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/**
* @file aka_point.hh
*
* @author David Simon Kammer <david.kammer@epfl.ch>
* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
*
* @date creation: Fri Jan 04 2013
* @date last modification: Tue Jun 17 2014
*
* @brief Geometry class representing points
*
* @section LICENSE
*
* Copyright (©) 2014 EPFL (Ecole Polytechnique Fédérale de Lausanne)
* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
*
* Akantu is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_AKA_POINT_HH__
#define __AKANTU_AKA_POINT_HH__
#include "aka_common.hh"
#include <cmath>
#include <cassert>
__BEGIN_AKANTU__
const Real inf = std::numeric_limits<Real>::infinity();
//! Point class template
/*! This class represents the abstraction of a point in d-Euclidian
* space.
* \tparam d - Space dimension
* \tparam T - Type for storing coordinate values
*/
template <int d, typename T = Real>
class Point {
public:
typedef T value_type;
//! Return the dimension of the point
constexpr static int dim()
{ return d; }
//! Default constructor creates a point on the origin
Point() {
for (UInt i=0; i<d; ++i)
coord_[i] = value_type();
}
//! Parameter constructor using a const pointer
/*! This constructor can be used to create a point out of a pointer.
* This constructor assumes the memory that contains the coordinates
* is valid.
*/
explicit Point(value_type const* coordinates) {
for (UInt i=0; i<d; ++i)
coord_[i] = coordinates[i];
}
//! Parameter constructor using a pointer
/*! This constructor can be used to create a point out of a pointer.
* This constructor assumes the memory that contains the coordinates
* is valid.
*/
explicit Point(value_type * coordinates) {
for (UInt i=0; i<d; ++i)
coord_[i] = coordinates[i];
}
//! Parameter constructor
/*! This constructor takes exactly d number of parameters so that the
* point can be initialized to the given parameters.
*/
template <typename... Args>
explicit Point(const Args&... args) {
static_assert(sizeof...(Args) <= d , "*** ERROR *** Number of arguments exceeded point dension");
std::fill_n(coord_, d, value_type());
value_type coord[] = { args... };
if (sizeof...(Args) != 0)
for (size_t i=0; i<d; ++i)
coord_[i] = i < sizeof...(Args) ? coord[i] : coord[sizeof...(Args) - 1];
}
//! Less-than operator
/*! This operator enables the use of Point objects in sets and maps
*/
bool operator<(const Point & p) const {
for (int i=0; i<d; ++i)
if (coord_[i] < p[i])
return true;
return false;
}
//! Equal-to operator
bool operator==(const Point & p) const {
for (int i=0; i<d; ++i)
if (coord_[i] != p[i])
return false;
return true;
}
//! Standard output stream operator
friend std::ostream& operator <<(std::ostream &os, const Point &p) {
os<<"{"<<p.coord_[0];
for (int i=1; i<d; ++i)
os<<","<<p.coord_[i];
os<<"}";
return os;
}
public:
//! Get copy of coordinate
value_type operator[] (UInt index) const {
assert(index < d);
return coord_[index];
}
//! Get write access to coordinate
value_type& operator[] (UInt index) {
assert(index < d);
return coord_[index];
}
//! Addition compound assignment operator
Point& operator+=(const Point& p) {
for (int i=0; i<d; ++i)
coord_[i] += p.coord_[i];
return *this;
}
//! Subtraction compound assignment operator
Point& operator-=(const Point& p) {
for (int i=0; i<d; ++i)
coord_[i] -= p.coord_[i];
return *this;
}
//! Scalar multiplication compound assignment operator
template <typename S>
Point& operator*=(S s) {
for (int i=0; i<d; ++i)
coord_[i] *= s;
return *this;
}
//! Scale point so that its magnitude is one
Point& normalize()
{ return (*this)*=(1/std::sqrt(sq_norm())); }
//! Get the square of the magnutud
value_type sq_norm() {
value_type r = value_type();
for (int i=0; i<d; ++i)
r += std::pow(coord_[i],2);
return r;
}
private:
value_type coord_[d]; //! Point coordinates
};
//! Addition between two points
template <int d, typename T>
Point<d,T> operator+(const Point<d,T>& p, const Point<d,T>& q) {
Point<d,T> r(p);
return r += q;
}
//! Subtraction between two points
template <int d, typename T>
Point<d,T> operator-(const Point<d,T>& p, const Point<d,T>& q) {
Point<d,T> r(p);
return r -= q;
}
//! Overload operator* for the scalar product
template <int d, typename T>
typename Point<d,T>::value_type operator*(const Point<d,T>& p, const Point<d,T>& q) {
typename Point<d,T>::value_type r = 0;
for (int i=0; i<d; ++i)
r += p[i] * q[i];
return r;
}
//! Multiply a point by a scalar
template <int d, typename T>
Point<d,T> operator*(const Point<d,T>& p, typename Point<d,T>::value_type s) {
Point<d,T> r(p);
return r *= s;
}
//! Multiply a point by a scalar
template <int d, typename T>
Point<d,T> operator*(typename Point<d,T>::value_type s, const Point<d,T>& p) {
Point<d,T> r(p);
return r *= s;
}
//! Cross product
template <typename T>
Point<3,T> cross(const Point<3,T>& o, const Point<3,T>& p) {
Point<3,T> r;
for (int i=0; i<3; ++i)
r[i] = o[(i+1)%3]*p[(i+2)%3] - o[(i+2)%3]*p[(i+1)%3];
return r;
}
//! Bounding volume class template
/*! This class is used as a building block for constructing
* hierarchies of boundign volumes used in the contact detection
* framework.
*/
template <int d>
struct Bounding_volume {
typedef Point<d> point_type;
typedef typename point_type::value_type value_type;
virtual value_type measure() const = 0;
virtual std::ostream& print(std::ostream& os) const = 0;
Real last_time_;
point_type velocity_;
point_type acceleration_;
//! Standard output stream operator
friend std::ostream& operator<<(std::ostream& os, const Bounding_volume& gv)
{ return gv.print(os); }
};
__END_AKANTU__
#endif /* __AKANTU_AKA_POINT_HH__ */
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