38 lines
1.3 KiB
C++
38 lines
1.3 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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#pragma once
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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namespace celmath
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{
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// Eigen 3.4 will support a transform method on ParametrizedLine, which may enable
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// removing at least one of the below overloads.
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template<typename T>
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Eigen::ParametrizedLine<T, 3> transformRay(const Eigen::ParametrizedLine<T, 3>& line,
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const Eigen::Matrix<T, 3, 3>& m)
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{
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return Eigen::ParametrizedLine<T, 3>(m * line.origin(), m * line.direction());
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}
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template<typename T>
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Eigen::ParametrizedLine<T, 3> transformRay(const Eigen::ParametrizedLine<T, 3>& line,
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const Eigen::Matrix<T, 4, 4>& m)
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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) = line.origin();
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Eigen::Matrix<T, 4, 1> d(Eigen::Matrix<T, 4, 1>::Zero());
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d.head(3) = line.direction();
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return Eigen::ParametrizedLine<T, 3>((m * o).head(3), (m * d).head(3));
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}
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} // end namespace celmath
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