Point3d.h

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#pragma once
 
#include <limits>
#include <Eigen/Dense>
 
#include "mathlib_export.h"
 
#include "TemplatePoint.h"
 
namespace MathLib
{
using Point3d = MathLib::TemplatePoint<double, 3>;
 
extern MATHLIB_EXPORT const Point3d ORIGIN;
template <typename MATRIX>
inline MathLib::Point3d operator*(MATRIX const& mat, MathLib::Point3d const& p)
{
    MathLib::Point3d new_p;
    for (std::size_t i(0); i<3; ++i) {
        for (std::size_t j(0); j<3; ++j) {
            new_p[i] += mat(i,j)*p[j];
        }
    }
    return new_p;
}
 
inline
double sqrDist(MathLib::Point3d const& p0, MathLib::Point3d const& p1)
{
    return (Eigen::Map<Eigen::Vector3d>(const_cast<double*>(p0.getCoords())) -
            Eigen::Map<Eigen::Vector3d>(const_cast<double*>(p1.getCoords())))
        .squaredNorm();
}
 
inline
double sqrDist2d(MathLib::Point3d const& p0, MathLib::Point3d const& p1)
{
    return (p0[0]-p1[0])*(p0[0]-p1[0]) + (p0[1]-p1[1])*(p0[1]-p1[1]);
}
 
} // end namespace MathLib