geometry.h

robocuo相关资料robocuo相关资料

#ifndef __GEOMETRY_H
#define __GEOMETRY_H

#include <cstdio>
#include <cmath>

#include <string>
#include <iostream>
#include <ostream>
#include <vector>
#include <algorithm>

#define VALUE(a)  #a ": " << (a)

#define EPS 0.00000001
#define Pi (acos(-1))
#define Min(A,B) ((A)<(B)?(A):(B))
#define Max(A,B) ((A)>(B)?(A):(B))
#define sqr(a) ((a)*(a))
#define sign(a) (a>0?1:-1)

struct Matrix;

using namespace std;

/***********************************************************************************
 ******************************** Aria 3D Geometry **********************************
 ***********************************************************************************/

typedef double AngRad;
typedef double AngDeg;
//contains a set of static methods for comparing double numbers
struct CMP
{
	static bool eq(double a, double b);
	static bool ne(double a, double b);
	static bool lt(double a, double b);
	static bool gt(double a, double b);
	static bool le(double a, double b);
	static bool ge(double a, double b);
};

// a enum that specifies the type of vector
enum CS
{
	CARTESIAN,
	POLAR
};
/*********************************************************************************
******************************** Sphere Class **********************************
*********************************************************************************/
class Sphere
{
	public:
		Sphere();
		 Sphere(double R,double Phi,double Teta);
		double Get_R(void);
		double Get_Phi(void);
		double Get_Teta(void);
	private:
		double G_R;
		double G_Phi;
		double G_Teta;
	
};


/*********************************************************************************
******************************** Geometry Class **********************************
*********************************************************************************/

/*********************************************************************************
******************************** Vector2d Class **********************************
*********************************************************************************/

// Represents a 2 Dimentional vector
struct Vector3d;
struct Vector2d
{
	double   x,y;
	Vector2d ();
	explicit Vector2d (const Vector3d &v);
	Vector2d (double a, double b, CS _cs=CARTESIAN);
	void setVector(double a, double b, CS _cs=CARTESIAN);

	double & X           (          );
	double & Y           (          );

	Vector2d operator- (          );
	Vector2d operator+ (Vector2d p);
	Vector2d operator* (Vector2d p);
	Vector2d operator/ (Vector2d p);
	Vector2d operator/=(Vector2d p);
	Vector2d operator*=(Vector2d p);
	Vector2d operator+=(Vector2d p);
	Vector2d operator- (Vector2d p);
	Vector2d operator-=(Vector2d p);
	Vector2d operator* (double d  );
	Vector2d operator*=(double d  );
	Vector2d operator/ (double d  );
	Vector2d operator/=(double d  );
	bool     operator==(Vector2d p);
	bool     operator!=(Vector2d p);
	double   magnitude   (          ) const;
	void     setMagnitude(double d  );
	double   angle       (          ) const;
	double   angleTo     (Vector2d v);
	double   distance    (Vector2d p);
	void 	 rotate	     (double a	);
	Vector2d rotate      (Vector2d c, double d);
	Vector2d rotate      (Vector2d c, double Sin, double Cos);
};

/*********************************************************************************
******************************** Vector3d Class **********************************
*********************************************************************************/

struct Vector3d
{
	private:
		double mX,mY,mZ;

	public:
		explicit Vector3d(double a =0.0 , double b =0.0, double c =0.0, CS type = CARTESIAN);
// X, Y, Z || Magnitude, Theta, Phi
//Theta is in X,Y Plane and Phi is the angle between that plain and vector
		explicit Vector3d(Vector2d vec);
		void setVector(double a =0.0 , double b =0.0, double c =0.0, CS type = CARTESIAN);
		void setVector( Vector2d vec );
		Vector2d get_vector2d(	);
		Vector3d operator - (                            );
		Vector3d operator + ( Vector3d p                 )const ;
		Vector3d operator - ( Vector3d p                 )const ;
		Vector3d operator * ( double d                   )const;
		Vector3d operator * ( Vector3d p                 )const;
		// Operator '%' : Cross multiplication of two Vector
		Vector3d operator % ( const Vector3d &p          )const; 
		double   operator & ( const Vector3d &p          )const;
		Vector3d operator / ( double d                   )const;
		Vector3d operator / ( Vector3d p                 )const;
		Vector3d operator = ( double d                   );
		Vector3d operator += ( Vector3d p                );
		Vector3d operator -= ( Vector3d p                );
		Vector3d operator *= ( double d                  );
		void     operator *= ( Vector3d p                );
		Vector3d operator /= ( double d                  );
		void     operator /= ( Vector3d &p               );
		bool     operator == ( Vector3d p                );
		bool     operator != ( Vector3d p                );
		double & X();
		double & Y();
		double & Z();
		double X() const;
		double Y() const;
		double Z() const;
		double theta()const;
		double phi()const;
		double magnitude() const;
		void setTheta(double theta);
		void setPhi(double phi);
		void setMagnitude(double length);
		AngDeg Angle(Vector3d vector);
		Vector3d getNormalized() const;
		Vector3d normalize();
		double getDistanceTo(Vector3d vec);
		Vector3d rotate2d(double ang);
		Vector3d rotate(double ang);
		double ang();
		operator Vector2d ();
};

/*********************************************************************************
********************************** Line Class ************************************
*********************************************************************************/

/*********************************************************************************
******************************** Line3d Class ************************************
*********************************************************************************/

/*********************************************************************************
********************************** Segment Class *********************************
*********************************************************************************/

/*********************************************************************************
******************************** Segment3d Class *********************************
*********************************************************************************/

/*********************************************************************************
********************************** Circle Class **********************************
*********************************************************************************/

/*********************************************************************************
*********************************** Angle Class **********************************
*********************************************************************************/

//Contains a set of static methods for dealing with angles

struct Angle
{
// between 0 and 360
	static AngDeg normalizeAngle( AngDeg angle );
// between -180 and 180
	static AngDeg normalizeAngle2 ( AngDeg angle  );
	static double minAngle(AngDeg a, AngDeg b);
	static double maxAngle(AngDeg a, AngDeg b);
	static int cmpAngle(AngDeg a, AngDeg b);
	static AngDeg bisectorAngle( AngDeg ang1, AngDeg ang2 );
//	static Ray bisector ( Vector2d center, Vector2d leftLeg, Vector2d rightLeg );
	static double pointsAngle ( Vector2d center, Vector2d leftLeg, Vector2d rightLeg );
	static bool isAngInRange( AngDeg ang1, AngDeg ang2, AngDeg ang );
	static bool isPointInRange( Vector2d center, Vector2d leftLeg, Vector2d rightLeg , Vector2d p);
	static AngDeg Rad2Deg( AngRad x );
	static AngRad Deg2Rad( AngDeg x );
	static double cosDeg( AngDeg x );
	static double sinDeg( AngDeg x );
	static double tanDeg( AngDeg x );
	static AngDeg atanDeg( double x );
	static double atan2Deg( double x, double y );
	static AngDeg acosDeg( double x );
	static AngDeg asinDeg( double x );
};

/*********************************************************************************
******************************** Rectangle Class *********************************
*********************************************************************************/

/*********************************************************************************
******************************** Polygon Class ***********************************
*********************************************************************************/

/*********************************************************************************
******************************** Rectangular Cube*********************************
*********************************************************************************/
/*

    1---------0
  / |        /|
3----------2  |
|   |      |  |
|   |      |  |
|   5------|--4
| /        | /
7----------6


*/
	
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//-------------------------------------> Polar To Cartesian <-----------------------------------
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

/*********************************************************************************
*********************************** GeomUT Class *********************************
*********************************************************************************/

#endif