/usr/include/libwildmagic/Wm5Ellipsoid3.h is in libwildmagic-dev 5.13-1+b2.
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// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.0 (2010/01/01)
#ifndef WM5ELLIPSOID3_H
#define WM5ELLIPSOID3_H
#include "Wm5MathematicsLIB.h"
#include "Wm5EigenDecomposition.h"
namespace Wm5
{
template <typename Real>
class Ellipsoid3
{
public:
// An ellipsoid has center K, axis directions U[0], U[1], and U[2] (all
// unit-length vectors), and extents e[0], e[1], and e[2] (all positive
// numbers). A point X = K+y[0]*U[0]+y[1]*U[1]+y[2]*U[2] is on the
// ellipsoid whenever (y[0]/e[0])^2+(y[1]/e[1])^2+(y[2]/e[2])^2 = 1. The
// test for a point inside the ellipsoid uses "<=" instead of "=" in the
// previous expression. An algebraic representation for the ellipsoid is
// 1 = (X-K)^T * (U[0]*U[0]^T/e[0]^2 + U[1]*U[1]^T/e[1]^2 +
// U[2]*U[2]^T/e[2]^2) * (X-K)
// = (X-K)^T * M * (X-K)
// where the superscript T denotes transpose. Observe that U[i]*U[i]^T
// is a matrix, not a scalar dot product. The matrix M is symmetric.
// The ellipse is also represented by a quadratic equation
// 0 = a0 + a1*x[0] + a2*x[1] + a3*x[2] + a4*x[0]^2 + a5*x[0]*x[1] +
// a6*x[0]*x[2] + a7*x[1]^2 + a8*x[1]*x[2] + a9*x[2]^2
// = a0 + [a1 a2 a3]*X + X^T*[a4 a5/2 a6/2]*X
// [a5/2 a7 a8/2]
// [a6/2 a8/2 a9 ]
// = C + B^T*X + X^T*A*X
// where X = (x[0],x[1],x[2]). This equation can be factored to the form
// (X-K)^T*M*(X-K) = 1, where K = -A^{-1}*B/2, M = A/(B^T*A^{-1}*B/4-C).
// To be an ellipsoid, M must have all positive eigenvalues.
// Construction and destruction.
Ellipsoid3 (); // uninitialized
~Ellipsoid3 ();
Ellipsoid3 (const Vector3<Real>& center, const Vector3<Real> axis[3],
const Real extent[3]);
Ellipsoid3 (const Vector3<Real>& center, const Vector3<Real>& axis0,
const Vector3<Real>& axis1, const Vector3<Real>& axis2,
const Real extent0, const Real extent1, const Real extent2);
// Compute M = sum_{i=0}^2 U[i]*U[i]^T/e[i]^2.
void GetM (Matrix3<Real>& M) const;
// Compute M^{-1} = sum_{i=0}^2 U[i]*U[i]^T*e[i]^2.
void GetMInverse (Matrix3<Real>& MInverse) const;
// Construct the coefficients in the quadratic equation that represents
// the ellipsoid. 'coeff' stores a0 through a9. 'A', 'B', and 'C' are as
// described in the comments before the constructors.
void ToCoefficients (Real coeff[10]) const;
void ToCoefficients (Matrix3<Real>& A, Vector3<Real>& B,
Real& C) const;
// Construct C, U[i], and e[i] from the equation. The return value is
// 'true' if and only if the input coefficients represent an ellipsoid.
// If the function returns 'false', the ellipsoid data members are
// undefined. 'coeff' stores a0 through a9. 'A', 'B', and 'C' are as
// described in the comments before the constructors.
bool FromCoefficients (const Real coeff[10]);
bool FromCoefficients (const Matrix3<Real>& A,
const Vector3<Real>& B, Real C);
// Evaluate the quadratic function Q(X) = (X-K)^T * M * (X-K) - 1.
Real Evaluate (const Vector3<Real>& point) const;
// Test whether the input point is inside or on the ellipsoid. The point
// is contained when Q(X) <= 0, where Q(X) is the function in the comment
// before the function Evaluate().
bool Contains (const Vector3<Real>& point) const;
Vector3<Real> Center;
Vector3<Real> Axis[3];
Real Extent[3];
private:
static void Convert (const Real coeff[10], Matrix3<Real>& A,
Vector3<Real>& B, Real& C);
static void Convert (const Matrix3<Real>& A, const Vector3<Real>& B,
Real C, Real coeff[10]);
};
#include "Wm5Ellipsoid3.inl"
typedef Ellipsoid3<float> Ellipsoid3f;
typedef Ellipsoid3<double> Ellipsoid3d;
}
#endif
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