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/*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* *
* The ACME project *
* *
* Copyright (c) 2020, Davide Stocco and Enrico Bertolazzi. *
* *
* The ACME project and its components are supplied under the terms of *
* the open source BSD 2-Clause License. The contents of the ACME *
* project and its components may not be copied or disclosed except in *
* accordance with the terms of the BSD 2-Clause License. *
* *
* URL: https://opensource.org/licenses/BSD-2-Clause *
* *
* Davide Stocco *
* Department of Industrial Engineering *
* University of Trento *
* e-mail: davide.stocco@unitn.it *
* *
* Enrico Bertolazzi *
* Department of Industrial Engineering *
* University of Trento *
* e-mail: enrico.bertolazzi@unitn.it *
* *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
#pragma once
#ifndef INCLUDE_ACME_HH
#define INCLUDE_ACME_HH
// Print acme errors
#ifndef ACME_ERROR
#define ACME_ERROR(MSG) \
{ \
std::ostringstream ost; \
ost << MSG; \
throw std::runtime_error(ost.str()); \
}
#endif
// Check for acme errors
#ifndef ACME_ASSERT
#define ACME_ASSERT(COND, MSG) \
if (!(COND)) \
ACME_ERROR(MSG)
#endif
// Standard libraries
#include <algorithm>
#include <cassert>
#include <cstddef>
#include <iomanip>
#include <iostream>
#include <iterator>
#include <limits>
#include <memory>
#include <vector>
#include <map>
// Eigen libraries
#include <Eigen/Dense>
namespace acme
{
/*\
| _____ _ __
| |_ _| _ _ __ ___ __| | ___ / _|___
| | || | | | '_ \ / _ \/ _` |/ _ \ |_/ __|
| | || |_| | |_) | __/ (_| | __/ _\__ \
| |_| \__, | .__/ \___|\__,_|\___|_| |___/
| |___/|_|
\*/
typedef double real;
typedef int integer;
typedef std::ostream out_stream;
typedef Eigen::Matrix<real, 2, 1> vec2;
typedef Eigen::Matrix<real, 2, 2> mat2;
typedef Eigen::Matrix<real, 3, 1> vec3;
typedef Eigen::Matrix<real, 3, 3> mat3;
typedef Eigen::Matrix<real, 4, 1> vec4;
typedef Eigen::Matrix<real, 4, 4> mat4;
typedef Eigen::Matrix<real, Eigen::Dynamic, 1> vecN;
typedef Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> matN;
typedef Eigen::DiagonalMatrix<real, 3> scale;
typedef Eigen::Translation<real, 3> translate;
typedef Eigen::AngleAxis<real> angleaxis;
typedef Eigen::Transform<real, 3, Eigen::Affine> affine;
/*\
| ____ _ _
| / ___|___ _ __ ___| |_ __ _ _ __ | |_ ___
| | | / _ \| '_ \/ __| __/ _` | '_ \| __/ __|
| | |__| (_) | | | \__ \ || (_| | | | | |_\__ \
| \____\___/|_| |_|___/\__\__,_|_| |_|\__|___/
|
\*/
static real const EPSILON_MACHINE = std::numeric_limits<real>::epsilon();
static real const EPSILON_HIGH = real(1.0e-16);
static real const EPSILON_MEDIUM = real(1.0e-10);
static real const EPSILON_LOW = real(1.0e-07);
static real const EPSILON = EPSILON_MEDIUM;
static real const INFTY = std::numeric_limits<real>::infinity();
static real const QUIET_NAN = std::numeric_limits<real>::quiet_NaN();
static real const PI = real(3.141592653589793238462643383279500);
static real const PIDIV180 = real(0.017453292519943295769236907684886);
static vec2 const UNITX_VEC2 = vec2::UnitX();
static vec2 const UNITY_VEC2 = vec2::UnitY();
static vec2 const NAN_VEC2 = vec2::Constant(QUIET_NAN);
static mat2 const NAN_MAT2 = mat2::Constant(QUIET_NAN);
static vec2 const ZEROS_VEC2 = vec2::Constant(real(0.0));
static mat2 const ZEROS_MAT2 = mat2::Constant(real(0.0));
static vec2 const ONES_VEC2 = vec2::Constant(real(1.0));
static mat2 const ONES_MAT2 = mat2::Constant(real(1.0));
static mat2 const IDENTITY_MAT2 = mat2::Identity();
static vec3 const UNITX_VEC3 = vec3::UnitX();
static vec3 const UNITY_VEC3 = vec3::UnitY();
static vec3 const UNITZ_VEC3 = vec3::UnitZ();
static vec3 const NAN_VEC3 = vec3::Constant(QUIET_NAN);
static mat3 const NAN_MAT3 = mat3::Constant(QUIET_NAN);
static vec3 const ZEROS_VEC3 = vec3::Constant(real(0.0));
static mat3 const ZEROS_MAT3 = mat3::Constant(real(0.0));
static vec3 const ONES_VEC3 = vec3::Constant(real(1.0));
static mat3 const ONES_MAT3 = mat3::Constant(real(1.0));
static mat3 const IDENTITY_MAT3 = mat3::Identity();
static vec4 const UNITX_VEC4 = vec4::UnitX();
static vec4 const UNITY_VEC4 = vec4::UnitY();
static vec4 const UNITZ_VEC4 = vec4::UnitZ();
static vec4 const UNITW_VEC4 = vec4::UnitW();
static vec4 const NAN_VEC4 = vec4::Constant(QUIET_NAN);
static mat4 const NAN_MAT4 = mat4::Constant(QUIET_NAN);
static vec4 const ZEROS_VEC4 = vec4::Constant(real(0.0));
static mat4 const ZEROS_MAT4 = mat4::Constant(real(0.0));
static vec4 const ONES_VEC4 = vec4::Constant(real(1.0));
static mat4 const ONES_MAT4 = mat4::Constant(real(1.0));
static mat4 const IDENTITY_MAT4 = mat4::Identity();
static vec2 DUMMY_VEC2(NAN_VEC2);
static vec3 DUMMY_VEC3(NAN_VEC3);
static vec4 DUMMY_VEC4(NAN_VEC4);
static mat2 DUMMY_MAT2(NAN_MAT2);
static mat3 DUMMY_MAT3(NAN_MAT3);
static mat4 DUMMY_MAT4(NAN_MAT4);
} // namespace acme
#include "acme/aabb.hxx"
#include "acme/AABBtree.hxx"
#include "acme/ball.hxx"
#include "acme/collection.hxx"
#include "acme/collinear.hxx"
#include "acme/coplanar.hxx"
#include "acme/disk.hxx"
#include "acme/entity.hxx"
#include "acme/intersection.hxx"
#include "acme/line.hxx"
#include "acme/math.hxx"
#include "acme/none.hxx"
#include "acme/orthogonal.hxx"
#include "acme/parallel.hxx"
#include "acme/plane.hxx"
#include "acme/point.hxx"
#include "acme/ray.hxx"
#include "acme/segment.hxx"
#include "acme/triangle.hxx"
#include "acme/utilities.hxx"
#endif
