242 lines
6.9 KiB
C++
242 lines
6.9 KiB
C++
/*//////////////////////////////////////////////////////////////////////////////
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// CMT Cosmic Muon Tomography project //////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
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All rights reserved
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Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
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------------------------------------------------------------------
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 3.0 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library.
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//////////////////////////////////////////////////////////////////////////////*/
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#ifndef U_CONTAINERBOX_H
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#define U_CONTAINERBOX_H
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#include "Geometry.h"
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#include "Core/Object.h"
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#include "Core/Property.h"
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#include "Core/Serializable.h"
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#include "Math/Dense.h"
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#include "Math/Transform.h"
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#include <utility>
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#include <iostream>
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namespace uLib {
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/**
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* @brief Represents an oriented bounding box (OBB) within a hierarchical
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* transformation system.
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*
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* ContainerBox inherits from TRS, which defines its parent
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* coordinate system. It contains an internal local transformation (m_LocalT)
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* that defines the box's specific origin and size relative to its own
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* coordinate system.
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*/
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class ContainerBox : public TRS {
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uLibTypeMacro(ContainerBox, TRS)
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ULIB_SERIALIZE_ACCESS
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ULIB_DECLARE_PROPERTIES(ContainerBox)
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public:
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/**
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* @brief Default constructor.
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* Initializes the local transformation with this instance as its parent.
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*/
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ContainerBox()
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: m_LocalT(this), // BaseClass is Parent of m_LocalTransform
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Size(1.0f, 1.0f, 1.0f),
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Origin(0.0f, 0.0f, 0.0f) {
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this->Sync();
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}
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/**
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* @brief Constructor with size.
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* @param size The size vector.
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*/
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ContainerBox(const Vector3f &size)
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: m_LocalT(this),
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Size(size),
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Origin(0.0f, 0.0f, 0.0f) {
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this->Sync();
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}
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/**
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* @brief Copy constructor.
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* @param copy The ContainerBox instance to copy from.
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*/
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ContainerBox(const ContainerBox ©)
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: m_LocalT(this), // Reset parent to the new object
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TRS(copy),
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Size(copy.Size),
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Origin(copy.Origin) {
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this->Sync();
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}
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// /**
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// * @brief Serialization template for property registration and persistence.
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// */
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template <class ArchiveT>
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void serialize(ArchiveT & ar, const unsigned int version) {
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ar & HRP(Size);
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ar & HRP(Origin);
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ar & NVP("TRS", boost::serialization::base_object<TRS>(*this));
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}
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/**
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* @brief Sets the box origin relative to its coordinate system.
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* @param v The origin position vector.
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*/
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void SetOrigin(const Vector3f &v) {
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Origin = v;
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m_LocalT.SetPosition(v);
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}
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/**
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* @brief Gets the box origin relative to its coordinate system.
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* @return The origin position vector.
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*/
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Vector3f GetOrigin() const { return m_LocalT.GetPosition(); }
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/**
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* @brief Sets the size of the box.
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* Re-initializes the local transformation and applies the new scale.
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* @param v The size vector (width, height, depth).
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*/
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void SetSize(const Vector3f &v) {
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Size = v;
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Vector3f pos = this->GetOrigin();
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m_LocalT = AffineTransform(this); // regenerate local transform
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m_LocalT.Scale(v);
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m_LocalT.SetPosition(pos);
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}
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/**
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* @brief Gets the current size (scale) of the box.
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* @return The size vector.
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*/
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Vector3f GetSize() const {
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Vector3f s = this->GetScale();
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Vector3f ls = m_LocalT.GetScale();
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return Vector3f(s(0) * ls(0), s(1) * ls(1), s(2) * ls(2));
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}
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/**
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* @brief Swaps two local axes of the box.
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* @param first Index of the first axis (0=X, 1=Y, 2=Z).
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* @param second Index of the second axis (0=X, 1=Y, 2=Z).
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*/
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void FlipLocalAxes(int first, int second) {
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m_LocalT.FlipAxes(first, second);
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}
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/**
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* @brief Returns the world transformation matrix of the box's volume.
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* @return A 4x4 transformation matrix.
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*/
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Matrix4f GetWorldMatrix() const { return m_LocalT.GetWorldMatrix(); }
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/**
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* @brief Returns the local transformation matrix of the box's volume.
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* @return A 4x4 transformation matrix.
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*/
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Matrix4f GetLocalMatrix() const { return m_LocalT.GetMatrix(); }
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/**
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* @brief Transforms a point from box-local space to world space.
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* @param v The local point (4D homogeneous vector).
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* @return The transformed point in world space.
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*/
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Vector4f GetWorldPoint(const Vector4f &v) const {
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return m_LocalT.GetWorldMatrix() * v;
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}
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/**
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* @brief Transforms a point from box-local space coordinates to world space.
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* @param x X coordinate in local space.
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* @param y Y coordinate in local space.
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* @param z Z coordinate in local space.
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* @return The transformed point in world space.
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*/
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Vector4f GetWorldPoint(const float x, const float y, const float z) {
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return this->GetWorldPoint(Vector4f(x, y, z, 1));
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}
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/**
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* @brief Transforms a point from world space to box-local space.
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* @param v The world point (4D homogeneous vector).
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* @return The transformed point in box-local space.
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*/
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Vector4f GetLocalPoint(const Vector4f &v) const {
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return m_LocalT.GetWorldMatrix().inverse() * v;
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}
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/**
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* @brief Transforms a point from world space coordinates to box-local space.
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* @param x X coordinate in world space.
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* @param y Y coordinate in world space.
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* @param z Z coordinate in world space.
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* @return The transformed point in box-local space.
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*/
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Vector4f GetLocalPoint(const float x, const float y, const float z) {
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return this->GetLocalPoint(Vector4f(x, y, z, 1));
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}
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/** Translate using transformation chain */
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using AffineTransform::Translate;
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/** Rotate using transformation chain */
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using AffineTransform::Rotate;
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/** Scale using transformation chain */
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using AffineTransform::Scale;
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signals:
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/** Signal emitted when properties change */
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virtual void Updated() override {
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// 1. Synchronize local box part (Size/Origin -> m_LocalT)
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this->Sync();
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// 2. Synchronize TRS part (position/rotation/scaling -> m_T) and emit signal
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this->TRS::Updated();
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// std::cout << "ContainerBox::Updated()" << std::endl;
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}
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private:
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/** Synchronizes internal transformation with properties */
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void Sync() {
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this->SetOrigin(Origin);
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this->SetSize(Size);
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}
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private:
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Vector3f Size;
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Vector3f Origin;
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AffineTransform m_LocalT;
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};
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} // namespace uLib
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#endif // CONTAINERBOX_H
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