uLib/src/Math/Cylinder.h

/*//////////////////////////////////////////////////////////////////////////////
// CMT Cosmic Muon Tomography project //////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

  Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
  All rights reserved

  Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >

  ------------------------------------------------------------------
  This library is free software;  you  can  redistribute  it  and/or
  modify it  under the  terms  of  the  GNU  Lesser  General  Public
  License as published  by  the  Free  Software  Foundation;  either
  version 3.0 of the License, or (at your option) any later version.

  This library is  distributed in  the hope that it will  be useful,
  but  WITHOUT ANY WARRANTY;  without  even  the implied warranty of
  MERCHANTABILITY  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of  the GNU Lesser General  Public
  License along with this library.

//////////////////////////////////////////////////////////////////////////////*/

#ifndef U_CYLINDER_H
#define U_CYLINDER_H

#include "Geometry.h"
#include "Core/Object.h"
#include "Math/Dense.h"
#include "Math/Transform.h"

namespace uLib {

/**
 * @brief Represents a cylindrical volume.
 * 
 * The cylinder orientation is defined by the Axis property (0=X, 1=Y, 2=Z).
 * By default, it is aligned with the Y axis (Axis=1).
 */
class Cylinder : public TRS {

    uLibTypeMacro(Cylinder, TRS)
    ULIB_DECLARE_PROPERTIES(Cylinder)

public:

    /**
     * @brief PROPERTIES
     */
    float Radius;
    float Height;
    int Axis;

    

    /**
     * @brief Default constructor. Aligns with Y by default.
     */
    Cylinder() : m_LocalT(this), Radius(1.0), Height(1.0), Axis(1) {
        this->Sync();
    }

    /**
     * @brief Constructor with radius and height.
     */
    Cylinder(float radius, float height, int axis = 1)
        : m_LocalT(this), Radius(radius), Height(height), Axis(axis) {
        this->Sync();
    }

    /**
     * @brief Copy constructor.
     */
    Cylinder(const Cylinder &copy)
        : m_LocalT(this), TRS(copy), Radius(copy.Radius), Height(copy.Height), Axis(copy.Axis) {
        this->Sync();
    }

    /**
     * @brief Serialization template for property registration and persistence.
     */
    template <class ArchiveT>
    void serialize(ArchiveT & ar, const unsigned int version) {
        ar & HRP(Radius);
        ar & HRP(Height);
        ar & boost::serialization::make_hrp_enum("Axis", Axis, {"X", "Y", "Z"});
        ar & NVP("TRS", boost::serialization::base_object<TRS>(*this));
    }

    /** Sets the radius of the cylinder */
    inline void SetRadius(float r) { 
        Radius = r; 
        this->Sync(); 
    }
    
    /** Gets the radius of the cylinder */
    inline float GetRadius() const { return Radius; }

    /** Sets the height of the cylinder */
    inline void SetHeight(float h) { 
        Height = h; 
        this->Sync(); 
    }
    
    /** Gets the height of the cylinder */
    inline float GetHeight() const { return Height; }

    /** Sets the main axis (0=X, 1=Y, 2=Z) */
    inline void SetAxis(int axis) {
        Axis = axis;
        this->Sync();
    }

    /** Gets the main axis */
    inline int GetAxis() const { return Axis; }

    /**
     * @brief Returns the world transformation matrix.
     */
    Matrix4f GetWorldMatrix() const { return m_LocalT.GetWorldMatrix(); }

    /**
     * @brief Returns the local transformation matrix.
     */
    Matrix4f GetLocalMatrix() const { return m_LocalT.GetMatrix(); }

    /**
     * @brief Transforms local cylindrical coordinates to world space.
     * @param r Local radius.
     * @param theta Local angle in radians (around main axis).
     * @param h Local height along main axis.
     */
    inline Vector4f GetWorldPoint(float r, float theta, float h) const {
        Vector3f p;
        if (Axis == 0) p = Vector3f(h, r * std::cos(theta), r * std::sin(theta));
        else if (Axis == 1) p = Vector3f(r * std::cos(theta), h, r * std::sin(theta));
        else p = Vector3f(r * std::cos(theta), r * std::sin(theta), h);
        
        return AffineTransform::GetWorldMatrix() * Vector4f(p.x(), p.y(), p.z(), 1.0f);
    }

    /**
     * @brief Transforms a world point to cylindrical local space.
     * @return Vector3f(r, theta, h)
     */
    inline Vector3f GetCylindricalLocal(const Vector4f &world_v) const {
        Vector4f local_v = AffineTransform::GetWorldMatrix().inverse() * world_v;
        float r, theta, h;
        if (Axis == 0) {
            h = local_v.x();
            r = std::sqrt(local_v.y() * local_v.y() + local_v.z() * local_v.z());
            theta = std::atan2(local_v.z(), local_v.y());
        } else if (Axis == 1) {
            h = local_v.y();
            r = std::sqrt(local_v.x() * local_v.x() + local_v.z() * local_v.z());
            theta = std::atan2(local_v.z(), local_v.x());
        } else {
            h = local_v.z();
            r = std::sqrt(local_v.x() * local_v.x() + local_v.y() * local_v.y());
            theta = std::atan2(local_v.y(), local_v.x());
        }
        return Vector3f(r, theta, h);
    }

    /** Translate using transformation chain */
    using AffineTransform::Translate;

    /** Rotate using transformation chain */
    using AffineTransform::Rotate;

    /** Scale using transformation chain */
    using AffineTransform::Scale;

signals:
    /** Signal emitted when properties change */
    virtual void Updated() override { 
        // 1. Synchronize local cylinder part (Radius/Height/Axis -> m_LocalT)
        this->Sync();
        
        // 2. Synchronize TRS part (position/rotation/scaling -> m_T) and emit signal
        this->TRS::Updated();
    }

private:
  /** Synchronizes internal transformation with properties */
  void Sync() {
      m_LocalT = AffineTransform(this);
      if (Axis == 0) m_LocalT.Scale(Vector3f(Height, Radius, Radius));
      else if (Axis == 1) m_LocalT.Scale(Vector3f(Radius, Height, Radius));
      else m_LocalT.Scale(Vector3f(Radius, Radius, Height));
  }


private:
    AffineTransform m_LocalT;
};

} // namespace uLib

#endif // U_CYLINDER_H