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/const.h>
00030 #include <wfmath/vector.h>
00031 #include <wfmath/point.h>
00032 #include <wfmath/axisbox.h>
00033 #include <wfmath/rotbox.h>
00034 #include <wfmath/intersect_decls.h>
00035 
00036 #include <cstdlib> // for abort()
00037 
00038 namespace WFMath {
00039 
00040 template<const int dim> class Ball;
00041 
00042 #ifndef WFMATH_NO_TEMPLATES_AS_TEMPLATE_PARAMETERS
00044 template<const int dim, template<class, class> class container>
00045 Ball<dim> BoundingSphere(const container<Point<dim>, std::allocator<Point<dim> > >& c);
00047 template<const int dim, template<class, class> class container>
00048 Ball<dim> BoundingSphereSloppy(const container<Point<dim>, std::allocator<Point<dim> > >& c);
00049 #endif
00050 
00051 template<const int dim>
00052 std::ostream& operator<<(std::ostream& os, const Ball<dim>& m);
00053 template<const int dim>
00054 std::istream& operator>>(std::istream& is, Ball<dim>& m);
00055 
00057 
00067 template<const int dim>
00068 class Ball
00069 {
00070  public:
00072   Ball() {}
00074   Ball(const Point<dim>& center, CoordType radius)
00075         : m_center(center), m_radius(radius) {assert(radius >= 0);}
00077   Ball(const Ball& b) : m_center(b.m_center), m_radius(b.m_radius) {}
00078 
00079   ~Ball() {}
00080 
00081   friend std::ostream& operator<< <dim>(std::ostream& os, const Ball& b);
00082   friend std::istream& operator>> <dim>(std::istream& is, Ball& b);
00083 
00084   Ball& operator=(const Ball& b)
00085         {m_radius = b.m_radius; m_center = b.m_center; return *this;}
00086 
00087   bool isEqualTo(const Ball& b, double epsilon = WFMATH_EPSILON) const;
00088 
00089   bool operator==(const Ball& b) const  {return isEqualTo(b);}
00090   bool operator!=(const Ball& b) const  {return !isEqualTo(b);}
00091 
00092   bool isValid() const {return m_center.isValid();}
00093 
00094   // Descriptive characteristics
00095 
00096   int numCorners() const {return 0;}
00097   // This next function exists so that Ball can be used by code
00098   // that finds the number of corners with numCorners(), and does something
00099   // with each corner with getCorner(). No idea how useful that is, but
00100   // it's not a particularly complicated function to write.
00101   Point<dim> getCorner(int i) const {abort(); return m_center;}
00102   Point<dim> getCenter() const {return m_center;}
00103 
00105   const Point<dim>& center() const {return m_center;}
00107   Point<dim>& center() {return m_center;}
00109   CoordType radius() const {return m_radius;}
00111   CoordType& radius() {return m_radius;}
00112 
00113   // Movement functions
00114 
00115   Ball& shift(const Vector<dim>& v) {m_center += v; return *this;}
00116   Ball& moveCornerTo(const Point<dim>& p, int corner) {abort(); return *this;}
00117   Ball& moveCenterTo(const Point<dim>& p) {m_center = p; return *this;}
00118 
00119   Ball& rotateCorner(const RotMatrix<dim>& m, int corner) {abort(); return *this;}
00120   Ball& rotateCenter(const RotMatrix<dim>& m) {return *this;}
00121   Ball& rotatePoint(const RotMatrix<dim>& m, const Point<dim>& p)
00122         {m_center.rotate(m, p); return *this;}
00123 
00124   // 3D rotation function
00125   Ball<3>& rotateCorner(const Quaternion&, int corner) {abort(); return *this;}
00126   Ball<3>& rotateCenter(const Quaternion&) {return *this;}
00127   Ball<3>& rotatePoint(const Quaternion& q, const Point<3>& p)
00128         {m_center.rotate(q, p); return *this;}
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<3> toParentCoords(const Point<3>& origin, const Quaternion& rotation) const
00158         {return Ball<3>(m_center.toParentCoords(origin, rotation), m_radius);}
00159   Ball<3> toLocalCoords(const Point<3>& origin, const Quaternion& rotation) const
00160         {return Ball<3>(m_center.toLocalCoords(origin, rotation), m_radius);}
00161 
00162   friend bool Intersect<dim>(const Ball& b, const Point<dim>& p, bool proper);
00163   friend bool Contains<dim>(const Point<dim>& p, const Ball& b, bool proper);
00164 
00165   friend bool Intersect<dim>(const Ball& b, const AxisBox<dim>& a, bool proper);
00166   friend bool Contains<dim>(const Ball& b, const AxisBox<dim>& a, bool proper);
00167   friend bool Contains<dim>(const AxisBox<dim>& a, const Ball& b, bool proper);
00168 
00169   friend bool Intersect<dim>(const Ball& b1, const Ball& b2, bool proper);
00170   friend bool Contains<dim>(const Ball& outer, const Ball& inner, bool proper);
00171 
00172   friend bool Intersect<dim>(const Segment<dim>& s, const Ball& b, bool proper);
00173   friend bool Contains<dim>(const Segment<dim>& s, const Ball& b, bool proper);
00174 
00175   friend bool Intersect<dim>(const RotBox<dim>& r, const Ball& b, bool proper);
00176   friend bool Contains<dim>(const RotBox<dim>& r, const Ball& b, bool proper);
00177   friend bool Contains<dim>(const Ball& b, const RotBox<dim>& r, bool proper);
00178 
00179   friend bool Intersect<dim>(const Polygon<dim>& p, const Ball& b, bool proper);
00180   friend bool Contains<dim>(const Polygon<dim>& p, const Ball& b, bool proper);
00181   friend bool Contains<dim>(const Ball& b, const Polygon<dim>& p, bool proper);
00182 
00183  private:
00184 
00185   Point<dim> m_center;
00186   CoordType m_radius;
00187 };
00188 
00189 } // namespace WFMath
00190 
00191 #include <wfmath/ball_funcs.h>
00192 
00193 #endif  // WFMATH_BALL_H

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