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////////////////////////////////////////////////////////////////////
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// Plane.h
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//
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// Copyright 2007 cDc@seacave
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// Distributed under the Boost Software License, Version 1.0
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// (See http://www.boost.org/LICENSE_1_0.txt)
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#ifndef __SEACAVE_PLANE_H__
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#define __SEACAVE_PLANE_H__
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// I N C L U D E S /////////////////////////////////////////////////
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// D E F I N E S ///////////////////////////////////////////////////
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namespace SEACAVE {
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// S T R U C T S ///////////////////////////////////////////////////
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// Basic hyper-plane class
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// (plane represented in Hessian Normal Form: n.x+d=0 <=> ax+by+cz+d=0)
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template <typename TYPE, int DIMS=3>
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class TPlane
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{
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STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
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typedef SEACAVE::TRay<TYPE,DIMS> RAY;
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enum { numScalar = DIMS+1 };
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enum { numParams = numScalar-1 };
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VECTOR m_vN; // plane normal vector
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TYPE m_fD; // distance to origin
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//---------------------------------------
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inline TPlane() {}
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inline TPlane(const VECTOR&, TYPE);
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inline TPlane(const VECTOR&, const POINT&);
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inline TPlane(const POINT&, const POINT&, const POINT&);
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inline TPlane(const TYPE p[DIMS+1]);
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inline TPlane(const Eigen::Matrix<TYPE,DIMS+1,1>&);
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inline void Set(const VECTOR&, TYPE);
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inline void Set(const VECTOR&, const POINT&);
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inline void Set(const POINT&, const POINT&, const POINT&);
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inline void Set(const TYPE p[DIMS+1]);
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inline void Set(const Eigen::Matrix<TYPE,DIMS+1,1>&);
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int Optimize(const POINT*, size_t, int maxIters=100);
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template <typename RobustNormFunctor>
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int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
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inline void Invalidate();
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inline bool IsValid() const;
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inline void Negate();
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inline TPlane Negated() const;
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inline TYPE Distance(const TPlane&) const;
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inline TYPE Distance(const POINT&) const;
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inline TYPE DistanceAbs(const POINT&) const;
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inline POINT ProjectPoint(const POINT&) const;
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inline GCLASS Classify(const POINT&) const;
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inline GCLASS Classify(const AABB&) const;
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bool Clip(const RAY&, TYPE, RAY*, RAY*) const;
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bool Intersects(const POINT& p0, const POINT& p1, const POINT& p2) const;
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bool Intersects(const TPlane& plane, RAY& ray) const;
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bool Intersects(const AABB& aabb) const;
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inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_vN.data()[i]; }
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inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_vN.data()[i]; }
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template<class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar & m_vN;
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ar & m_fD;
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}
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#endif
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}; // class TPlane
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/*----------------------------------------------------------------*/
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template <typename TYPE, typename TYPEW=TYPE, bool bFitLineMode=false>
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struct FitPlaneOnline {
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TYPEW sumX, sumSqX, sumXY, sumXZ;
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TYPEW sumY, sumSqY, sumYZ;
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TYPEW sumZ, sumSqZ;
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size_t size;
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FitPlaneOnline();
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void Update(const TPoint3<TYPE>& P);
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TPoint3<TYPEW> GetModel(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
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template <typename TYPEE> TPoint3<TYPEE> GetPlane(TPlane<TYPEE,3>& plane) const;
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};
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/*----------------------------------------------------------------*/
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// Basic 3D frustum class
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// (represented as 6 planes oriented toward outside the frustum volume)
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template <typename TYPE, int DIMS=6>
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class TFrustum
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{
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STATIC_ASSERT(DIMS > 0 && DIMS <= 6);
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public:
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typedef Eigen::Matrix<TYPE,4,4,Eigen::RowMajor> MATRIX4x4;
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typedef Eigen::Matrix<TYPE,3,4,Eigen::RowMajor> MATRIX3x4;
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typedef Eigen::Matrix<TYPE,3,1> VECTOR;
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typedef Eigen::Matrix<TYPE,3,1> POINT;
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typedef SEACAVE::TPlane<TYPE,3> PLANE;
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typedef SEACAVE::TSphere<TYPE,3> SPHERE;
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typedef SEACAVE::TAABB<TYPE,3> AABB;
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enum { numCorners = (1<<3) };
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PLANE m_planes[DIMS]; // left, right, top, bottom, near and far planes
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//---------------------------------------
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inline TFrustum() {}
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inline TFrustum(const MATRIX4x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
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inline TFrustum(const MATRIX3x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
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void Set(const MATRIX4x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
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void Set(const MATRIX3x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
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void Set(const VECTOR corners[numCorners]);
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void SetProjectionGL(const MATRIX4x4&);
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GCLASS Classify(const POINT&) const;
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GCLASS Classify(const SPHERE&) const;
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GCLASS Classify(const AABB&) const;
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inline TYPE& operator [] (BYTE i) { ASSERT(i<DIMS); return m_planes[i]; }
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inline TYPE operator [] (BYTE i) const { ASSERT(i<DIMS); return m_planes[i]; }
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template<class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar & m_planes;
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}
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#endif
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}; // class TPlane
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/*----------------------------------------------------------------*/
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#include "Plane.inl"
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/*----------------------------------------------------------------*/
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} // namespace SEACAVE
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#endif // __SEACAVE_PLANE_H__
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