70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
// ray.h
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//
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// Copyright (C) 2002, Chris Laurel <claurel@shatters.net>
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License
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// as published by the Free Software Foundation; either version 2
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// of the License, or (at your option) any later version.
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#ifndef _CELMATH_RAY_H_
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#define _CELMATH_RAY_H_
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#include <Eigen/Core>
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namespace celmath
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{
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template<class T> class Ray3
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Ray3();
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Ray3(const Eigen::Matrix<T, 3, 1>& origin, const Eigen::Matrix<T, 3, 1>& direction);
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Eigen::Matrix<T, 3, 1> point(T) const;
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Ray3<T> transform(const Eigen::Matrix<T, 3, 3>& m) const
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{
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return Ray3<T>(m * origin, m * direction);
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}
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Ray3<T> transform(const Eigen::Matrix<T, 4, 4>& m) const
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{
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Eigen::Matrix<T, 4, 1> o(Eigen::Matrix<T, 4, 1>::Ones());
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o.head(3) = origin;
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Eigen::Matrix<T, 4, 1> d(Eigen::Matrix<T, 4, 1>::Zero());
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d.head(3) = direction;
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return Ray3<T>((m * o).head(3), (m * d).head(3));
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}
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public:
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Eigen::Matrix<T, 3, 1> origin;
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Eigen::Matrix<T, 3, 1> direction;
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};
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typedef Ray3<float> Ray3f;
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typedef Ray3<double> Ray3d;
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template<class T> Ray3<T>::Ray3() :
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origin(0, 0, 0), direction(0, 0, -1)
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{
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}
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template<class T> Ray3<T>::Ray3(const Eigen::Matrix<T, 3, 1>& _origin,
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const Eigen::Matrix<T, 3, 1>& _direction) :
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origin(_origin), direction(_direction)
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{
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}
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template<class T> Eigen::Matrix<T, 3, 1> Ray3<T>::point(T t) const
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{
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return origin + direction * t;
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}
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}; // namespace celmath
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#endif // _CELMATH_RAY_H_
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