
triangle<T, N> T0(A, A+X, A+Y);
triangle<T, N> T1(A+X+Y, A+X, A+Y);
T d0 = T0.dist(p);
T d1 = T1.dist(p);
if(d0 < d1)
return d0;
else
return d1;
}
CUDA_CALLABLE T dist_max(vec<T, N> p)
{
vec<T, N> A = C - X * (T)0.5 - Y * (T)0.5;
T da = (A - p).len();
T db = (A+X - p).len();
T dc = (A+Y - p).len();
T dd = (A+X+Y - p).len();
return std::max( da, std::max(db, std::max(dc, dd) ) );
}
};
} //end namespace rts
template <typename T, int N>
std::ostream& operator<<(std::ostream& os, rts::rect<T, N> R)
{
os<<R.str();
return os;
}
#endif
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