81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2012-2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <iostream>
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#include <ignition/math.hh>
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int main(int argc, char **argv)
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{
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// Create a triangle with the following vertices:
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// 1: x = -1, y = 0
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// 2: x = 0, y = 1
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// 3: x = 1, y = 0
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ignition::math::Triangled tri(
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ignition::math::Vector2d(-1, 0),
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ignition::math::Vector2d(0, 1),
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ignition::math::Vector2d(1, 0));
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// The individual vertices are accessible through the [] operator
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std::cout << "Vertex 1: " << tri[0] << "\n"
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<< "Vertex 2: " << tri[1] << "\n"
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<< "Vertex 3: " << tri[2] << "\n";
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// Each side of the triangle is also accessible via the Side function
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std::cout << "Side 1: " << tri.Side(0) << "\n"
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<< "Side 2: " << tri.Side(1) << "\n"
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<< "Side 3: " << tri.Side(2) << "\n";
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// It's also possible to set each vertex individually.
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tri.Set(0, ignition::math::Vector2d(-10, 0));
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tri.Set(1, ignition::math::Vector2d(0, 20));
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tri.Set(2, ignition::math::Vector2d(10, 2));
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// Or set all the vertices at once.
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tri.Set(ignition::math::Vector2d(-1, 0),
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ignition::math::Vector2d(0, 1),
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ignition::math::Vector2d(1, 0));
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// You can get the perimeter length and area of the triangle
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std::cout << "Perimeter=" << tri.Perimeter()
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<< " Area=" << tri.Area() << "\n";
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// The Contains functions check if a line or point is inside the triangle
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if (tri.Contains(ignition::math::Vector2d(0, 0.5)))
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std::cout << "Triangle contains the point 0, 0.5\n";
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else
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std::cout << "Triangle does not contain the point 0, 0.5\n";
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// The Intersect function check if a line segment intersects the triangle.
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// It also returns the points of intersection
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ignition::math::Vector2d pt1, pt2;
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if (tri.Intersects(ignition::math::Line2d(-2, 0.5, 2, 0.5), pt1, pt2))
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{
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std::cout << "A line from (-2, 0.5) to (2, 0.5) intersects "
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<< "the triangle at the\nfollowing points:\n"
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<< "\t Pt1=" << pt1 << "\n"
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<< "\t Pt2=" << pt2 << "\n";
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}
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else
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{
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std::cout << "A line from (-2, 0.5) to (2, 0.5) does not intersect "
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<< "the triangle\n";
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}
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// There are more functions in Triangle. Take a look at the API;
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// http://ignitionrobotics.org/libraries/ign_mat/api
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}
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