Geo_LineSeg.h

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#ifndef SimTK_SIMMATH_GEO_LINESEG_H_
#define SimTK_SIMMATH_GEO_LINESEG_H_

/* -------------------------------------------------------------------------- *
 *                        Simbody(tm): SimTKmath                              *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2011-12 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simmath/internal/common.h"
#include "simmath/internal/Geo.h"
#include "simmath/internal/Geo_Sphere.h"

#include <cassert>
#include <cmath>
#include <algorithm>

namespace SimTK {


//==============================================================================
//                               GEO LINESEG
//==============================================================================
template <class P>
class SimTK_SIMMATH_EXPORT Geo::LineSeg_ {
typedef P               RealP;
typedef Vec<3,RealP>    Vec3P;

public:
LineSeg_() {}

LineSeg_(const Vec3P& e0, const Vec3P& e1) 
{   setEndpoints(e0,e1); }

LineSeg_& setEndpoints(const Vec3P& e0, const Vec3P& e1) 
{   e[0]=e0; e[1]=e1; return *this; }

LineSeg_& setEndpoint(int which, const Vec3P& p)
{   assert(which==0 || which==1); e[which] = p; return *this; }

bool isDegenerate(RealP tol = Geo::getDefaultTol<P>()) const
{   assert(tol >= 0); return calcLengthSqr() <= square(tol); }

const Vec3P& getEndpoint(int which) const 
{   assert(which==0 || which==1); return e[which]; }

Vec3P& updEndpoint(int which) 
{   assert(which==0 || which==1); return e[which]; }

const Vec3P& operator[](int which) const {return getEndpoint(which);}
Vec3P& operator[](int which) {return updEndpoint(which);}

RealP calcLength() const {return (e[1]-e[0]).norm(); }

RealP calcLengthSqr() const {return (e[1]-e[0]).normSqr(); }

Vec3P findPoint(RealP t) const
{   return t*e[0] + (1-t)*e[1]; }

Vec3P findMidpoint() const
{   return (e[0]+e[1]) / RealP(2); }

Sphere_<P> calcBoundingSphere() const 
{   return Geo::Point_<P>::calcBoundingSphere(e[0],e[1]); }

RealP findDistanceToPoint(const Vec3P& p2) const
{SimTK_ASSERT_ALWAYS(!"implemented", 
"Geo::LineSeg_::findDistanceToPoint(): Not implemented yet.");
return Geo::getNaN<P>();}

RealP findDistanceToPointSqr(const Vec3P& p2) const
{SimTK_ASSERT_ALWAYS(!"implemented", 
"Geo::LineSeg_::findDistanceToPointSqr(): Not implemented yet.");
return Geo::getNaN<P>();}

private:
Vec3P   e[2];
};


} // namespace SimTK

#endif // SimTK_SIMMATH_GEO_LINESEG_H_