shapes.h

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// clang: MatousFormat
#ifndef SHAPES_H
#define SHAPES_H
 
#include <optional>
 
#include <boost/optional.hpp>
#include <Eigen/Dense>
 
namespace mrs_lib
{
  namespace geometry
  {
 
    /* class Ray //{ */
 
    class Ray
    {
    public:
      Ray();
 
      ~Ray();
 
      Ray(Eigen::Vector3d p1, Eigen::Vector3d p2);
 
    private:
      Eigen::Vector3d point1;
      Eigen::Vector3d point2;
 
    public:
      const Eigen::Vector3d p1() const;
      const Eigen::Vector3d p2() const;
 
      const Eigen::Vector3d direction() const;
 
    public:
      static Ray twopointCast(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo);
 
      static Ray directionCast(Eigen::Vector3d origin, Eigen::Vector3d direction);
    };
 
    //}
 
    /* class Triangle //{ */
    class Triangle
    {
    public:
      Triangle();
 
      ~Triangle();
 
      Triangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c);
 
    private:
      Eigen::Vector3d point1;
      Eigen::Vector3d point2;
      Eigen::Vector3d point3;
 
    public:
      const Eigen::Vector3d a() const;
 
      const Eigen::Vector3d b() const;
 
      const Eigen::Vector3d c() const;
 
      const Eigen::Vector3d center() const;
 
      const Eigen::Vector3d normal() const;
 
      const std::vector<Eigen::Vector3d> vertices() const;
 
    public:
      const boost::optional<Eigen::Vector3d> intersectionRay(Ray r, double epsilon = 1e-4) const;
    };
    //}
 
    /* class Rectangle //{ */
 
    class Rectangle
    {
    public:
      Rectangle();
 
      ~Rectangle();
 
      Rectangle(std::vector<Eigen::Vector3d> points);
 
      Rectangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d);
 
    private:
      Eigen::Vector3d point1;
      Eigen::Vector3d point2;
      Eigen::Vector3d point3;
      Eigen::Vector3d point4;
 
    public:
      const Eigen::Vector3d a() const;
 
      const Eigen::Vector3d b() const;
 
      const Eigen::Vector3d c() const;
 
      const Eigen::Vector3d d() const;
 
      const Eigen::Vector3d center() const;
 
      const Eigen::Vector3d normal() const;
 
      const std::vector<Eigen::Vector3d> vertices() const;
 
      const std::vector<Triangle> triangles() const;
 
      const boost::optional<Eigen::Vector3d> intersectionRay(Ray r, double epsilon = 1e-4) const;
 
      bool isFacing(Eigen::Vector3d point) const;
 
 
      double solidAngleRelativeTo(Eigen::Vector3d point) const;
    };
 
    //}
 
    /* class Cuboid //{ */
    class Cuboid
    {
    public:
      Cuboid();
 
      ~Cuboid();
 
      Cuboid(Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6,
             Eigen::Vector3d p7);
      Cuboid(std::vector<Eigen::Vector3d> points);
 
      Cuboid(Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation);
 
    private:
      enum
      {
        FRONT = 0,
        BACK = 1,
        LEFT = 2,
        RIGHT = 3,
        BOTTOM = 4,
        TOP = 5,
      };
 
    private:
      std::vector<Eigen::Vector3d> points;
 
      std::vector<Eigen::Vector3d> lookupPoints(int face_idx) const;
 
    public:
      const std::vector<Eigen::Vector3d> vertices() const;
 
      const Eigen::Vector3d center() const;
 
      const Rectangle getRectangle(int face_idx) const;
 
      const std::vector<Eigen::Vector3d> intersectionRay(Ray r, double epsilon = 1e-4) const;
    };
    //}
 
    /* class Ellipse //{ */
    class Ellipse
    {
    public:
      Ellipse();
 
      ~Ellipse();
 
      Ellipse(Eigen::Vector3d center, Eigen::Quaterniond orientation, double a, double b);
 
    private:
      double major_semi;
      double minor_semi;
      Eigen::Vector3d center_point;
      Eigen::Quaterniond absolute_orientation;
 
    public:
      double a() const;
 
      double b() const;
 
      const Eigen::Vector3d center() const;
 
      const Eigen::Quaterniond orientation() const;
    };
    //}
 
    /* class Cylinder //{ */
    class Cylinder
    {
    public:
      Cylinder();
 
      ~Cylinder();
 
      Cylinder(Eigen::Vector3d center, double radius, double height, Eigen::Quaterniond orientation);
 
    private:
      Eigen::Vector3d center_point;
      double radius;
      double height;
      Eigen::Quaterniond absolute_orientation;
 
    public:
      enum
      {
        BOTTOM = 0,
        TOP = 1,
      };
 
    public:
      const Eigen::Vector3d center() const;
 
      const Eigen::Quaterniond orientation() const;
 
      double r() const;
 
      double h() const;
 
      const Ellipse getCap(int index) const;
    };
    //}
 
    /* class Cone //{ */
    class Cone
    {
    public:
      Cone();
 
      ~Cone();
 
      Cone(Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d orientation);
 
    private:
      Eigen::Vector3d origin_point;
      double angle;
      double height;
      Eigen::Vector3d absolute_direction;
 
    public:
      const Eigen::Vector3d origin() const;
 
      const Eigen::Vector3d direction() const;
 
      const Eigen::Vector3d center() const;
 
      double theta() const;
 
      double h() const;
 
      const Ellipse getCap() const;
 
      const std::optional<Eigen::Vector3d> projectPoint(const Eigen::Vector3d& point) const;
    };
    //}
  }  // namespace geometry
}  // namespace mrs_lib
 
#endif  // SHAPES_H