geom.h

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//
//  geom.h
//  ConscienceRobotManager
//
//  Created by Louis Grignon on 19/05/2021.
//  Copyright © 2021 IliesZaoui. All rights reserved.
//
 
#ifndef geom_h
#define geom_h
 
#include "Axiomes/Csc3dTypes.h"
#include <optional>
 
using namespace conscience_core::axiomes;
using std::optional;
 
namespace conscience_utils::geom {
 
double degToRad(const double &degree);
float degToRad(const float &degree);
double radToDeg(const double &radian);
double angleAdjustment(const double &angle);
 
double angleAdjustmentRadsPiToMinusPi(const double &angle);
 
double getShortestAngleSigned(const double &fromAngle, const double &toAngle);
double averageOfAngleInRad(const vector<double> &angles);
double averageOfAngleInDeg(const vector<double> &angles);
double calculateAngleBetweenTwoPosition(CscPoint3d *secondPosition, CscPoint3d *firstPosition);
 
CscQuaternion toQuaternion(double yaw, double pitch, double roll);
double distanceBetween(double x1, double y1, double x2, double y2);
 
CscQuaternion multiplyQuaternion(const CscQuaternion &quaternion1, const CscQuaternion &quaternion2);
 
CscPoint3d *rotatePointWithQuaternion(const CscPoint3d *point, const CscQuaternion &quaternion);
 
CscPoint3d *transformPointFromMatrix(const CscPoint3d *point, const vector<double> &matrix);
vector<double> multiplyMatrices(const vector<double> &matrix1, const vector<double> &matrix2);
 
Vec4 multiplyMatrixVec4(const double matrix[4][4], const Vec4 &vec);
 
void multiplyMat4(const double a[4][4], const double b[4][4], double result[4][4]);
void copyMat4(const double source[4][4], double target[4][4]);
 
string mat4ToString(const double matrix[4][4]);
 
string vec3ToString(const Vec3 &vec);
 
bool comparePoint3d(const CscPoint3d *p1, const CscPoint3d *p2);
bool isPointGreaterThan(const CscPoint3d *a, const CscPoint3d *b);
 
double getPointsHighestX(const std::vector<const CscPoint3d *> &areaVertices, optional<double> precision = {});
double getPointsLowestX(const std::vector<const CscPoint3d *> &areaVertices, optional<double> precision = {});
double getPointsHighestZ(const std::vector<const CscPoint3d *> &areaVertices, optional<double> precision = {});
double getPointsLowestZ(const std::vector<const CscPoint3d *> &areaVertices, optional<double> precision = {});
 
bool isPointInsideArea(const std::vector<const CscPoint3d *> &areaVertices, CscPoint3d *pointToCheck);
 
bool equalCscPoint3d(const CscPoint3d *a, const CscPoint3d *b);
float getMinXForUpStep(float upMin, float upMax, const vector<CscPoint3d *> *positions);
float getMaxXForUpStep(float upMin, float upMax, const vector<CscPoint3d *> *positions);
float getMinYForUpStep(float upMin, float upMax, const vector<CscPoint3d *> *positions);
float getMaxYForUpStep(float upMin, float upMax, const vector<CscPoint3d *> *positions);
CscPoint3d *zUpToYup(CscPoint3d *position);
CscPoint3d *getMinPoint(std::vector<CscPoint3d *> *positions);
CscPoint3d *getMaxPoint(std::vector<CscPoint3d *> *positions);
void removeDuplicatePositions(std::vector<CscPoint3d *> *positions);
void removeDuplicatePositionsPerf(std::vector<CscPoint3d *> *positions);
 
double dotXZ(const CscPoint3d &a, const CscPoint3d &b);
 
double normXZ(const CscPoint3d &v);
 
CscPoint3d normalizeXZ(const CscPoint3d &v);
 
CscPoint3d perpendicularXZ(const CscPoint3d &v);
 
double signedDistanceToLineXZ(const CscPoint3d &p, const CscPoint3d &origin, const CscPoint3d &normal);
 
bool pointInTriangleXZWithEpsilon(const CscPoint3d &pt, const CscPoint3d &a, const CscPoint3d &b, const CscPoint3d &c, double epsilon);
 
bool pointInQuadXZWithEpsilon(const CscPoint3d &pt, const CscPoint3d &p1, const CscPoint3d &p2, const CscPoint3d &p3, const CscPoint3d &p4, double epsilon);
 
vector<CscPoint3d *> slicePolygonsAtY(
    const vector<CscPolygon *> &polygons,
    double ySlice,
    double precisionCm = 5.0);
 
}
 
#endif