WFMath 0.3.11

ball.h

00001 // ball.h (A n-dimensional ball)
00002 //
00003 //  The WorldForge Project
00004 //  Copyright (C) 2000, 2001  The WorldForge Project
00005 //
00006 //  This program is free software; you can redistribute it and/or modify
00007 //  it under the terms of the GNU General Public License as published by
00008 //  the Free Software Foundation; either version 2 of the License, or
00009 //  (at your option) any later version.
00010 //
00011 //  This program is distributed in the hope that it will be useful,
00012 //  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 //  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 //  GNU General Public License for more details.
00015 //
00016 //  You should have received a copy of the GNU General Public License
00017 //  along with this program; if not, write to the Free Software
00018 //  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00019 //
00020 //  For information about WorldForge and its authors, please contact
00021 //  the Worldforge Web Site at http://www.worldforge.org.
00022 //
00023 
00024 // Author: Ron Steinke
00025 
00026 #ifndef WFMATH_BALL_H
00027 #define WFMATH_BALL_H
00028 
00029 #include <wfmath/point.h>
00030 #include <wfmath/intersect_decls.h>
00031 
00032 namespace WFMath {
00033 
00034 template<const int dim> class Ball;
00035 
00036 #ifndef WFMATH_NO_TEMPLATES_AS_TEMPLATE_PARAMETERS
00037 
00038 template<const int dim, template<class, class> class container>
00039 Ball<dim> BoundingSphere(const container<Point<dim>, std::allocator<Point<dim> > >& c);
00041 template<const int dim, template<class, class> class container>
00042 Ball<dim> BoundingSphereSloppy(const container<Point<dim>, std::allocator<Point<dim> > >& c);
00043 #endif
00044 
00045 template<const int dim>
00046 std::ostream& operator<<(std::ostream& os, const Ball<dim>& m);
00047 template<const int dim>
00048 std::istream& operator>>(std::istream& is, Ball<dim>& m);
00049 
00051 
00061 template<const int dim = 3>
00062 class Ball
00063 {
00064  public:
00066   Ball() {}
00068   Ball(const Point<dim>& center, CoordType radius)
00069   : m_center(center), m_radius(radius) { if (radius < 0) m_center.setValid(false); }
00071   Ball(const Ball& b) : m_center(b.m_center), m_radius(b.m_radius) {}
00073   explicit Ball(const AtlasInType& a);
00074 
00075   ~Ball() {}
00076 
00077   friend std::ostream& operator<< <dim>(std::ostream& os, const Ball& b);
00078   friend std::istream& operator>> <dim>(std::istream& is, Ball& b);
00079 
00081   AtlasOutType toAtlas() const;
00083   void fromAtlas(const AtlasInType& a);
00084 
00085   Ball& operator=(const Ball& b)
00086   {m_radius = b.m_radius; m_center = b.m_center; return *this;}
00087 
00088   bool isEqualTo(const Ball& b, double epsilon = WFMATH_EPSILON) const;
00089 
00090   bool operator==(const Ball& b) const  {return isEqualTo(b);}
00091   bool operator!=(const Ball& b) const  {return !isEqualTo(b);}
00092 
00093   bool isValid() const {return m_center.isValid();}
00094 
00095   // Descriptive characteristics
00096 
00097   int numCorners() const {return 0;}
00098   // This next function exists so that Ball can be used by code
00099   // that finds the number of corners with numCorners(), and does something
00100   // with each corner with getCorner(). No idea how useful that is, but
00101   // it's not a particularly complicated function to write.
00102   Point<dim> getCorner(int i) const {return m_center;}
00103   Point<dim> getCenter() const {return m_center;}
00104 
00106   const Point<dim>& center() const {return m_center;}
00108   Point<dim>& center() {return m_center;}
00110   CoordType radius() const {return m_radius;}
00112   CoordType& radius() {return m_radius;}
00113 
00114   // Movement functions
00115 
00116   Ball& shift(const Vector<dim>& v) {m_center += v; return *this;}
00117   Ball& moveCornerTo(const Point<dim>& p, int corner) {return *this;}
00118   Ball& moveCenterTo(const Point<dim>& p) {m_center = p; return *this;}
00119 
00120   Ball& rotateCorner(const RotMatrix<dim>& m, int corner) {return *this;}
00121   Ball& rotateCenter(const RotMatrix<dim>& m) {return *this;}
00122   Ball& rotatePoint(const RotMatrix<dim>& m, const Point<dim>& p)
00123   {m_center.rotate(m, p); return *this;}
00124 
00125   // 3D rotation function
00126   Ball& rotateCorner(const Quaternion&, int corner);
00127   Ball& rotateCenter(const Quaternion&);
00128   Ball& rotatePoint(const Quaternion& q, const Point<dim>& p);
00129 
00130   // Intersection functions
00131 
00132   AxisBox<dim> boundingBox() const;
00133   Ball boundingSphere() const           {return *this;}
00134   Ball boundingSphereSloppy() const     {return *this;}
00135 
00136   Ball toParentCoords(const Point<dim>& origin,
00137       const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00138         {return Ball(m_center.toParentCoords(origin, rotation), m_radius);}
00139   Ball toParentCoords(const AxisBox<dim>& coords) const
00140         {return Ball(m_center.toParentCoords(coords), m_radius);}
00141   Ball toParentCoords(const RotBox<dim>& coords) const
00142         {return Ball(m_center.toParentCoords(coords), m_radius);}
00143 
00144   // toLocal is just like toParent, expect we reverse the order of
00145   // translation and rotation and use the opposite sense of the rotation
00146   // matrix
00147 
00148   Ball toLocalCoords(const Point<dim>& origin,
00149       const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00150         {return Ball(m_center.toLocalCoords(origin, rotation), m_radius);}
00151   Ball toLocalCoords(const AxisBox<dim>& coords) const
00152         {return Ball(m_center.toLocalCoords(coords), m_radius);}
00153   Ball toLocalCoords(const RotBox<dim>& coords) const
00154         {return Ball(m_center.toLocalCoords(coords), m_radius);}
00155 
00156   // 3D only
00157   Ball toParentCoords(const Point<dim>& origin, const Quaternion& rotation) const;
00158   Ball toLocalCoords(const Point<dim>& origin, const Quaternion& rotation) const;
00159 
00160   friend bool Intersect<dim>(const Ball& b, const Point<dim>& p, bool proper);
00161   friend bool Contains<dim>(const Point<dim>& p, const Ball& b, bool proper);
00162 
00163   friend bool Intersect<dim>(const Ball& b, const AxisBox<dim>& a, bool proper);
00164   friend bool Contains<dim>(const Ball& b, const AxisBox<dim>& a, bool proper);
00165   friend bool Contains<dim>(const AxisBox<dim>& a, const Ball& b, bool proper);
00166 
00167   friend bool Intersect<dim>(const Ball& b1, const Ball& b2, bool proper);
00168   friend bool Contains<dim>(const Ball& outer, const Ball& inner, bool proper);
00169 
00170   friend bool Intersect<dim>(const Segment<dim>& s, const Ball& b, bool proper);
00171   friend bool Contains<dim>(const Segment<dim>& s, const Ball& b, bool proper);
00172 
00173   friend bool Intersect<dim>(const RotBox<dim>& r, const Ball& b, bool proper);
00174   friend bool Contains<dim>(const RotBox<dim>& r, const Ball& b, bool proper);
00175   friend bool Contains<dim>(const Ball& b, const RotBox<dim>& r, bool proper);
00176 
00177   friend bool Intersect<dim>(const Polygon<dim>& p, const Ball& b, bool proper);
00178   friend bool Contains<dim>(const Polygon<dim>& p, const Ball& b, bool proper);
00179   friend bool Contains<dim>(const Ball& b, const Polygon<dim>& p, bool proper);
00180 
00181  private:
00182 
00183   Point<dim> m_center;
00184   CoordType m_radius;
00185 };
00186 
00187 } // namespace WFMath
00188 
00189 #endif  // WFMATH_BALL_H