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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>
00037
00038 namespace WFMath {
00039
00040 template<const int dim> class Ball;
00041
00042 #ifndef WFMATH_NO_TEMPLATES_AS_TEMPLATE_PARAMETERS
00043
00044 template<const int dim, template<class> class container>
00045 Ball<dim> BoundingSphere(const container<Point<dim> >& c);
00047 template<const int dim, template<class> class container>
00048 Ball<dim> BoundingSphereSloppy(const container<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
00095
00096 int numCorners() const {return 0;}
00097
00098
00099
00100
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
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
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
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
00145
00146
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
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 }
00190
00191 #include <wfmath/ball_funcs.h>
00192
00193 #endif // WFMATH_BALL_H