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libs/Common/Line.h

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+////////////////////////////////////////////////////////////////////
+// Line.h
+//
+// Copyright 2023 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef __SEACAVE_LINE_H__
+#define __SEACAVE_LINE_H__
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+namespace SEACAVE {
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// Generic line class represented as two points
+template <typename TYPE, int DIMS>
+class TLine
+{
+	STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
+
+public:
+	typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
+	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
+	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
+	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	enum { numScalar = (2*DIMS) };
+	enum { numParams = numScalar-1 };
+
+	POINT	pt1, pt2;	// line description
+
+	//---------------------------------------
+
+	inline TLine() {}
+	inline TLine(const POINT& pt1, const POINT& pt2);
+	template <typename CTYPE>
+	inline TLine(const TLine<CTYPE,DIMS>&);
+
+	inline void Set(const POINT& pt1, const POINT& pt2);
+
+	int Optimize(const POINT*, size_t, int maxIters=100);
+	template <typename RobustNormFunctor>
+	int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
+
+	inline TYPE GetLength() const;
+	inline TYPE GetLengthSq() const;
+	inline POINT GetCenter() const;
+	inline VECTOR GetDir() const;
+	inline VECTOR GetNormDir() const;
+	inline RAY GetRay() const;
+
+	inline bool IsSame(const TLine&, TYPE th) const;
+
+	bool Intersects(const AABB& aabb) const;
+	bool Intersects(const AABB& aabb, TYPE& t) const;
+
+	inline TYPE DistanceSq(const POINT&) const;
+	inline TYPE Distance(const POINT&) const;
+
+	inline TYPE Classify(const POINT&) const;
+	inline POINT ProjectPoint(const POINT&) const;
+
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return pt1.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return pt1.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & pt1;
+		ar & pt2;
+	}
+	#endif
+}; // class TLine
+/*----------------------------------------------------------------*/
+
+template <typename TYPE, typename TYPEW=TYPE>
+struct FitLineOnline : FitPlaneOnline<TYPE,TYPEW,true> {
+	template <typename TYPEE> TPoint3<TYPEE> GetLine(TLine<TYPEE,3>& line) const;
+};
+/*----------------------------------------------------------------*/
+
+
+#include "Line.inl"
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // __SEACAVE_LINE_H__