Commit 2137d77110928caec404f27178976bd2eca5d5ab
1 parent
59360849
modified plane and rect in order have an inheritance scheme plane -> rect.
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3 changed files
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328 additions
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58 deletions
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stim/math/plane.h
@@ -31,6 +31,12 @@ template <typename T> class plane | @@ -31,6 +31,12 @@ template <typename T> class plane | ||
31 | init(); | 31 | init(); |
32 | } | 32 | } |
33 | 33 | ||
34 | + CUDA_CALLABLE plane(vec<T> p) | ||
35 | + { | ||
36 | + init(); | ||
37 | + P = p; | ||
38 | + } | ||
39 | + | ||
34 | CUDA_CALLABLE plane(vec<T> n, vec<T> p = vec<T>(0, 0, 0)) | 40 | CUDA_CALLABLE plane(vec<T> n, vec<T> p = vec<T>(0, 0, 0)) |
35 | { | 41 | { |
36 | init(); | 42 | init(); |
@@ -125,6 +131,11 @@ template <typename T> class plane | @@ -125,6 +131,11 @@ template <typename T> class plane | ||
125 | return v - perpendicular(v); | 131 | return v - perpendicular(v); |
126 | } | 132 | } |
127 | 133 | ||
134 | + CUDA_CALLABLE void setU(vec<T> v) | ||
135 | + { | ||
136 | + U = (parallel(v.norm())).norm(); | ||
137 | + } | ||
138 | + | ||
128 | CUDA_CALLABLE void decompose(vec<T> v, vec<T>& para, vec<T>& perp){ | 139 | CUDA_CALLABLE void decompose(vec<T> v, vec<T>& para, vec<T>& perp){ |
129 | perp = N * v.dot(N); | 140 | perp = N * v.dot(N); |
130 | para = v - perp; | 141 | para = v - perp; |
@@ -176,6 +187,18 @@ template <typename T> class plane | @@ -176,6 +187,18 @@ template <typename T> class plane | ||
176 | 187 | ||
177 | } | 188 | } |
178 | 189 | ||
190 | + CUDA_CALLABLE void rotate(vec<T> n, vec<T> &X, vec<T> &Y) | ||
191 | + { | ||
192 | + quaternion<T> q; | ||
193 | + q.CreateRotation(N, n); | ||
194 | + | ||
195 | + N = q.toMatrix3() * N; | ||
196 | + U = q.toMatrix3() * U; | ||
197 | + X = q.toMatrix3() * X; | ||
198 | + Y = q.toMatrix3() * Y; | ||
199 | + | ||
200 | + } | ||
201 | + | ||
179 | }; | 202 | }; |
180 | 203 | ||
181 | 204 |
stim/math/rect.h
1 | -#ifndef RTS_RECT_H | ||
2 | -#define RTS_RECT_H | 1 | +#ifndef STIM_RECT_H |
2 | +#define STIM_RECT_H | ||
3 | 3 | ||
4 | //enable CUDA_CALLABLE macro | 4 | //enable CUDA_CALLABLE macro |
5 | #include <stim/cuda/cudatools/callable.h> | 5 | #include <stim/cuda/cudatools/callable.h> |
6 | +#include <stim/math/plane.h> | ||
6 | #include <stim/math/vector.h> | 7 | #include <stim/math/vector.h> |
7 | #include <stim/math/triangle.h> | 8 | #include <stim/math/triangle.h> |
8 | -#include <stim/math/quaternion.h> | ||
9 | #include <iostream> | 9 | #include <iostream> |
10 | #include <iomanip> | 10 | #include <iomanip> |
11 | #include <algorithm> | 11 | #include <algorithm> |
@@ -13,14 +13,14 @@ | @@ -13,14 +13,14 @@ | ||
13 | namespace stim{ | 13 | namespace stim{ |
14 | 14 | ||
15 | //template for a rectangle class in ND space | 15 | //template for a rectangle class in ND space |
16 | -template <class T> | ||
17 | -struct rect | 16 | +template <typename T> |
17 | +class rect : public plane <T> | ||
18 | { | 18 | { |
19 | /* | 19 | /* |
20 | ^ O | 20 | ^ O |
21 | | | 21 | | |
22 | | | 22 | | |
23 | - Y C | 23 | + Y P |
24 | | | 24 | | |
25 | | | 25 | | |
26 | O---------X---------> | 26 | O---------X---------> |
@@ -28,7 +28,6 @@ struct rect | @@ -28,7 +28,6 @@ struct rect | ||
28 | 28 | ||
29 | private: | 29 | private: |
30 | 30 | ||
31 | - stim::vec<T> C; | ||
32 | stim::vec<T> X; | 31 | stim::vec<T> X; |
33 | stim::vec<T> Y; | 32 | stim::vec<T> Y; |
34 | 33 | ||
@@ -42,26 +41,30 @@ private: | @@ -42,26 +41,30 @@ private: | ||
42 | public: | 41 | public: |
43 | 42 | ||
44 | ///base constructor. | 43 | ///base constructor. |
45 | - CUDA_CALLABLE rect(){ | 44 | + CUDA_CALLABLE rect() |
45 | + : plane<T>() | ||
46 | + { | ||
46 | init(); | 47 | init(); |
47 | } | 48 | } |
48 | 49 | ||
49 | ///create a rectangle given a size and position in Z space. | 50 | ///create a rectangle given a size and position in Z space. |
50 | ///@param size: size of the rectangle in ND space. | 51 | ///@param size: size of the rectangle in ND space. |
51 | ///@param z_pos z coordinate of the rectangle. | 52 | ///@param z_pos z coordinate of the rectangle. |
52 | - CUDA_CALLABLE rect(T size, T z_pos = (T)0){ | 53 | + CUDA_CALLABLE rect(T size, T z_pos = (T)0) |
54 | + : plane<T>(z_pos) | ||
55 | + { | ||
53 | init(); //use the default setup | 56 | init(); //use the default setup |
54 | scale(size); //scale the rectangle | 57 | scale(size); //scale the rectangle |
55 | - C[2] = z_pos; | ||
56 | } | 58 | } |
57 | 59 | ||
58 | 60 | ||
59 | ///create a rectangle from a center point, normal | 61 | ///create a rectangle from a center point, normal |
60 | ///@param c: x,y,z location of the center. | 62 | ///@param c: x,y,z location of the center. |
61 | ///@param n: x,y,z direction of the normal. | 63 | ///@param n: x,y,z direction of the normal. |
62 | - CUDA_CALLABLE rect(vec<T> c, vec<T> n = vec<T>(0, 0, 1)){ | 64 | + CUDA_CALLABLE rect(vec<T> c, vec<T> n = vec<T>(0, 0, 1)) |
65 | + : plane<T>(n, c) | ||
66 | + { | ||
63 | init(); //start with the default setting | 67 | init(); //start with the default setting |
64 | - C = c; | ||
65 | normal(n); //orient | 68 | normal(n); //orient |
66 | } | 69 | } |
67 | 70 | ||
@@ -69,11 +72,11 @@ public: | @@ -69,11 +72,11 @@ public: | ||
69 | ///@param c: x,y,z location of the center. | 72 | ///@param c: x,y,z location of the center. |
70 | ///@param s: size of the rectangle. | 73 | ///@param s: size of the rectangle. |
71 | ///@param n: x,y,z direction of the normal. | 74 | ///@param n: x,y,z direction of the normal. |
72 | - CUDA_CALLABLE rect(vec<T> c, T s, vec<T> n = vec<T>(0, 0, 1)){ | 75 | + CUDA_CALLABLE rect(vec<T> c, T s, vec<T> n = vec<T>(0, 0, 1)) |
76 | + : plane<T>(n, c) | ||
77 | + { | ||
73 | init(); //start with the default setting | 78 | init(); //start with the default setting |
74 | - C = c; | ||
75 | scale(s); | 79 | scale(s); |
76 | - normal(n); //orient | ||
77 | } | 80 | } |
78 | 81 | ||
79 | ///creates a rectangle from a centerpoint and an X and Y direction vectors. | 82 | ///creates a rectangle from a centerpoint and an X and Y direction vectors. |
@@ -81,8 +84,8 @@ public: | @@ -81,8 +84,8 @@ public: | ||
81 | ///@param directionX: u,v,w direction of the X vector. | 84 | ///@param directionX: u,v,w direction of the X vector. |
82 | ///@param directionY: u,v,w direction of the Y vector. | 85 | ///@param directionY: u,v,w direction of the Y vector. |
83 | CUDA_CALLABLE rect(vec<T> center, vec<T> directionX, vec<T> directionY ) | 86 | CUDA_CALLABLE rect(vec<T> center, vec<T> directionX, vec<T> directionY ) |
87 | + : plane<T>(p) | ||
84 | { | 88 | { |
85 | - C = center; | ||
86 | X = directionX; | 89 | X = directionX; |
87 | Y = directionY; | 90 | Y = directionY; |
88 | } | 91 | } |
@@ -93,8 +96,8 @@ public: | @@ -93,8 +96,8 @@ public: | ||
93 | ///@param directionX: u,v,w direction of the X vector. | 96 | ///@param directionX: u,v,w direction of the X vector. |
94 | ///@param directionY: u,v,w direction of the Y vector. | 97 | ///@param directionY: u,v,w direction of the Y vector. |
95 | CUDA_CALLABLE rect(T size, vec<T> center, vec<T> directionX, vec<T> directionY ) | 98 | CUDA_CALLABLE rect(T size, vec<T> center, vec<T> directionX, vec<T> directionY ) |
99 | + : plane<T>(p) | ||
96 | { | 100 | { |
97 | - C = center; | ||
98 | X = directionX; | 101 | X = directionX; |
99 | Y = directionY; | 102 | Y = directionY; |
100 | scale(size); | 103 | scale(size); |
@@ -106,8 +109,8 @@ public: | @@ -106,8 +109,8 @@ public: | ||
106 | ///@param directionX: u,v,w direction of the X vector. | 109 | ///@param directionX: u,v,w direction of the X vector. |
107 | ///@param directionY: u,v,w direction of the Y vector. | 110 | ///@param directionY: u,v,w direction of the Y vector. |
108 | CUDA_CALLABLE rect(vec<T> size, vec<T> center, vec<T> directionX, vec<T> directionY ) | 111 | CUDA_CALLABLE rect(vec<T> size, vec<T> center, vec<T> directionX, vec<T> directionY ) |
112 | + : plane<T>(p) | ||
109 | { | 113 | { |
110 | - C = center; | ||
111 | X = directionX; | 114 | X = directionX; |
112 | Y = directionY; | 115 | Y = directionY; |
113 | scale(size[0], size[1]); | 116 | scale(size[0], size[1]); |
@@ -116,28 +119,24 @@ public: | @@ -116,28 +119,24 @@ public: | ||
116 | ///scales a rectangle in ND space. | 119 | ///scales a rectangle in ND space. |
117 | ///@param factor1: size of the scale in the X-direction. | 120 | ///@param factor1: size of the scale in the X-direction. |
118 | ///@param factor2: size of the scale in the Y-direction. | 121 | ///@param factor2: size of the scale in the Y-direction. |
119 | - CUDA_CALLABLE void scale(T factor1, T factor2){ | 122 | + CUDA_CALLABLE void scale(T factor1, T factor2) |
123 | + { | ||
120 | X *= factor1; | 124 | X *= factor1; |
121 | Y *= factor2; | 125 | Y *= factor2; |
122 | } | 126 | } |
123 | 127 | ||
124 | ///@param n; vector with the normal. | 128 | ///@param n; vector with the normal. |
125 | ///Orients the rectangle along the normal n. | 129 | ///Orients the rectangle along the normal n. |
126 | - CUDA_CALLABLE void normal(vec<T> n){ //orient the rectangle along the specified normal | ||
127 | - | ||
128 | - n = n.norm(); //normalize, just in case | ||
129 | - vec<T> n_current = X.cross(Y).norm(); //compute the current normal | ||
130 | - quaternion<T> q; //create a quaternion | ||
131 | - q.CreateRotation(n_current, n); //initialize a rotation from n_current to n | ||
132 | - | ||
133 | - //apply the quaternion to the vectors and position | ||
134 | - X = q.toMatrix3() * X; | ||
135 | - Y = q.toMatrix3() * Y; | 130 | + CUDA_CALLABLE void normal(vec<T> n) |
131 | + { | ||
132 | + //orient the rectangle along the specified normal | ||
133 | + rotate(n, X, Y); | ||
136 | } | 134 | } |
137 | 135 | ||
138 | ///general init method that sets a general rectangle. | 136 | ///general init method that sets a general rectangle. |
139 | - CUDA_CALLABLE void init(){ | ||
140 | - C = vec<T>(0, 0, 0); | 137 | + CUDA_CALLABLE void init() |
138 | + { | ||
139 | + P = vec<T>(0, 0, 0); | ||
141 | X = vec<T>(1, 0, 0); | 140 | X = vec<T>(1, 0, 0); |
142 | Y = vec<T>(0, 1, 0); | 141 | Y = vec<T>(0, 1, 0); |
143 | } | 142 | } |
@@ -145,26 +144,19 @@ public: | @@ -145,26 +144,19 @@ public: | ||
145 | //boolean comparison | 144 | //boolean comparison |
146 | bool operator==(const rect<T> & rhs) | 145 | bool operator==(const rect<T> & rhs) |
147 | { | 146 | { |
148 | - if(C == rhs.C && X == rhs.X && Y == rhs.Y) | 147 | + if(P == rhs.P && X == rhs.X && Y == rhs.Y) |
149 | return true; | 148 | return true; |
150 | else | 149 | else |
151 | return false; | 150 | return false; |
152 | } | 151 | } |
153 | 152 | ||
154 | - /******************************************* | ||
155 | - Return the normal for the rect | ||
156 | - *******************************************/ | ||
157 | - CUDA_CALLABLE stim::vec<T> n() | ||
158 | - { | ||
159 | - return (X.cross(Y)).norm(); | ||
160 | - } | ||
161 | 153 | ||
162 | //get the world space value given the planar coordinates a, b in [0, 1] | 154 | //get the world space value given the planar coordinates a, b in [0, 1] |
163 | CUDA_CALLABLE stim::vec<T> p(T a, T b) | 155 | CUDA_CALLABLE stim::vec<T> p(T a, T b) |
164 | { | 156 | { |
165 | stim::vec<T> result; | 157 | stim::vec<T> result; |
166 | //given the two parameters a, b = [0 1], returns the position in world space | 158 | //given the two parameters a, b = [0 1], returns the position in world space |
167 | - vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | 159 | + vec<T> A = P - X * (T)0.5 - Y * (T)0.5; |
168 | result = A + X * a + Y * b; | 160 | result = A + X * a + Y * b; |
169 | 161 | ||
170 | return result; | 162 | return result; |
@@ -179,12 +171,12 @@ public: | @@ -179,12 +171,12 @@ public: | ||
179 | std::string str() | 171 | std::string str() |
180 | { | 172 | { |
181 | std::stringstream ss; | 173 | std::stringstream ss; |
182 | - vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | 174 | + vec<T> A = P - X * (T)0.5 - Y * (T)0.5; |
183 | ss<<std::left<<"B="<<std::setfill('-')<<std::setw(20)<<A + Y<<">"<<"C="<<A + Y + X<<std::endl; | 175 | ss<<std::left<<"B="<<std::setfill('-')<<std::setw(20)<<A + Y<<">"<<"C="<<A + Y + X<<std::endl; |
184 | ss<<std::setfill(' ')<<std::setw(23)<<"|"<<"|"<<std::endl<<std::setw(23)<<"|"<<"|"<<std::endl; | 176 | ss<<std::setfill(' ')<<std::setw(23)<<"|"<<"|"<<std::endl<<std::setw(23)<<"|"<<"|"<<std::endl; |
185 | ss<<std::left<<"A="<<std::setfill('-')<<std::setw(20)<<A<<">"<<"D="<<A + X; | 177 | ss<<std::left<<"A="<<std::setfill('-')<<std::setw(20)<<A<<">"<<"D="<<A + X; |
186 | 178 | ||
187 | - return ss.str(); | 179 | + return ss.str(); |
188 | 180 | ||
189 | } | 181 | } |
190 | 182 | ||
@@ -207,20 +199,20 @@ public: | @@ -207,20 +199,20 @@ public: | ||
207 | { | 199 | { |
208 | //compute the distance between a point and this rect | 200 | //compute the distance between a point and this rect |
209 | 201 | ||
210 | - vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | 202 | + vec<T> A = P - X * (T)0.5 - Y * (T)0.5; |
211 | 203 | ||
212 | - //first break the rect up into two triangles | ||
213 | - triangle<T> T0(A, A+X, A+Y); | ||
214 | - triangle<T> T1(A+X+Y, A+X, A+Y); | 204 | + //first break the rect up into two triangles |
205 | + triangle<T> T0(A, A+X, A+Y); | ||
206 | + triangle<T> T1(A+X+Y, A+X, A+Y); | ||
215 | 207 | ||
216 | 208 | ||
217 | - T d0 = T0.dist(p); | ||
218 | - T d1 = T1.dist(p); | 209 | + T d0 = T0.dist(p); |
210 | + T d1 = T1.dist(p); | ||
219 | 211 | ||
220 | - if(d0 < d1) | ||
221 | - return d0; | ||
222 | - else | ||
223 | - return d1; | 212 | + if(d0 < d1) |
213 | + return d0; | ||
214 | + else | ||
215 | + return d1; | ||
224 | } | 216 | } |
225 | 217 | ||
226 | CUDA_CALLABLE T center(vec<T> p) | 218 | CUDA_CALLABLE T center(vec<T> p) |
@@ -232,13 +224,13 @@ public: | @@ -232,13 +224,13 @@ public: | ||
232 | ///@param p: x, y, z point. | 224 | ///@param p: x, y, z point. |
233 | CUDA_CALLABLE T dist_max(vec<T> p) | 225 | CUDA_CALLABLE T dist_max(vec<T> p) |
234 | { | 226 | { |
235 | - vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | ||
236 | - T da = (A - p).len(); | ||
237 | - T db = (A+X - p).len(); | ||
238 | - T dc = (A+Y - p).len(); | ||
239 | - T dd = (A+X+Y - p).len(); | 227 | + vec<T> A = P - X * (T)0.5 - Y * (T)0.5; |
228 | + T da = (A - p).len(); | ||
229 | + T db = (A+X - p).len(); | ||
230 | + T dc = (A+Y - p).len(); | ||
231 | + T dd = (A+X+Y - p).len(); | ||
240 | 232 | ||
241 | - return std::max( da, std::max(db, std::max(dc, dd) ) ); | 233 | + return std::max( da, std::max(db, std::max(dc, dd) ) ); |
242 | } | 234 | } |
243 | }; | 235 | }; |
244 | 236 |
1 | +#ifndef RTS_RECT_H | ||
2 | +#define RTS_RECT_H | ||
3 | + | ||
4 | +//enable CUDA_CALLABLE macro | ||
5 | +#include <stim/cuda/cudatools/callable.h> | ||
6 | +#include <stim/math/vector.h> | ||
7 | +#include <stim/math/triangle.h> | ||
8 | +#include <stim/math/quaternion.h> | ||
9 | +#include <iostream> | ||
10 | +#include <iomanip> | ||
11 | +#include <algorithm> | ||
12 | + | ||
13 | +namespace stim{ | ||
14 | + | ||
15 | +//template for a rectangle class in ND space | ||
16 | +template <class T> | ||
17 | +struct rect | ||
18 | +{ | ||
19 | + /* | ||
20 | + ^ O | ||
21 | + | | ||
22 | + | | ||
23 | + Y C | ||
24 | + | | ||
25 | + | | ||
26 | + O---------X---------> | ||
27 | + */ | ||
28 | + | ||
29 | +private: | ||
30 | + | ||
31 | + stim::vec<T> C; | ||
32 | + stim::vec<T> X; | ||
33 | + stim::vec<T> Y; | ||
34 | + | ||
35 | + CUDA_CALLABLE void scale(T factor){ | ||
36 | + X *= factor; | ||
37 | + Y *= factor; | ||
38 | + } | ||
39 | + | ||
40 | + | ||
41 | + | ||
42 | +public: | ||
43 | + | ||
44 | + ///base constructor. | ||
45 | + CUDA_CALLABLE rect(){ | ||
46 | + init(); | ||
47 | + } | ||
48 | + | ||
49 | + ///create a rectangle given a size and position in Z space. | ||
50 | + ///@param size: size of the rectangle in ND space. | ||
51 | + ///@param z_pos z coordinate of the rectangle. | ||
52 | + CUDA_CALLABLE rect(T size, T z_pos = (T)0){ | ||
53 | + init(); //use the default setup | ||
54 | + scale(size); //scale the rectangle | ||
55 | + C[2] = z_pos; | ||
56 | + } | ||
57 | + | ||
58 | + | ||
59 | + ///create a rectangle from a center point, normal | ||
60 | + ///@param c: x,y,z location of the center. | ||
61 | + ///@param n: x,y,z direction of the normal. | ||
62 | + CUDA_CALLABLE rect(vec<T> c, vec<T> n = vec<T>(0, 0, 1)){ | ||
63 | + init(); //start with the default setting | ||
64 | + C = c; | ||
65 | + normal(n); //orient | ||
66 | + } | ||
67 | + | ||
68 | + ///create a rectangle from a center point, normal, and size | ||
69 | + ///@param c: x,y,z location of the center. | ||
70 | + ///@param s: size of the rectangle. | ||
71 | + ///@param n: x,y,z direction of the normal. | ||
72 | + CUDA_CALLABLE rect(vec<T> c, T s, vec<T> n = vec<T>(0, 0, 1)){ | ||
73 | + init(); //start with the default setting | ||
74 | + C = c; | ||
75 | + scale(s); | ||
76 | + normal(n); //orient | ||
77 | + } | ||
78 | + | ||
79 | + ///creates a rectangle from a centerpoint and an X and Y direction vectors. | ||
80 | + ///@param center: x,y,z location of the center. | ||
81 | + ///@param directionX: u,v,w direction of the X vector. | ||
82 | + ///@param directionY: u,v,w direction of the Y vector. | ||
83 | + CUDA_CALLABLE rect(vec<T> center, vec<T> directionX, vec<T> directionY ) | ||
84 | + { | ||
85 | + C = center; | ||
86 | + X = directionX; | ||
87 | + Y = directionY; | ||
88 | + } | ||
89 | + | ||
90 | + ///creates a rectangle from a size, centerpoint, X, and Y direction vectors. | ||
91 | + ///@param size of the rectangle in ND space. | ||
92 | + ///@param center: x,y,z location of the center. | ||
93 | + ///@param directionX: u,v,w direction of the X vector. | ||
94 | + ///@param directionY: u,v,w direction of the Y vector. | ||
95 | + CUDA_CALLABLE rect(T size, vec<T> center, vec<T> directionX, vec<T> directionY ) | ||
96 | + { | ||
97 | + C = center; | ||
98 | + X = directionX; | ||
99 | + Y = directionY; | ||
100 | + scale(size); | ||
101 | + } | ||
102 | + | ||
103 | + ///creates a rectangle from a size, centerpoint, X, and Y direction vectors. | ||
104 | + ///@param size of the rectangle in ND space, size[0] = size in X, size[1] = size in Y. | ||
105 | + ///@param center: x,y,z location of the center. | ||
106 | + ///@param directionX: u,v,w direction of the X vector. | ||
107 | + ///@param directionY: u,v,w direction of the Y vector. | ||
108 | + CUDA_CALLABLE rect(vec<T> size, vec<T> center, vec<T> directionX, vec<T> directionY ) | ||
109 | + { | ||
110 | + C = center; | ||
111 | + X = directionX; | ||
112 | + Y = directionY; | ||
113 | + scale(size[0], size[1]); | ||
114 | + } | ||
115 | + | ||
116 | + ///scales a rectangle in ND space. | ||
117 | + ///@param factor1: size of the scale in the X-direction. | ||
118 | + ///@param factor2: size of the scale in the Y-direction. | ||
119 | + CUDA_CALLABLE void scale(T factor1, T factor2){ | ||
120 | + X *= factor1; | ||
121 | + Y *= factor2; | ||
122 | + } | ||
123 | + | ||
124 | + ///@param n; vector with the normal. | ||
125 | + ///Orients the rectangle along the normal n. | ||
126 | + CUDA_CALLABLE void normal(vec<T> n){ //orient the rectangle along the specified normal | ||
127 | + | ||
128 | + n = n.norm(); //normalize, just in case | ||
129 | + vec<T> n_current = X.cross(Y).norm(); //compute the current normal | ||
130 | + quaternion<T> q; //create a quaternion | ||
131 | + q.CreateRotation(n_current, n); //initialize a rotation from n_current to n | ||
132 | + | ||
133 | + //apply the quaternion to the vectors and position | ||
134 | + X = q.toMatrix3() * X; | ||
135 | + Y = q.toMatrix3() * Y; | ||
136 | + } | ||
137 | + | ||
138 | + ///general init method that sets a general rectangle. | ||
139 | + CUDA_CALLABLE void init(){ | ||
140 | + C = vec<T>(0, 0, 0); | ||
141 | + X = vec<T>(1, 0, 0); | ||
142 | + Y = vec<T>(0, 1, 0); | ||
143 | + } | ||
144 | + | ||
145 | + //boolean comparison | ||
146 | + bool operator==(const rect<T> & rhs) | ||
147 | + { | ||
148 | + if(C == rhs.C && X == rhs.X && Y == rhs.Y) | ||
149 | + return true; | ||
150 | + else | ||
151 | + return false; | ||
152 | + } | ||
153 | + | ||
154 | + /******************************************* | ||
155 | + Return the normal for the rect | ||
156 | + *******************************************/ | ||
157 | + CUDA_CALLABLE stim::vec<T> n() | ||
158 | + { | ||
159 | + return (X.cross(Y)).norm(); | ||
160 | + } | ||
161 | + | ||
162 | + //get the world space value given the planar coordinates a, b in [0, 1] | ||
163 | + CUDA_CALLABLE stim::vec<T> p(T a, T b) | ||
164 | + { | ||
165 | + stim::vec<T> result; | ||
166 | + //given the two parameters a, b = [0 1], returns the position in world space | ||
167 | + vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | ||
168 | + result = A + X * a + Y * b; | ||
169 | + | ||
170 | + return result; | ||
171 | + } | ||
172 | + | ||
173 | + //parenthesis operator returns the world space given rectangular coordinates a and b in [0 1] | ||
174 | + CUDA_CALLABLE stim::vec<T> operator()(T a, T b) | ||
175 | + { | ||
176 | + return p(a, b); | ||
177 | + } | ||
178 | + | ||
179 | + std::string str() | ||
180 | + { | ||
181 | + std::stringstream ss; | ||
182 | + vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | ||
183 | + ss<<std::left<<"B="<<std::setfill('-')<<std::setw(20)<<A + Y<<">"<<"C="<<A + Y + X<<std::endl; | ||
184 | + ss<<std::setfill(' ')<<std::setw(23)<<"|"<<"|"<<std::endl<<std::setw(23)<<"|"<<"|"<<std::endl; | ||
185 | + ss<<std::left<<"A="<<std::setfill('-')<<std::setw(20)<<A<<">"<<"D="<<A + X; | ||
186 | + | ||
187 | + return ss.str(); | ||
188 | + | ||
189 | + } | ||
190 | + | ||
191 | + ///multiplication operator scales the rectangle by a value rhs. | ||
192 | + CUDA_CALLABLE rect<T> operator*(T rhs) | ||
193 | + { | ||
194 | + //scales the plane by a scalar value | ||
195 | + | ||
196 | + //create the new rectangle | ||
197 | + rect<T> result = *this; | ||
198 | + result.scale(rhs); | ||
199 | + | ||
200 | + return result; | ||
201 | + | ||
202 | + } | ||
203 | + | ||
204 | + ///computes the distance between the specified point and this rectangle. | ||
205 | + ///@param p: x, y, z coordinates of the point to calculate distance to. | ||
206 | + CUDA_CALLABLE T dist(vec<T> p) | ||
207 | + { | ||
208 | + //compute the distance between a point and this rect | ||
209 | + | ||
210 | + vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | ||
211 | + | ||
212 | + //first break the rect up into two triangles | ||
213 | + triangle<T> T0(A, A+X, A+Y); | ||
214 | + triangle<T> T1(A+X+Y, A+X, A+Y); | ||
215 | + | ||
216 | + | ||
217 | + T d0 = T0.dist(p); | ||
218 | + T d1 = T1.dist(p); | ||
219 | + | ||
220 | + if(d0 < d1) | ||
221 | + return d0; | ||
222 | + else | ||
223 | + return d1; | ||
224 | + } | ||
225 | + | ||
226 | + CUDA_CALLABLE T center(vec<T> p) | ||
227 | + { | ||
228 | + C = p; | ||
229 | + } | ||
230 | + | ||
231 | + ///Returns the maximum distance of the rectangle from a point p to the sides of the rectangle. | ||
232 | + ///@param p: x, y, z point. | ||
233 | + CUDA_CALLABLE T dist_max(vec<T> p) | ||
234 | + { | ||
235 | + vec<T> A = C - X * (T)0.5 - Y * (T)0.5; | ||
236 | + T da = (A - p).len(); | ||
237 | + T db = (A+X - p).len(); | ||
238 | + T dc = (A+Y - p).len(); | ||
239 | + T dd = (A+X+Y - p).len(); | ||
240 | + | ||
241 | + return std::max( da, std::max(db, std::max(dc, dd) ) ); | ||
242 | + } | ||
243 | +}; | ||
244 | + | ||
245 | +} //end namespace rts | ||
246 | + | ||
247 | +template <typename T, int N> | ||
248 | +std::ostream& operator<<(std::ostream& os, stim::rect<T> R) | ||
249 | +{ | ||
250 | + os<<R.str(); | ||
251 | + return os; | ||
252 | +} | ||
253 | + | ||
254 | + | ||
255 | +#endif |