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// Copyright (c) 2000 // Utrecht University (The Netherlands), // ETH Zurich (Switzerland), // INRIA Sophia-Antipolis (France), // Max-Planck-Institute Saarbruecken (Germany), // and Tel-Aviv University (Israel). All rights reserved. // // This file is part of CGAL (www.cgal.org) // // $URL: https://github.com/CGAL/cgal/blob/v6.1/Cartesian_kernel/include/CGAL/Cartesian/Aff_transformation_rep_3.h $ // $Id: include/CGAL/Cartesian/Aff_transformation_rep_3.h b26b07a1242 $ // SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial // // // Author(s) : Herve Bronnimann #ifndef CGAL_CARTESIAN_AFF_TRANSFORMATION_REP_3_H #define CGAL_CARTESIAN_AFF_TRANSFORMATION_REP_3_H #include #include namespace CGAL { template < class R > class Aff_transformation_rep_baseC3 : public Ref_counted_virtual { public: typedef typename R::FT FT; typedef typename R::Point_3 Point_3; typedef typename R::Vector_3 Vector_3; typedef typename R::Direction_3 Direction_3; typedef typename R::Plane_3 Plane_3; typedef typename R::Aff_transformation_3 Aff_transformation_3; virtual ~Aff_transformation_rep_baseC3(){} virtual Point_3 transform(const Point_3 &p) const = 0; virtual Vector_3 transform(const Vector_3 &v) const = 0; virtual Direction_3 transform(const Direction_3 &d) const = 0; virtual Plane_3 transform(const Plane_3& p) const = 0; virtual Aff_transformation_3 operator*( const Aff_transformation_rep_baseC3 &t) const = 0; virtual Aff_transformation_3 compose( const Translation_repC3 &t) const = 0; virtual Aff_transformation_3 compose( const Scaling_repC3 &t) const = 0; virtual Aff_transformation_3 compose( const Aff_transformation_repC3 &t) const = 0; virtual Aff_transformation_3 inverse() const = 0; virtual Aff_transformation_3 transpose() const = 0; virtual bool is_even() const = 0; virtual bool is_translation() const { return false; } virtual bool is_scaling() const { return false; } virtual FT cartesian(int i, int j) const = 0; virtual std::ostream &print(std::ostream &os) const = 0; }; template < class R > class Aff_transformation_repC3 : public Aff_transformation_rep_baseC3 { friend class Translation_repC3; friend class Scaling_repC3; public: typedef typename R::FT FT; typedef Aff_transformation_repC3 Self; typedef Aff_transformation_rep_baseC3 Transformation_base_3; typedef Aff_transformation_repC3 Transformation_3; typedef Translation_repC3 Translation_3; typedef Scaling_repC3 Scaling_3; typedef typename Transformation_base_3::Point_3 Point_3; typedef typename Transformation_base_3::Vector_3 Vector_3; typedef typename Transformation_base_3::Direction_3 Direction_3; typedef typename Transformation_base_3::Plane_3 Plane_3; typedef typename Transformation_base_3:: Aff_transformation_3 Aff_transformation_3; Aff_transformation_repC3() {} Aff_transformation_repC3(const FT& m11, const FT& m12, const FT& m13, const FT& m21, const FT& m22, const FT& m23, const FT& m31, const FT& m32, const FT& m33) : t11(m11), t12(m12), t13(m13), t14(FT(0)), t21(m21), t22(m22), t23(m23), t24(FT(0)), t31(m31), t32(m32), t33(m33), t34(FT(0)) {} Aff_transformation_repC3( const FT& m11, const FT& m12, const FT& m13, const FT& m14, const FT& m21, const FT& m22, const FT& m23, const FT& m24, const FT& m31, const FT& m32, const FT& m33, const FT& m34 ) : t11(m11), t12(m12), t13(m13), t14(m14), t21(m21), t22(m22), t23(m23), t24(m24), t31(m31), t32(m32), t33(m33), t34(m34) {} virtual ~Aff_transformation_repC3() {} virtual Point_3 transform(const Point_3& p) const // FIXME : construction { typename R::Construct_point_3 construct_point_3; return construct_point_3(t11 * p.x() + t12 * p.y() + t13 * p.z() + t14, t21 * p.x() + t22 * p.y() + t23 * p.z() + t24, t31 * p.x() + t32 * p.y() + t33 * p.z() + t34); } // note that a vector is not translated virtual Vector_3 transform(const Vector_3& v) const // FIXME : construction { return Vector_3(t11 * v.x() + t12 * v.y() + t13 * v.z(), t21 * v.x() + t22 * v.y() + t23 * v.z(), t31 * v.x() + t32 * v.y() + t33 * v.z()); } // note that a direction is not translated virtual Direction_3 transform(const Direction_3& dir) const { // FIXME : construction Vector_3 v = dir.to_vector(); return Direction_3(t11 * v.x() + t12 * v.y() + t13 * v.z(), t21 * v.x() + t22 * v.y() + t23 * v.z(), t31 * v.x() + t32 * v.y() + t33 * v.z()); } virtual Plane_3 transform(const Plane_3& p) const { if (is_even()) return Plane_3(transform(p.point()), transpose().inverse().transform(p.orthogonal_direction())); else return Plane_3(transform(p.point()), - transpose().inverse().transform(p.orthogonal_direction())); } // Note that Aff_transformation is not defined yet, // so the following 6 functions have to be implemented // outside class body virtual Aff_transformation_3 inverse() const; virtual Aff_transformation_3 transpose() const; virtual Aff_transformation_3 operator*(const Transformation_base_3 &t) const; virtual Aff_transformation_3 compose(const Transformation_3 &t) const; virtual Aff_transformation_3 compose(const Translation_3 &t) const; virtual Aff_transformation_3 compose(const Scaling_3 &t) const; virtual bool is_even() const { return sign_of_determinant(t11, t12, t13, t21, t22, t23, t31, t32, t33) == POSITIVE; } virtual FT cartesian(int i, int j) const { switch (i) { case 0: switch (j) { case 0: return t11; case 1: return t12; case 2: return t13; default: return t14; } case 1: switch (j) { case 0: return t21; case 1: return t22; case 2: return t23; default: return t24; } case 2: switch (j) { case 0: return t31; case 1: return t32; case 2: return t33; default: return t34; } case 3: switch (j) { case 0: return FT(0); case 1: return FT(0); case 2: return FT(0); default: return FT(1); } } return FT(0); } virtual std::ostream &print(std::ostream &os) const { os <<"Aff_transformationC3("< CGAL_KERNEL_LARGE_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3::inverse() const // FIXME : construction { return Aff_transformation_3( determinant( t22, t23, t32, t33), // i 11 -determinant( t12, t13, t32, t33), // i 12 determinant( t12, t13, t22, t23), // i 13 -determinant( t12, t13, t14, t22, t23, t24, t32, t33, t34 ), -determinant( t21, t23, t31, t33), // i 21 determinant( t11, t13, t31, t33), // i 22 -determinant( t11, t13, t21, t23), // i 23 determinant( t11, t13, t14, t21, t23, t24, t31, t33, t34 ), determinant( t21, t22, t31, t32), // i 31 -determinant( t11, t12, t31, t32), // i 32 determinant( t11, t12, t21, t22), // i 33 -determinant( t11, t12, t14, t21, t22, t24, t31, t32, t34 ), determinant( t11, t12, t13, t21, t22, t23, t31, t32, t33 )); } template < class R > CGAL_KERNEL_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3:: operator*(const Aff_transformation_rep_baseC3 &t) const { return t.compose(*this); } template < class R > CGAL_KERNEL_LARGE_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3:: compose(const Aff_transformation_repC3 &t) const // FIXME : construction { return Aff_transformation_3(t.t11*t11 + t.t12*t21 + t.t13*t31, t.t11*t12 + t.t12*t22 + t.t13*t32, t.t11*t13 + t.t12*t23 + t.t13*t33, t.t11*t14 + t.t12*t24 + t.t13*t34 + t.t14, t.t21*t11 + t.t22*t21 + t.t23*t31, t.t21*t12 + t.t22*t22 + t.t23*t32, t.t21*t13 + t.t22*t23 + t.t23*t33, t.t21*t14 + t.t22*t24 + t.t23*t34 + t.t24, t.t31*t11 + t.t32*t21 + t.t33*t31, t.t31*t12 + t.t32*t22 + t.t33*t32, t.t31*t13 + t.t32*t23 + t.t33*t33, t.t31*t14 + t.t32*t24 + t.t33*t34 + t.t34); } template < class R > CGAL_KERNEL_LARGE_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3:: compose(const Translation_repC3 &t) const // FIXME : construction { return Aff_transformation_3(t11, t12, t13, t14 + t.translationvector_.x(), t21, t22, t23, t24 + t.translationvector_.y(), t31, t32, t33, t34 + t.translationvector_.z()); } template < class R > CGAL_KERNEL_LARGE_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3:: compose(const Scaling_repC3 &t) const // FIXME : construction { return Aff_transformation_3(t.scalefactor_ * t11, t.scalefactor_ * t12, t.scalefactor_ * t13, t.scalefactor_ * t14, t.scalefactor_ * t21, t.scalefactor_ * t22, t.scalefactor_ * t23, t.scalefactor_ * t24, t.scalefactor_ * t31, t.scalefactor_ * t32, t.scalefactor_ * t33, t.scalefactor_ * t34); } template < class R > CGAL_KERNEL_LARGE_INLINE typename Aff_transformation_repC3::Aff_transformation_3 Aff_transformation_repC3::transpose() const { return Aff_transformation_3( t11, t21, t31, t14, t12, t22, t32, t24, t13, t23, t33, t34); } } //namespace CGAL #endif // CGAL_CARTESIAN_AFF_TRANSFORMATION_REP_3_H