Make use of the mspmath library

[r2c2.git] / source / libr2c2 / geometry.h

diff --git a/source/libr2c2/geometry.h b/source/libr2c2/geometry.h
index 67c541211fcd93c7655318dc33e6953e6e85fb28..09044e35886d6ccf1df13d5d0c5b5d77a0acca0d 100644 (file)
--- a/source/libr2c2/geometry.h
+++ b/source/libr2c2/geometry.h
@@ -3,28 +3,34 @@
 
 #include <cmath>
 #include <vector>
+#include <msp/geometry/affinetransformation.h>
+#include <msp/geometry/angle.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(); }
+
+typedef Msp::Geometry::Angle<float> Angle;
+
+typedef Msp::Geometry::AffineTransformation<float, 3> Transform;
+
+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); }
 
 struct TrackPoint
 {
        Vector pos;
-       float dir;
+       Angle dir;
        float grade;
 
-       TrackPoint(): dir(0), grade(0) { }
+       TrackPoint(): grade(0) { }
 };
 
 } // namespace R2C2