heightField.h

/*
This Source Code Form is subject to the terms of the Mozilla Public
 License, v. 2.0. If a copy of the MPL was not distributed with this
 file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
 
#pragma once
 
#include "./defines.h"
 
#include <Eigen/Dense>
 
namespace Ponca
{
    template < class DataPoint, class _NFilter, typename T >
    class HeightField : public T
    {
        PONCA_FITTING_DECLARE_DEFAULT_TYPES
        static_assert ( DataPoint::Dim == 3, "HeightField is only valid in 3D");
    protected:
        enum {
            PROVIDES_HEIGHTFIELD 
        };
 
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar& getHFromLocalCoordinates (const VectorType& _lq) const
        { return *(_lq.data()); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar& getHFromLocalCoordinates (VectorType& _lq) const
        { return *(_lq.data()); }
 
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar& getUFromLocalCoordinates (const VectorType& _lq) const
        { return *(_lq.data()+1); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar& getUFromLocalCoordinates (VectorType& _lq) const
        { return *(_lq.data()+1); }
 
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar& getVFromLocalCoordinates (const VectorType& _lq) const
        { return *(_lq.data()+2); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar& getVFromLocalCoordinates (VectorType& _lq)
        { return *(_lq.data()+2); }
    };
 
    template < class DataPoint, class _NFilter, typename T >
    class QuadraticHeightField : public T
    {
    PONCA_FITTING_DECLARE_DEFAULT_TYPES
        using HeightFieldCoefficients = Eigen::Matrix<Scalar,6,1>;
        static_assert ( DataPoint::Dim == 3, "QuadraticHeightField is only valid in 3D");
 
    protected:
        enum {
            Check = Base::PROVIDES_HEIGHTFIELD,
            PROVIDES_QUADRIC_HEIGHTFIELD 
        };
        HeightFieldCoefficients  m_coeffs {HeightFieldCoefficients::Zero()};
 
    public:
 
        PONCA_MULTIARCH inline QuadraticHeightField() : Base() { init(); }
 
        PONCA_EXPLICIT_CAST_OPERATORS(QuadraticHeightField,quadraticHeightField)
 
        
        PONCA_MULTIARCH inline void setQuadric(const HeightFieldCoefficients& coeffs) { m_coeffs = coeffs; }
 
        PONCA_MULTIARCH [[nodiscard]] inline const HeightFieldCoefficients& coeffs() const { return m_coeffs; }
 
        PONCA_MULTIARCH inline void init()
        {
            Base::init();
            m_coeffs.setZero();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool isValid() const{
            return ! m_coeffs.isApprox(HeightFieldCoefficients::Zero());
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool operator==(const QuadraticHeightField<DataPoint, _NFilter, T>& other) const{
            return m_coeffs.isApprox(other.m_params);
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool operator!=(const QuadraticHeightField<DataPoint, _NFilter, T>& other) const{
            return ! ((*this) == other);
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar height(Scalar u, Scalar v) const {
            return h_uu()*u*u + h_vv()*v*v + h_uv()*u*v + h_u()*u + h_v()*v + h_c();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_uu () const { return *(m_coeffs.data()); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_vv () const { return *(m_coeffs.data()+1); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_uv () const { return *(m_coeffs.data()+2); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_u  () const { return *(m_coeffs.data()+3); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_v  () const { return *(m_coeffs.data()+4); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_c  () const { return *(m_coeffs.data()+5); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar dh_du (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_uu() * u + h_uv()*v + h_u(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar dh_dv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_vv() * v + h_uv()*u + h_v(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_duu (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_uu(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_dvv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_vv(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_duv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return h_uv(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline VectorType heightTangentULocal (const VectorType& _localQ) const {
            const Scalar tu = dh_du(Base::getUFromLocalCoordinates(_localQ), Base::getVFromLocalCoordinates(_localQ));
            return VectorType (tu, Scalar(1), Scalar(0)).normalized();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline VectorType heightTangentVLocal (const VectorType& _localQ) const {
            const Scalar tv = dh_dv(Base::getUFromLocalCoordinates(_localQ), Base::getVFromLocalCoordinates(_localQ));
            return VectorType (tv, Scalar(0), Scalar(1)).normalized();
        }
    }; //class QuadraticHeightField
    template < class DataPoint, class _NFilter, typename T >
    class RestrictedQuadraticHeightField : public T
    {
    PONCA_FITTING_DECLARE_DEFAULT_TYPES
        using HeightFieldCoefficients = Eigen::Matrix<Scalar,4,1>;
        static_assert ( DataPoint::Dim == 3, "QuadraticHeightField is only valid in 3D");
 
    protected:
        enum {
            Check = Base::PROVIDES_HEIGHTFIELD,
            PROVIDES_RESTRICTED_QUADRIC_HEIGHTFIELD 
        };
        HeightFieldCoefficients  m_coeffs {HeightFieldCoefficients::Zero()};
 
    public:
 
        PONCA_MULTIARCH inline RestrictedQuadraticHeightField() : Base() { init(); }
 
        PONCA_EXPLICIT_CAST_OPERATORS(RestrictedQuadraticHeightField,quadraticHeightField)
 
        
        PONCA_MULTIARCH inline void setQuadric(const HeightFieldCoefficients& coeffs) { m_coeffs = coeffs; }
 
        PONCA_MULTIARCH [[nodiscard]] inline const HeightFieldCoefficients& coeffs() const { return m_coeffs; }
 
        PONCA_MULTIARCH inline void init()
        {
            Base::init();
            m_coeffs.setZero();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool isValid() const{
            return ! m_coeffs.isApprox(HeightFieldCoefficients::Zero());
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool operator==(const RestrictedQuadraticHeightField<DataPoint, _NFilter, T>& other) const{
            return m_coeffs.isApprox(other.m_params);
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline bool operator!=(const RestrictedQuadraticHeightField<DataPoint, _NFilter, T>& other) const{
            return ! ((*this) == other);
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar height(Scalar u, Scalar v) const {
            return h_uu()*u*u + h_vv()*v*v + h_uv()*u*v + h_c();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_uu () const { return *(m_coeffs.data()); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_vv () const { return *(m_coeffs.data()+1); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_uv () const { return *(m_coeffs.data()+2); }
        PONCA_MULTIARCH [[nodiscard]] inline const Scalar & h_c ()  const { return *(m_coeffs.data()+3); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar dh_du (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_uu() * u + h_uv()*v; }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar dh_dv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_vv() * v + h_uv()*u ; }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_duu (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_uu(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_dvv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return Scalar(2)*h_vv(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline Scalar d2h_duv (Scalar u = Scalar(0), Scalar v = Scalar(0)) const
        { return h_uv(); }
 
        PONCA_MULTIARCH [[nodiscard]] inline VectorType heightTangentULocal (const VectorType& _localQ) const {
            const Scalar tu = dh_du(Base::getUFromLocalCoordinates(_localQ), Base::getVFromLocalCoordinates(_localQ));
            return VectorType (tu, Scalar(1), Scalar(0)).normalized();
        }
 
        PONCA_MULTIARCH [[nodiscard]] inline VectorType heightTangentVLocal (const VectorType& _localQ) const {
            const Scalar tv = dh_dv(Base::getUFromLocalCoordinates(_localQ), Base::getVFromLocalCoordinates(_localQ));
            return VectorType (tv, Scalar(0), Scalar(1)).normalized();
        }
    }; //class RestrictedQuadraticHeightField
 
} //namespace Ponca