489 lines
22 KiB
C++
489 lines
22 KiB
C++
#ifndef slic3r_Point_hpp_
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#define slic3r_Point_hpp_
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#include "libslic3r.h"
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#include <cstddef>
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#include <vector>
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#include <cmath>
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#include <string>
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#include <sstream>
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#include <unordered_map>
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#include <Eigen/Geometry>
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#include "LocalesUtils.hpp"
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namespace Slic3r {
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class BoundingBox;
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class Line;
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class MultiPoint;
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class Point;
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using Vector = Point;
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// Eigen types, to replace the Slic3r's own types in the future.
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// Vector types with a fixed point coordinate base type.
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using Vec2crd = Eigen::Matrix<coord_t, 2, 1, Eigen::DontAlign>;
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using Vec3crd = Eigen::Matrix<coord_t, 3, 1, Eigen::DontAlign>;
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using Vec2i = Eigen::Matrix<int, 2, 1, Eigen::DontAlign>;
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using Vec3i = Eigen::Matrix<int, 3, 1, Eigen::DontAlign>;
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using Vec2i32 = Eigen::Matrix<int32_t, 2, 1, Eigen::DontAlign>;
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using Vec2i64 = Eigen::Matrix<int64_t, 2, 1, Eigen::DontAlign>;
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using Vec3i32 = Eigen::Matrix<int32_t, 3, 1, Eigen::DontAlign>;
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using Vec3i64 = Eigen::Matrix<int64_t, 3, 1, Eigen::DontAlign>;
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// Vector types with a double coordinate base type.
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using Vec2f = Eigen::Matrix<float, 2, 1, Eigen::DontAlign>;
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using Vec3f = Eigen::Matrix<float, 3, 1, Eigen::DontAlign>;
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using Vec2d = Eigen::Matrix<double, 2, 1, Eigen::DontAlign>;
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using Vec3d = Eigen::Matrix<double, 3, 1, Eigen::DontAlign>;
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using Points = std::vector<Point>;
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using PointPtrs = std::vector<Point*>;
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using PointConstPtrs = std::vector<const Point*>;
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using Points3 = std::vector<Vec3crd>;
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using Pointfs = std::vector<Vec2d>;
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using Vec2ds = std::vector<Vec2d>;
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using Pointf3s = std::vector<Vec3d>;
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using Matrix2f = Eigen::Matrix<float, 2, 2, Eigen::DontAlign>;
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using Matrix2d = Eigen::Matrix<double, 2, 2, Eigen::DontAlign>;
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using Matrix3f = Eigen::Matrix<float, 3, 3, Eigen::DontAlign>;
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using Matrix3d = Eigen::Matrix<double, 3, 3, Eigen::DontAlign>;
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using Transform2f = Eigen::Transform<float, 2, Eigen::Affine, Eigen::DontAlign>;
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using Transform2d = Eigen::Transform<double, 2, Eigen::Affine, Eigen::DontAlign>;
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using Transform3f = Eigen::Transform<float, 3, Eigen::Affine, Eigen::DontAlign>;
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using Transform3d = Eigen::Transform<double, 3, Eigen::Affine, Eigen::DontAlign>;
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inline bool operator<(const Vec2d &lhs, const Vec2d &rhs) { return lhs.x() < rhs.x() || (lhs.x() == rhs.x() && lhs.y() < rhs.y()); }
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template<int Options>
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int32_t cross2(const Eigen::MatrixBase<Eigen::Matrix<int32_t, 2, 1, Options>> &v1, const Eigen::MatrixBase<Eigen::Matrix<int32_t, 2, 1, Options>> &v2) = delete;
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template<typename T, int Options>
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inline T cross2(const Eigen::MatrixBase<Eigen::Matrix<T, 2, 1, Options>> &v1, const Eigen::MatrixBase<Eigen::Matrix<T, 2, 1, Options>> &v2)
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{
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return v1.x() * v2.y() - v1.y() * v2.x();
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}
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template<typename Derived, typename Derived2>
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inline typename Derived::Scalar cross2(const Eigen::MatrixBase<Derived> &v1, const Eigen::MatrixBase<Derived2> &v2)
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{
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static_assert(std::is_same<typename Derived::Scalar, typename Derived2::Scalar>::value, "cross2(): Scalar types of 1st and 2nd operand must be equal.");
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return v1.x() * v2.y() - v1.y() * v2.x();
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}
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template<typename T, int Options>
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inline Eigen::Matrix<T, 2, 1, Eigen::DontAlign> perp(const Eigen::MatrixBase<Eigen::Matrix<T, 2, 1, Options>> &v) { return Eigen::Matrix<T, 2, 1, Eigen::DontAlign>(- v.y(), v.x()); }
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template<class T, int N, int Options>
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Eigen::Matrix<T, 2, 1, Eigen::DontAlign> to_2d(const Eigen::MatrixBase<Eigen::Matrix<T, N, 1, Options>> &ptN) { return { ptN.x(), ptN.y() }; }
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template<class T, int Options>
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Eigen::Matrix<T, 3, 1, Eigen::DontAlign> to_3d(const Eigen::MatrixBase<Eigen::Matrix<T, 2, 1, Options>> & pt, const T z) { return { pt.x(), pt.y(), z }; }
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inline Vec2d unscale(coord_t x, coord_t y) { return Vec2d(unscale<double>(x), unscale<double>(y)); }
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inline Vec2d unscale(const Vec2crd &pt) { return Vec2d(unscale<double>(pt.x()), unscale<double>(pt.y())); }
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inline Vec2d unscale(const Vec2d &pt) { return Vec2d(unscale<double>(pt.x()), unscale<double>(pt.y())); }
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inline Vec3d unscale(coord_t x, coord_t y, coord_t z) { return Vec3d(unscale<double>(x), unscale<double>(y), unscale<double>(z)); }
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inline Vec3d unscale(const Vec3crd &pt) { return Vec3d(unscale<double>(pt.x()), unscale<double>(pt.y()), unscale<double>(pt.z())); }
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inline Vec3d unscale(const Vec3d &pt) { return Vec3d(unscale<double>(pt.x()), unscale<double>(pt.y()), unscale<double>(pt.z())); }
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inline std::string to_string(const Vec2crd &pt) { return std::string("[") + float_to_string_decimal_point(pt.x()) + ", " + float_to_string_decimal_point(pt.y()) + "]"; }
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inline std::string to_string(const Vec2d &pt) { return std::string("[") + float_to_string_decimal_point(pt.x()) + ", " + float_to_string_decimal_point(pt.y()) + "]"; }
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inline std::string to_string(const Vec3crd &pt) { return std::string("[") + float_to_string_decimal_point(pt.x()) + ", " + float_to_string_decimal_point(pt.y()) + ", " + float_to_string_decimal_point(pt.z()) + "]"; }
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inline std::string to_string(const Vec3d &pt) { return std::string("[") + float_to_string_decimal_point(pt.x()) + ", " + float_to_string_decimal_point(pt.y()) + ", " + float_to_string_decimal_point(pt.z()) + "]"; }
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std::vector<Vec3f> transform(const std::vector<Vec3f>& points, const Transform3f& t);
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Pointf3s transform(const Pointf3s& points, const Transform3d& t);
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template<int N, class T> using Vec = Eigen::Matrix<T, N, 1, Eigen::DontAlign, N, 1>;
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class Point : public Vec2crd
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{
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public:
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using coord_type = coord_t;
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Point() : Vec2crd(0, 0) {}
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Point(int32_t x, int32_t y) : Vec2crd(coord_t(x), coord_t(y)) {}
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Point(int64_t x, int64_t y) : Vec2crd(coord_t(x), coord_t(y)) {}
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Point(double x, double y) : Vec2crd(coord_t(lrint(x)), coord_t(lrint(y))) {}
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Point(const Point &rhs) { *this = rhs; }
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explicit Point(const Vec2d& rhs) : Vec2crd(coord_t(lrint(rhs.x())), coord_t(lrint(rhs.y()))) {}
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// This constructor allows you to construct Point from Eigen expressions
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template<typename OtherDerived>
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Point(const Eigen::MatrixBase<OtherDerived> &other) : Vec2crd(other) {}
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static Point new_scale(coordf_t x, coordf_t y) { return Point(coord_t(scale_(x)), coord_t(scale_(y))); }
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static Point new_scale(const Vec2d &v) { return Point(coord_t(scale_(v.x())), coord_t(scale_(v.y()))); }
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// This method allows you to assign Eigen expressions to MyVectorType
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template<typename OtherDerived>
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Point& operator=(const Eigen::MatrixBase<OtherDerived> &other)
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{
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this->Vec2crd::operator=(other);
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return *this;
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}
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Point& operator+=(const Point& rhs) { this->x() += rhs.x(); this->y() += rhs.y(); return *this; }
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Point& operator-=(const Point& rhs) { this->x() -= rhs.x(); this->y() -= rhs.y(); return *this; }
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Point& operator*=(const double &rhs) { this->x() = coord_t(this->x() * rhs); this->y() = coord_t(this->y() * rhs); return *this; }
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Point operator*(const double &rhs) { return Point(this->x() * rhs, this->y() * rhs); }
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void rotate(double angle) { this->rotate(std::cos(angle), std::sin(angle)); }
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void rotate(double cos_a, double sin_a) {
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double cur_x = (double)this->x();
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double cur_y = (double)this->y();
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this->x() = (coord_t)round(cos_a * cur_x - sin_a * cur_y);
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this->y() = (coord_t)round(cos_a * cur_y + sin_a * cur_x);
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}
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void rotate(double angle, const Point ¢er);
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Point rotated(double angle) const { Point res(*this); res.rotate(angle); return res; }
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Point rotated(double cos_a, double sin_a) const { Point res(*this); res.rotate(cos_a, sin_a); return res; }
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Point rotated(double angle, const Point ¢er) const { Point res(*this); res.rotate(angle, center); return res; }
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int nearest_point_index(const Points &points) const;
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int nearest_point_index(const PointConstPtrs &points) const;
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int nearest_point_index(const PointPtrs &points) const;
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bool nearest_point(const Points &points, Point* point) const;
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double ccw(const Point &p1, const Point &p2) const;
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double ccw(const Line &line) const;
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double ccw_angle(const Point &p1, const Point &p2) const;
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Point projection_onto(const MultiPoint &poly) const;
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Point projection_onto(const Line &line) const;
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};
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inline bool operator<(const Point &l, const Point &r)
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{
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return l.x() < r.x() || (l.x() == r.x() && l.y() < r.y());
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}
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inline bool is_approx(const Point &p1, const Point &p2, coord_t epsilon = coord_t(SCALED_EPSILON))
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{
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Point d = (p2 - p1).cwiseAbs();
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return d.x() < epsilon && d.y() < epsilon;
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}
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inline bool is_approx(const Vec2f &p1, const Vec2f &p2, float epsilon = float(EPSILON))
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{
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Vec2f d = (p2 - p1).cwiseAbs();
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return d.x() < epsilon && d.y() < epsilon;
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}
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inline bool is_approx(const Vec2d &p1, const Vec2d &p2, double epsilon = EPSILON)
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{
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Vec2d d = (p2 - p1).cwiseAbs();
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return d.x() < epsilon && d.y() < epsilon;
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}
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inline bool is_approx(const Vec3f &p1, const Vec3f &p2, float epsilon = float(EPSILON))
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{
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Vec3f d = (p2 - p1).cwiseAbs();
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return d.x() < epsilon && d.y() < epsilon && d.z() < epsilon;
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}
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inline bool is_approx(const Vec3d &p1, const Vec3d &p2, double epsilon = EPSILON)
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{
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Vec3d d = (p2 - p1).cwiseAbs();
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return d.x() < epsilon && d.y() < epsilon && d.z() < epsilon;
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}
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inline Point lerp(const Point &a, const Point &b, double t)
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{
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assert((t >= -EPSILON) && (t <= 1. + EPSILON));
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return ((1. - t) * a.cast<double>() + t * b.cast<double>()).cast<coord_t>();
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}
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extern BoundingBox get_extents(const Points &pts);
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extern BoundingBox get_extents(const std::vector<Points> &pts);
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namespace int128 {
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// Exact orientation predicate,
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// returns +1: CCW, 0: collinear, -1: CW.
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int orient(const Vec2crd &p1, const Vec2crd &p2, const Vec2crd &p3);
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// Exact orientation predicate,
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// returns +1: CCW, 0: collinear, -1: CW.
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int cross(const Vec2crd &v1, const Vec2crd &v2);
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}
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// To be used by std::unordered_map, std::unordered_multimap and friends.
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struct PointHash {
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size_t operator()(const Vec2crd &pt) const {
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return std::hash<coord_t>()(pt.x()) ^ std::hash<coord_t>()(pt.y());
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}
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};
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// A generic class to search for a closest Point in a given radius.
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// It uses std::unordered_multimap to implement an efficient 2D spatial hashing.
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// The PointAccessor has to return const Point*.
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// If a nullptr is returned, it is ignored by the query.
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template<typename ValueType, typename PointAccessor> class ClosestPointInRadiusLookup
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{
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public:
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ClosestPointInRadiusLookup(coord_t search_radius, PointAccessor point_accessor = PointAccessor()) :
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m_search_radius(search_radius), m_point_accessor(point_accessor), m_grid_log2(0)
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{
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// Resolution of a grid, twice the search radius + some epsilon.
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coord_t gridres = 2 * m_search_radius + 4;
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m_grid_resolution = gridres;
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assert(m_grid_resolution > 0);
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assert(m_grid_resolution < (coord_t(1) << 30));
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// Compute m_grid_log2 = log2(m_grid_resolution)
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if (m_grid_resolution > 32767) {
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m_grid_resolution >>= 16;
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m_grid_log2 += 16;
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}
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if (m_grid_resolution > 127) {
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m_grid_resolution >>= 8;
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m_grid_log2 += 8;
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}
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if (m_grid_resolution > 7) {
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m_grid_resolution >>= 4;
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m_grid_log2 += 4;
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}
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if (m_grid_resolution > 1) {
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m_grid_resolution >>= 2;
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m_grid_log2 += 2;
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}
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if (m_grid_resolution > 0)
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++ m_grid_log2;
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m_grid_resolution = 1 << m_grid_log2;
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assert(m_grid_resolution >= gridres);
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assert(gridres > m_grid_resolution / 2);
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}
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void insert(const ValueType &value) {
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const Vec2crd *pt = m_point_accessor(value);
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if (pt != nullptr)
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m_map.emplace(std::make_pair(Vec2crd(pt->x()>>m_grid_log2, pt->y()>>m_grid_log2), value));
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}
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void insert(ValueType &&value) {
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const Vec2crd *pt = m_point_accessor(value);
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if (pt != nullptr)
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m_map.emplace(std::make_pair(Vec2crd(pt->x()>>m_grid_log2, pt->y()>>m_grid_log2), std::move(value)));
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}
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// Erase a data point equal to value. (ValueType has to declare the operator==).
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// Returns true if the data point equal to value was found and removed.
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bool erase(const ValueType &value) {
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const Point *pt = m_point_accessor(value);
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if (pt != nullptr) {
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// Range of fragment starts around grid_corner, close to pt.
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auto range = m_map.equal_range(Point((*pt).x()>>m_grid_log2, (*pt).y()>>m_grid_log2));
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// Remove the first item.
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for (auto it = range.first; it != range.second; ++ it) {
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if (it->second == value) {
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m_map.erase(it);
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return true;
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}
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}
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}
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return false;
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}
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// Return a pair of <ValueType*, distance_squared>
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std::pair<const ValueType*, double> find(const Vec2crd &pt) {
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// Iterate over 4 closest grid cells around pt,
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// find the closest start point inside these cells to pt.
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const ValueType *value_min = nullptr;
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double dist_min = std::numeric_limits<double>::max();
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// Round pt to a closest grid_cell corner.
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Vec2crd grid_corner((pt.x()+(m_grid_resolution>>1))>>m_grid_log2, (pt.y()+(m_grid_resolution>>1))>>m_grid_log2);
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// For four neighbors of grid_corner:
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for (coord_t neighbor_y = -1; neighbor_y < 1; ++ neighbor_y) {
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for (coord_t neighbor_x = -1; neighbor_x < 1; ++ neighbor_x) {
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// Range of fragment starts around grid_corner, close to pt.
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auto range = m_map.equal_range(Vec2crd(grid_corner.x() + neighbor_x, grid_corner.y() + neighbor_y));
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// Find the map entry closest to pt.
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for (auto it = range.first; it != range.second; ++it) {
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const ValueType &value = it->second;
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const Vec2crd *pt2 = m_point_accessor(value);
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if (pt2 != nullptr) {
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const double d2 = (pt - *pt2).cast<double>().squaredNorm();
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if (d2 < dist_min) {
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dist_min = d2;
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value_min = &value;
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}
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}
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}
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}
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}
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return (value_min != nullptr && dist_min < coordf_t(m_search_radius) * coordf_t(m_search_radius)) ?
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std::make_pair(value_min, dist_min) :
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std::make_pair(nullptr, std::numeric_limits<double>::max());
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}
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// Returns all pairs of values and squared distances.
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std::vector<std::pair<const ValueType*, double>> find_all(const Vec2crd &pt) {
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// Iterate over 4 closest grid cells around pt,
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// Round pt to a closest grid_cell corner.
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Vec2crd grid_corner((pt.x()+(m_grid_resolution>>1))>>m_grid_log2, (pt.y()+(m_grid_resolution>>1))>>m_grid_log2);
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// For four neighbors of grid_corner:
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std::vector<std::pair<const ValueType*, double>> out;
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const double r2 = double(m_search_radius) * m_search_radius;
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for (coord_t neighbor_y = -1; neighbor_y < 1; ++ neighbor_y) {
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for (coord_t neighbor_x = -1; neighbor_x < 1; ++ neighbor_x) {
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// Range of fragment starts around grid_corner, close to pt.
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auto range = m_map.equal_range(Vec2crd(grid_corner.x() + neighbor_x, grid_corner.y() + neighbor_y));
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// Find the map entry closest to pt.
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for (auto it = range.first; it != range.second; ++it) {
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const ValueType &value = it->second;
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const Vec2crd *pt2 = m_point_accessor(value);
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if (pt2 != nullptr) {
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const double d2 = (pt - *pt2).cast<double>().squaredNorm();
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if (d2 <= r2)
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out.emplace_back(&value, d2);
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}
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}
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}
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}
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return out;
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}
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private:
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using map_type = typename std::unordered_multimap<Vec2crd, ValueType, PointHash>;
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PointAccessor m_point_accessor;
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map_type m_map;
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coord_t m_search_radius;
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coord_t m_grid_resolution;
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coord_t m_grid_log2;
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};
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std::ostream& operator<<(std::ostream &stm, const Vec2d &pointf);
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// /////////////////////////////////////////////////////////////////////////////
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// Type safe conversions to and from scaled and unscaled coordinates
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// /////////////////////////////////////////////////////////////////////////////
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// Semantics are the following:
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// Upscaling (scaled()): only from floating point types (or Vec) to either
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// floating point or integer 'scaled coord' coordinates.
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// Downscaling (unscaled()): from arithmetic (or Vec) to floating point only
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// Conversion definition from unscaled to floating point scaled
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template<class Tout,
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class Tin,
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class = FloatingOnly<Tin>>
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inline constexpr FloatingOnly<Tout> scaled(const Tin &v) noexcept
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{
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return Tout(v / Tin(SCALING_FACTOR));
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}
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// Conversion definition from unscaled to integer 'scaled coord'.
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// TODO: is the rounding necessary? Here it is commented out to show that
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// it can be different for integers but it does not have to be. Using
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// std::round means loosing noexcept and constexpr modifiers
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|
template<class Tout = coord_t, class Tin, class = FloatingOnly<Tin>>
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inline constexpr ScaledCoordOnly<Tout> scaled(const Tin &v) noexcept
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|
{
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|
//return static_cast<Tout>(std::round(v / SCALING_FACTOR));
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|
return Tout(v / Tin(SCALING_FACTOR));
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|
}
|
|
|
|
// Conversion for Eigen vectors (N dimensional points)
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|
template<class Tout = coord_t,
|
|
class Tin,
|
|
int N,
|
|
class = FloatingOnly<Tin>,
|
|
int...EigenArgs>
|
|
inline Eigen::Matrix<ArithmeticOnly<Tout>, N, EigenArgs...>
|
|
scaled(const Eigen::Matrix<Tin, N, EigenArgs...> &v)
|
|
{
|
|
return (v / SCALING_FACTOR).template cast<Tout>();
|
|
}
|
|
|
|
// Conversion from arithmetic scaled type to floating point unscaled
|
|
template<class Tout = double,
|
|
class Tin,
|
|
class = ArithmeticOnly<Tin>,
|
|
class = FloatingOnly<Tout>>
|
|
inline constexpr Tout unscaled(const Tin &v) noexcept
|
|
{
|
|
return Tout(v * Tout(SCALING_FACTOR));
|
|
}
|
|
|
|
// Unscaling for Eigen vectors. Input base type can be arithmetic, output base
|
|
// type can only be floating point.
|
|
template<class Tout = double,
|
|
class Tin,
|
|
int N,
|
|
class = ArithmeticOnly<Tin>,
|
|
class = FloatingOnly<Tout>,
|
|
int...EigenArgs>
|
|
inline constexpr Eigen::Matrix<Tout, N, EigenArgs...>
|
|
unscaled(const Eigen::Matrix<Tin, N, EigenArgs...> &v) noexcept
|
|
{
|
|
return v.template cast<Tout>() * SCALING_FACTOR;
|
|
}
|
|
|
|
// Align a coordinate to a grid. The coordinate may be negative,
|
|
// the aligned value will never be bigger than the original one.
|
|
inline coord_t align_to_grid(const coord_t coord, const coord_t spacing) {
|
|
// Current C++ standard defines the result of integer division to be rounded to zero,
|
|
// for both positive and negative numbers. Here we want to round down for negative
|
|
// numbers as well.
|
|
coord_t aligned = (coord < 0) ?
|
|
((coord - spacing + 1) / spacing) * spacing :
|
|
(coord / spacing) * spacing;
|
|
assert(aligned <= coord);
|
|
return aligned;
|
|
}
|
|
inline Point align_to_grid(Point coord, Point spacing)
|
|
{ return Point(align_to_grid(coord.x(), spacing.x()), align_to_grid(coord.y(), spacing.y())); }
|
|
inline coord_t align_to_grid(coord_t coord, coord_t spacing, coord_t base)
|
|
{ return base + align_to_grid(coord - base, spacing); }
|
|
inline Point align_to_grid(Point coord, Point spacing, Point base)
|
|
{ return Point(align_to_grid(coord.x(), spacing.x(), base.x()), align_to_grid(coord.y(), spacing.y(), base.y())); }
|
|
|
|
} // namespace Slic3r
|
|
|
|
// start Boost
|
|
#include <boost/version.hpp>
|
|
#include <boost/polygon/polygon.hpp>
|
|
namespace boost { namespace polygon {
|
|
template <>
|
|
struct geometry_concept<Slic3r::Point> { using type = point_concept; };
|
|
|
|
template <>
|
|
struct point_traits<Slic3r::Point> {
|
|
using coordinate_type = coord_t;
|
|
|
|
static inline coordinate_type get(const Slic3r::Point& point, orientation_2d orient) {
|
|
return static_cast<coordinate_type>(point((orient == HORIZONTAL) ? 0 : 1));
|
|
}
|
|
};
|
|
|
|
template <>
|
|
struct point_mutable_traits<Slic3r::Point> {
|
|
using coordinate_type = coord_t;
|
|
static inline void set(Slic3r::Point& point, orientation_2d orient, coord_t value) {
|
|
point((orient == HORIZONTAL) ? 0 : 1) = value;
|
|
}
|
|
static inline Slic3r::Point construct(coord_t x_value, coord_t y_value) {
|
|
return Slic3r::Point(x_value, y_value);
|
|
}
|
|
};
|
|
} }
|
|
// end Boost
|
|
|
|
// Serialization through the Cereal library
|
|
namespace cereal {
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec2crd &v) { archive(v.x(), v.y()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec3crd &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2i &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3i &v) { archive(v.x(), v.y(), v.z()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec2i64 &v) { archive(v.x(), v.y()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec3i64 &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2f &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3f &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2d &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3d &v) { archive(v.x(), v.y(), v.z()); }
|
|
|
|
template<class Archive> void load(Archive& archive, Slic3r::Matrix2f &m) { archive.loadBinary((char*)m.data(), sizeof(float) * 4); }
|
|
template<class Archive> void save(Archive& archive, Slic3r::Matrix2f &m) { archive.saveBinary((char*)m.data(), sizeof(float) * 4); }
|
|
}
|
|
|
|
#endif
|