Rectangle Class Reference

#include <ImFusion/Core/Geometry/Rectangle.h>

Arbitrary rectangle in 3D space. More...

Detailed Description

Arbitrary rectangle in 3D space.

By convention, the vertex from with both edge vectors are outgoing is the lower left corner. All other corners are determined from there using the edge vectors. User is responsible for making sure the input for creating the object results in a valid rectangle, in particular that the axes are orthogonal and all variables are finite. Otherwise the behaviour is undefined (may or may not produce correct solutions for an arbitrary parallelogram). Use the isValid() method if in doubt.

Public Types
enum	Corner : int { LowerLeft = 0 , UpperLeft = 1 , UpperRight = 2 , LowerRight = 3 }

Public Member Functions
	Rectangle (const Rectangle &)=default
Rectangle &	operator= (const Rectangle &)=default
bool	operator== (const Rectangle &) const
bool	operator!= (const Rectangle &) const
bool	isApprox (const Rectangle &) const
	Comparison allowing for numerical inaccuracy.
bool	isEquivalent (const Rectangle &) const
	Like isApprox, but additionally allows opposite winding order.
bool	isValid () const
	Returns whether the constructor input resulted in a valid rectangle.
vec2	extent () const
	Returns the edge lengths.
vec3	center () const
	Returns the center of the rectangle.
vec3	horizontalAxis () const
	Returns the normalized direction of the edge vector from LowerLeft to LowerRight.
vec3	verticalAxis () const
	Returns the normalized direction of the edge vector from LowerLeft to UpperLeft.
vec3	horizontalEdge () const
	Returns the edge vector from LowerLeft to LowerRight.
vec3	verticalEdge () const
	Returns the edge vector from LowerLeft to UpperLeft.
vec3	normal () const
	Surface normal, sign depends on winding order.
mat4	centerPointPose () const
	To-world transform matrix from local coordinates relative to center.
mat4	cornerPointPose () const
	To-world transform matrix from local coordinates relative to LowerLeft corner.
vec3	closestPoint (const vec3 &p) const
	Closest point on rectangle, including the boundary.
bool	includesPoint (const vec3 &point) const
	Returns whether point is part of rectangle, including boundary.
double	distanceToPoint (const vec3 &point) const
	Euclidean distance to closest point.
vec3	corner (Corner which=LowerLeft) const
	Returns position of corner or NAN in case of invalid input.
vec3	lambdaToPoint (const vec2 &lambda) const
	Transforms point in local coord frame based on corner(0) and axis1/2 to world coords.
vec2	pointToLambda (const vec3 &pWorld) const
	Transforms point in world coords to closest point on rectangle plane, expressed in coord frame using corner(0) and axis1/2.

Static Public Member Functions
static Rectangle	fromCenterPose (Eigen::Isometry3d pose, const vec2 &extent)
	Create rectangle from extent and pose of center point.
static Rectangle	fromCornerPose (const Eigen::Isometry3d &pose, const vec2 &extent)
	Create rectangle from extent and pose of lower left corner point.
static Rectangle	fromCornerAndEdges (const vec3 &corner, const vec3 &edge1, const vec3 &edge2)
	Create rectangle from position of a corner and the outgoing edges from that corner.
static Rectangle	fromCenterAndEdges (const vec3 &center, const vec3 &edge1, const vec3 &edge2)
	Create rectangle from center point and perpendicular edge vectors.

Member Function Documentation

fromCenterPose()

static Rectangle fromCenterPose ( Eigen::Isometry3d pose, const vec2 & extent )

static

Create rectangle from extent and pose of center point.

Pose must be a rigid transform matrix where columns are direction of first edge, direction of second edge, normal and position of center in world coords.

fromCornerPose()

static Rectangle fromCornerPose ( const Eigen::Isometry3d & pose, const vec2 & extent )

static

Create rectangle from extent and pose of lower left corner point.

Pose must be a rigid transform matrix where columns are direction of first edge, direction of second edge, normal and position of corner from which edge vectors are outgoing in world coords.

fromCornerAndEdges()

static Rectangle fromCornerAndEdges ( const vec3 & corner, const vec3 & edge1, const vec3 & edge2 )

static

Create rectangle from position of a corner and the outgoing edges from that corner.

Normal is set along direction edge1.cross(edge2).

fromCenterAndEdges()

static Rectangle fromCenterAndEdges ( const vec3 & center, const vec3 & edge1, const vec3 & edge2 )

static

Create rectangle from center point and perpendicular edge vectors.

The zero-corner will be set to center-0.5*(edge1+edge2)

lambdaToPoint()

vec3 lambdaToPoint

(

const vec2 &

lambda

)

const

Transforms point in local coord frame based on corner(0) and axis1/2 to world coords.

If lambda is negative or exceeds extent(), the resulting world coords will be outside of the rectangle.

pointToLambda()

vec2 pointToLambda

(

const vec3 &

pWorld

)

const

Transforms point in world coords to closest point on rectangle plane, expressed in coord frame using corner(0) and axis1/2.

Note that the resulting point is NOT restricted to the rectangle, clamp to [0, extent()] if necessary.

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The documentation for this class was generated from the following file:

• ImFusion/Core/Geometry/Rectangle.h