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15 files changed

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‎src/modm/math/geometry/line_2d_impl.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,7 @@ modm::Line2D<T>::getDistanceTo(const Vector<T, 2>& point) const
6666
FloatType d = c1 / c2;
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6868
// calculate the closest point
69-
Vector<T, 2> closestPoint = this->point + this->directionVector * d;
69+
const Vector<T, 2> closestPoint = this->point + this->directionVector * d;
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// return the length of the vector from the closest point on the line
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// to the given point

‎src/modm/math/geometry/line_segment_2d.hpp‎

Lines changed: 120 additions & 111 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
* Copyright (c) 2009-2011, Fabian Greif
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* Copyright (c) 2012, Martin Rosekeit
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* Copyright (c) 2012, Niklas Hauser
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* Copyright (c) 2022, Thomas Sommer
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*
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* This file is part of the modm project.
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*
@@ -10,129 +11,137 @@
1011
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
1112
*/
1213
// ----------------------------------------------------------------------------
13-
14-
#ifndef MODM_LINE_SEGMENT_2D_HPP
15-
#define MODM_LINE_SEGMENT_2D_HPP
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#pragma once
1615

1716
#include "geometric_traits.hpp"
18-
19-
#include "vector.hpp"
2017
#include "point_set_2d.hpp"
18+
#include "vector.hpp"
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2220
namespace modm
2321
{
24-
// forward declaration
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template <typename T>
26-
class Circle2D;
22+
// forward declaration
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template<typename T>
24+
class Circle2D;
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26+
template<typename T>
27+
class Polygon2D;
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/**
30+
* \brief Line segment
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*
32+
* \author Fabian Greif
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* \ingroup modm_math_geometry
34+
*/
35+
template<typename T = int16_t>
36+
class LineSegment2D
37+
{
38+
public:
39+
using WideType = GeometricTraits<T>::WideType;
40+
using FloatType = GeometricTraits<T>::FloatType;
41+
42+
public:
43+
modm::Vector<T, 2> startPoint, endPoint;
44+
45+
constexpr LineSegment2D() = default;
46+
47+
constexpr LineSegment2D(const Vector<T, 2>& start, const Vector<T, 2>& end)
48+
: startPoint(start), endPoint(end)
49+
{}
50+
51+
constexpr bool operator==(const LineSegment2D& other) const = default;
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53+
constexpr LineSegment2D& operator+=(const Vector<T, 2>& vector)
54+
{
55+
startPoint += vector;
56+
endPoint += vector;
57+
return *this;
58+
}
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60+
constexpr LineSegment2D& operator-=(const Vector<T, 2>& vector)
61+
{
62+
startPoint -= vector;
63+
endPoint -= vector;
64+
return *this;
65+
}
66+
67+
constexpr Vector<T, 2>
68+
getDirectionVector() const
69+
{ return endPoint - startPoint; }
2770

28-
template <typename T>
29-
class Polygon2D;
71+
constexpr T
72+
getLength() const
73+
{
74+
Vector<T, 2> directionVector = this->endPoint - this->startPoint;
75+
return directionVector.getLength();
76+
}
77+
78+
/// Shortest distance to a point
79+
constexpr T
80+
getDistanceTo(const Vector<T, 2>& point) const;
81+
82+
/// Calculate the point on the line segment closes to the given point
83+
constexpr Vector<T, 2>
84+
getClosestPointTo(const Vector<T, 2>& point) const;
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3186
/**
32-
* \brief Line segment
87+
* \brief Check if two line segments intersect
3388
*
34-
* \author Fabian Greif
35-
* \ingroup modm_math_geometry
89+
* Uses Vector2D::ccw() to check if any intersection exists.
3690
*/
37-
template <typename T = int16_t>
38-
class LineSegment2D
91+
constexpr bool
92+
intersects(const LineSegment2D& other) const;
93+
94+
constexpr bool
95+
intersects(const Polygon2D<T>& polygon) const
96+
{ return polygon.intersects(*this); }
97+
98+
/// Calculate the intersection point
99+
constexpr bool
100+
getIntersections(const LineSegment2D& other, PointSet2D<T>& intersectionPoints) const;
101+
102+
/**
103+
* \brief Calculate the intersection point(s)
104+
* \see http://local.wasp.uwa.edu.au/~pbourke/geometry/sphereline/
105+
*/
106+
constexpr bool
107+
getIntersections(const Circle2D<T>& circle, PointSet2D<T>& intersectionPoints) const;
108+
109+
constexpr bool
110+
getIntersections(const Polygon2D<T>& polygon, PointSet2D<T>& intersectionPoints) const
111+
{ return polygon.getIntersections(*this, intersectionPoints); }
112+
113+
// deprecated setters and getters
114+
[[deprecated("Assign public member directly!")]]
115+
void setStartPoint(const Vector<T, 2>& point)
116+
{ this->startPoint = point; }
117+
118+
[[deprecated("Assign public member directly!")]]
119+
const Vector<T, 2>& getStartPoint() const
120+
{ return this->startPoint; }
121+
122+
[[deprecated("Assign public member directly!")]]
123+
void setEndPoint(const Vector<T, 2>& point)
124+
{ this->endPoint = point; }
125+
126+
[[deprecated("Assign public member directly!")]]
127+
const Vector<T, 2>& getEndPoint() const
128+
{ return this->endPoint; }
129+
130+
[[deprecated("Assign public member directly!")]]
131+
void set(const Vector<T, 2>& start, const Vector<T, 2>& end)
39132
{
40-
public:
41-
typedef typename GeometricTraits<T>::WideType WideType;
42-
typedef typename GeometricTraits<T>::FloatType FloatType;
43-
44-
public:
45-
constexpr LineSegment2D() = default;
46-
47-
constexpr LineSegment2D(const Vector<T, 2>& start, const Vector<T, 2>& end)
48-
: startPoint(start), endPoint(end)
49-
{}
50-
51-
52-
/// Set the starting point of the line segment
53-
inline void
54-
setStartPoint(const Vector<T, 2>& point);
55-
56-
inline const Vector<T, 2>&
57-
getStartPoint() const;
58-
59-
/// Set the end point of the line segment
60-
inline void
61-
setEndPoint(const Vector<T, 2>& point);
62-
63-
inline const Vector<T, 2>&
64-
getEndPoint() const;
65-
66-
inline void
67-
set(const Vector<T, 2>& start, const Vector<T, 2>& end);
68-
69-
void
70-
translate(const Vector<T, 2>& vector);
71-
72-
/**
73-
* \brief Length of the line segment
74-
*/
75-
T
76-
getLength() const;
77-
78-
Vector<T, 2>
79-
getDirectionVector() const;
80-
81-
/// Shortest distance to a point
82-
const T
83-
getDistanceTo(const Vector<T, 2>& point) const;
84-
85-
/// Calculate the point on the line segment closes to the given point
86-
const Vector<T, 2>
87-
getClosestPointTo(const Vector<T, 2>& point) const;
88-
89-
/**
90-
* \brief Check if two line segments intersect
91-
*
92-
* Uses Vector2D::ccw() to check if any intersection exists.
93-
*/
94-
bool
95-
intersects(const LineSegment2D& other) const;
96-
97-
/// Check if a intersection exists
98-
bool
99-
intersects(const Polygon2D<T>& polygon) const;
100-
101-
/**
102-
* \brief Calculate the intersection point
103-
*/
104-
bool
105-
getIntersections(const LineSegment2D& other,
106-
PointSet2D<T>& intersectionPoints) const;
107-
108-
/**
109-
* \brief Calculate the intersection point(s)
110-
*
111-
* \see http://local.wasp.uwa.edu.au/~pbourke/geometry/sphereline/
112-
*/
113-
bool
114-
getIntersections(const Circle2D<T>& circle,
115-
PointSet2D<T>& intersectionPoints) const;
116-
117-
bool
118-
getIntersections(const Polygon2D<T>& polygon,
119-
PointSet2D<T>& intersectionPoints) const;
120-
121-
bool
122-
operator == (const LineSegment2D &other) const;
123-
124-
bool
125-
operator != (const LineSegment2D &other) const;
126-
127-
protected:
128-
modm::Vector<T, 2> startPoint;
129-
modm::Vector<T, 2> endPoint;
130-
};
131-
}
133+
this->startPoint = start;
134+
this->endPoint = end;
135+
}
132136

133-
#include "circle_2d.hpp"
134-
#include "polygon_2d.hpp"
137+
// deprecated translate
138+
[[deprecated("Use LineSegment2D<T>::operator+= instead!")]]
139+
void translate(const Vector<T, 2>& vector)
140+
{ operator+=(vector); }
135141

136-
#include "line_segment_2d_impl.hpp"
142+
};
143+
} // namespace modm
137144

138-
#endif // MODM_LINE_SEGMENT_2D_HPP
145+
#include "circle_2d.hpp"
146+
#include "line_segment_2d_impl.hpp"
147+
#include "polygon_2d.hpp"

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