mlVector3.h

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/*************************************************************************************
**
** Copyright 2007, MeVis Medical Solutions AG
**
** The user may use this file in accordance with the license agreement provided with
** the Software or, alternatively, in accordance with the terms contained in a
** written agreement between the user and MeVis Medical Solutions AG.
**
** For further information use the contact form at https://www.mevislab.de/contact
**
**************************************************************************************/
 
#ifndef ML_VECTOR3_H
#define ML_VECTOR3_H

 
// Include system independent file and project settings.
#include "mlLinearAlgebraSystem.h"
#include "mlLinearAlgebraDefs.h"
#include "mlFloatingPointVector.h"
#include "mlPrintTemplateErrors.h"
#include "mlVector2.h"
 
#include <mlErrorMacros.h>
#include <mlUtilsAPI.h>
 
// All declarations of this header will be in the ML_LA_NAMESPACE namespace.
ML_LA_START_NAMESPACE

template <class DT>
class Vector3DataContainer
{
public:
  union {
    struct {
      DT x;
      DT y;
      DT z;
    };
    DT _buffer[3];
  };
};
 
//--------------------------------------------------------------------
// This is necessary, because we do not know whether vector or
// matrix header is included first and we cannot move template
// code into the C++ file.
//--------------------------------------------------------------------
template <class DT> class Tvec4;
template <class DT> class Tmat3;
template <class DT> class Tmat4;
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT>
class Tvec3 : public FloatingPointVector<DT, 3, Vector3DataContainer<DT> >
{
 
public:

  typedef FloatingPointVector<DT, 3, Vector3DataContainer<DT> > Superclass;

  typedef DT ComponentType;
 
  //--------------------------------------------------------------------
  //--------------------------------------------------------------------
  inline explicit Tvec3(const DT value=0) : FloatingPointVector<DT, 3, Vector3DataContainer<DT> >(value)
  {
  }

  inline Tvec3(const Superclass &v) : Superclass(v)
  {
  }

  inline Tvec3(const DT px, const DT py, const DT pz)
  {
    Superclass::_buffer[0] = px;
    Superclass::_buffer[1] = py;
    Superclass::_buffer[2] = pz;
  };

  inline Tvec3(const Tvec2<DT>& v, const DT pz)
  {
    Superclass::_buffer[0] = v[0];
    Superclass::_buffer[1] = v[1];
    Superclass::_buffer[2] = pz;
  };

  Tvec3(const Tvec4<DT>& v, const bool normalizeV)
  {
    if (normalizeV){
      // Homogeneous cast.
      if (MLValuesDifferWOM(v[3], static_cast<DT>(0))){
        DT divi = 1.0/v[3];
        Superclass::_buffer[0] = v[0]*divi;
        Superclass::_buffer[1] = v[1]*divi;
        Superclass::_buffer[2] = v[2]*divi;
      }
      else{
        // This must/should not occur.
        printTemplateError("Tvec3::Tvec3(const Tvec4<DT>& v, const bool normalizeV)",
                       ML_BAD_PARAMETER,
                       "Normalization with zero fourth component of homogeneous vector "
                       "performed. Leaving vector unchanged.");
      }
    }
    else{
      // Normal cast.
      Superclass::_buffer[0] = v[0];
      Superclass::_buffer[1] = v[1];
      Superclass::_buffer[2] = v[2];
    }
  }

  Tvec3(const Tvec4<DT>& v, const int axis)
  {
    switch (axis) {
      case  0:
        Superclass::_buffer[0] = v[1];
        Superclass::_buffer[1] = v[2];
        Superclass::_buffer[2] = v[3];
        break;
      case  1:
        Superclass::_buffer[0] = v[0];
        Superclass::_buffer[1] = v[2];
        Superclass::_buffer[2] = v[3];
        break;
      case  2:
        Superclass::_buffer[0] = v[0];
        Superclass::_buffer[1] = v[1];
        Superclass::_buffer[2] = v[3];
        break;
      default:
        Superclass::_buffer[0] = v[0];
        Superclass::_buffer[1] = v[1];
        Superclass::_buffer[2] = v[2];
        break;
    }
  }


  inline void assign(const DT px, const DT py, const DT pz)
  {
    Superclass::_buffer[0] = px;
    Superclass::_buffer[1] = py;
    Superclass::_buffer[2] = pz;
  }

  inline Tvec3<DT> divideByLastComp() const
  {
    const DT lastComp = Superclass::_buffer[2];
    ML_CHECK_FLOAT(lastComp);
 
    const DT div = static_cast<DT>(1) / lastComp;
 
    return Tvec3(Superclass::_buffer[0] * div,
                 Superclass::_buffer[1] * div,
                 1);
  }

  inline Tvec4<DT> affineVec() const
  {
    return Tvec4<DT>(*this, 0);
  }

  inline Tvec4<DT> affinePoint() const
  {
    return Tvec4<DT>(*this, 1);
  }
 
}; // end of class *Tvec3*
 
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT, class DT2>
inline Tvec3<DT> operator*(const Tmat3<DT>& a, const Tvec3<DT2>& v)
{
  return Tvec3<DT>(a[0][0]*v[0] + a[0][1]*v[1] + a[0][2]*v[2],
                   a[1][0]*v[0] + a[1][1]*v[1] + a[1][2]*v[2],
                   a[2][0]*v[0] + a[2][1]*v[1] + a[2][2]*v[2]);
}
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT, class DT2>
inline Tvec3<DT> operator*(const Tvec3<DT>& v, const Tmat3<DT2>& a)
{
  return a.transpose() * v;
}
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT, class DT2>
inline Tvec3<DT> operator*(const Tmat4<DT>& a, const Tvec3<DT2>& v)
{
  // Normalize homogeneous 4D result to Tvec3 by dividing by the fourth component.
  return Tvec3<DT>(a * v.affinePoint(), true);
}
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT, class DT2>
inline Tvec3<DT> operator*(const Tvec3<DT>& v, const Tmat4<DT2>& a)
{
  // Note: This uses homogeneous "operator*(const Tmat4<DT>& a, const Tvec3<DT2>& v)"
  // implemented above.
  return a.transpose() * v;
}
 
//--------------------------------------------------------------------
//--------------------------------------------------------------------
template <class DT, class DT2>
inline Tvec3<DT> operator^(const Tvec3<DT>& a, const Tvec3<DT2>& b)
{
  return Tvec3<DT>(a[1]*b[2] - a[2]*b[1],
                   a[2]*b[0] - a[0]*b[2],
                   a[0]*b[1] - a[1]*b[0]);
}
 
//-----------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------
typedef Tvec3<MLfloat>   Vector3f;
typedef Tvec3<MLdouble>  Vector3d;
typedef Tvec3<MLldouble> Vector3ld;
typedef Tvec3<MLdouble>  Vector3;
 
ML_LA_END_NAMESPACE
 
#endif //of __mlVector3_H