GeomUtils.h

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/*
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 */
 
#pragma once
 
#include <vector>
 
#include "Geom.h"
 
#include "../system/FreestyleConfig.h"
 
using namespace std;
 
namespace Freestyle {
 
using namespace Geometry;
 
namespace GeomUtils {
 
//
// Templated procedures
//
 
template<class T> real distPointSegment(const T &P, const T &A, const T &B)
{
  T AB, AP, BP;
  AB = B - A;
  AP = P - A;
  BP = P - B;
 
  real c1(AB * AP);
  if (c1 <= 0) {
    return AP.norm();
  }
 
  real c2(AB * AB);
  if (c2 <= c1) {
    return BP.norm();
  }
 
  real b = c1 / c2;
  T Pb, PPb;
  Pb = A + b * AB;
  PPb = P - Pb;
 
  return PPb.norm();
}
 
//
// Non-templated procedures
//
typedef enum {
  DONT_INTERSECT,
  DO_INTERSECT,
  COLINEAR,
  COINCIDENT,
} intersection_test;
 
intersection_test intersect2dSeg2dSeg(const Vec2r &p1,
                                      const Vec2r &p2,  // first segment
                                      const Vec2r &p3,
                                      const Vec2r &p4,  // second segment
                                      Vec2r &res);      // found intersection point
 
intersection_test intersect2dLine2dLine(const Vec2r &p1,
                                        const Vec2r &p2,  // first segment
                                        const Vec2r &p3,
                                        const Vec2r &p4,  // second segment
                                        Vec2r &res);      // found intersection point
 
intersection_test intersect2dSeg2dSegParametric(const Vec2r &p1,
                                                const Vec2r &p2,  // first segment
                                                const Vec2r &p3,
                                                const Vec2r &p4,  // second segment
                                                real &t,          // I = P1 + t * P1P2)
                                                real &u,          // I = P3 + u * P3P4
                                                real epsilon = M_EPSILON);
 
bool intersect2dSeg2dArea(const Vec2r &min, const Vec2r &max, const Vec2r &A, const Vec2r &B);
 
bool include2dSeg2dArea(const Vec2r &min, const Vec2r &max, const Vec2r &A, const Vec2r &B);
 
bool overlapTriangleBox(Vec3r &boxcenter, Vec3r &boxhalfsize, Vec3r triverts[3]);
 
bool intersectRayTriangle(const Vec3r &orig,
                          const Vec3r &dir,
                          const Vec3r &v0,
                          const Vec3r &v1,
                          const Vec3r &v2,
                          real &t,  // I = orig + t * dir
                          real &u,
                          real &v,  // I = (1 - u - v) * v0 + u * v1 + v * v2
                          const real epsilon = M_EPSILON);  // the epsilon to use
 
intersection_test intersectRayPlane(const Vec3r &orig,
                                    const Vec3r &dir,  // ray origin and direction
                                    // plane's normal and offset (plane = { P / P.N + d = 0 })
                                    const Vec3r &norm,
                                    const real d,
                                    real &t,                          // I = orig + t * dir
                                    const real epsilon = M_EPSILON);  // the epsilon to use
 
bool intersectRayBBox(const Vec3r &orig,
                      const Vec3r &dir,  // ray origin and direction
                      const Vec3r &boxMin,
                      const Vec3r &boxMax,  // the bbox
                      // the interval in which at least on of the intersections must happen
                      real t0,
                      real t1,
                      real &tmin,  // Imin = orig + tmin * dir is the first intersection
                      real &tmax,  // Imax = orig + tmax * dir is the second intersection
                      real epsilon = M_EPSILON);  // the epsilon to use
 
bool includePointTriangle(const Vec3r &P, const Vec3r &A, const Vec3r &B, const Vec3r &C);
 
void transformVertex(const Vec3r &vert, const Matrix44r &matrix, Vec3r &res);
 
void transformVertices(const vector<Vec3r> &vertices, const Matrix44r &trans, vector<Vec3r> &res);
 
Vec3r rotateVector(const Matrix44r &mat, const Vec3r &v);
 
//
// Coordinates systems changing procedures
//
 
void fromWorldToImage(const Vec3r &p,
                      Vec3r &q,
                      const real model_view_matrix[4][4],
                      const real projection_matrix[4][4],
                      const int viewport[4]);
 
void fromWorldToImage(const Vec3r &p, Vec3r &q, const real transform[4][4], const int viewport[4]);
 
void fromWorldToCamera(const Vec3r &p, Vec3r &q, const real model_view_matrix[4][4]);
 
void fromCameraToRetina(const Vec3r &p, Vec3r &q, const real projection_matrix[4][4]);
 
void fromRetinaToImage(const Vec3r &p, Vec3r &q, const int viewport[4]);
 
void fromImageToRetina(const Vec3r &p, Vec3r &q, const int viewport[4]);
 
void fromRetinaToCamera(const Vec3r &p, Vec3r &q, real focal, const real projection_matrix[4][4]);
 
void fromCameraToWorld(const Vec3r &p, Vec3r &q, const real model_view_matrix[4][4]);
 
}  // end of namespace GeomUtils
 
} /* namespace Freestyle */