X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fgeometry.h;h=dc29212735fa806b8c9fb79668c20bb5a735a19c;hb=abed4a255060d5a233ec0ac2dd60af9132e29201;hp=67c541211fcd93c7655318dc33e6953e6e85fb28;hpb=d15ac13f2e170f155b4bbd124df48400c339b644;p=r2c2.git

diff --git a/source/libr2c2/geometry.h b/source/libr2c2/geometry.h
index 67c5412..dc29212 100644
--- a/source/libr2c2/geometry.h
+++ b/source/libr2c2/geometry.h
@@ -3,28 +3,38 @@
 
 #include <cmath>
 #include <vector>
+#include <msp/geometry/affinetransformation.h>
+#include <msp/geometry/angle.h>
+#include <msp/geometry/ray.h>
+#include <msp/geometry/shape.h>
+#include <msp/linal/vector.h>
 
 namespace R2C2 {
 
-struct Vector
-{
-	float x, y, z;
-
-	Vector(): x(0), y(0), z(0) { }
-	Vector(float x_, float y_): x(x_), y(y_), z(0) { }
-	Vector(float x_, float y_, float z_): x(x_), y(y_), z(z_) { }
-};
+typedef Msp::LinAl::Vector<float, 3> Vector;
 
 inline float distance(const Vector &p, const Vector &q)
-{ return sqrt((p.x-q.x)*(p.x-q.x) + (p.y-q.y)*(p.y-q.y) + (p.z-q.z)*(p.z-q.z)); }
+{ return (p-q).norm(); }
 
-struct TrackPoint
-{
-	Vector pos;
-	float dir;
-	float grade;
+typedef Msp::Geometry::Angle<float> Angle;
+
+typedef Msp::Geometry::AffineTransformation<float, 3> Transform;
 
-	TrackPoint(): dir(0), grade(0) { }
+inline Vector rotated_vector(const Vector &v, const Angle &a)
+{ return Transform::rotation(a, Vector(0, 0, 1)).transform(v); }
+
+inline Vector vector_at_angle(const Angle &a)
+{ return rotated_vector(Vector(1, 0, 0), a); }
+
+typedef Msp::Geometry::Shape<float, 3> Shape;
+typedef Msp::Geometry::Ray<float, 3> Ray;
+typedef Msp::Geometry::BoundingBox<float, 3> BoundingBox;
+
+struct OrientedPoint
+{
+	Vector position;
+	Angle rotation;
+	Angle tilt;
 };
 
 } // namespace R2C2