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DJUTILS - Delft Java Utilities Drawing and animation primitives
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package org.djutils.draw.point;
import java.util.Arrays;
import java.util.Iterator;
import java.util.Locale;
import java.util.Objects;
import org.djutils.base.AngleUtil;
import org.djutils.draw.Directed3d;
import org.djutils.draw.DrawRuntimeException;
import org.djutils.exceptions.Throw;
/**
* DirectedPoint3d.java.
*
* Copyright (c) 2023-2024 Delft University of Technology, Jaffalaan 5, 2628 BX Delft, the Netherlands. All rights reserved. See
* for project information https://djutils.org. The DJUTILS project is
* distributed under a three-clause BSD-style license, which can be found at
* https://djutils.org/docs/license.html.
*
* @author Alexander Verbraeck
* @author Peter Knoppers
*/
public class DirectedPoint3d extends Point3d implements Directed3d
{
/** */
private static final long serialVersionUID = 20200828L;
/** The direction as rotation around the x-axis. */
@SuppressWarnings("checkstyle:visibilitymodifier")
public final double dirY;
/** The direction as rotation from the positive z-axis towards the x-y plane. */
@SuppressWarnings("checkstyle:visibilitymodifier")
public final double dirZ;
/**
* Create a new DirectedPoint3d with x, y, and z coordinates and orientation dirX,dirY,dirZ.
* @param x double; the x coordinate
* @param y double; the y coordinate
* @param z double; the z coordinate
* @param dirY double; the complement of the slope
* @param dirZ double; the counter-clockwise rotation around the point in radians
* @throws IllegalArgumentException when x, y, z, dirX, dirY, or dirZ is NaN
*/
public DirectedPoint3d(final double x, final double y, final double z, final double dirY, final double dirZ)
throws IllegalArgumentException
{
super(x, y, z);
Throw.when(Double.isNaN(dirY) || Double.isNaN(dirZ), IllegalArgumentException.class,
"dirY and dirZ must be numbers (not NaN)");
this.dirZ = dirZ;
this.dirY = dirY;
}
/**
* Create a new DirectedPoint3d with x, y, and z coordinates in a double[] and direction dirY,dirZ.
* @param xyz double[]; the x, y and z coordinates
* @param dirY double; the complement of the slope
* @param dirZ double; the counter-clockwise rotation around the point in radians
* @throws NullPointerException when xyx is null
* @throws IllegalArgumentException when the length of the xyz array is not 3, or contains a NaN value, or
* dirY, or dirZ is NaN
*/
public DirectedPoint3d(final double[] xyz, final double dirY, final double dirZ)
throws NullPointerException, IllegalArgumentException
{
super(xyz);
Throw.when(Double.isNaN(dirY) || Double.isNaN(dirZ), IllegalArgumentException.class,
"dirY and dirZ must be numbers (not NaN)");
this.dirY = dirY;
this.dirZ = dirZ;
}
/**
* Create a new DirectedPoint3d from another Point3d and and direction dirY,dirZ.
* @param point Point3d; the point from which this OrientedPoint3d will be instantiated
* @param dirY double; the complement of the slope
* @param dirZ double; the counter-clockwise rotation around the point in radians
* @throws IllegalArgumentException when dirX, dirY, or dirZ is NaN
*/
public DirectedPoint3d(final Point3d point, final double dirY, final double dirZ) throws IllegalArgumentException
{
this(point.x, point.y, point.z, dirY, dirZ);
}
/**
* Construct a new DirectedPoint3d from three coordinates and the coordinates of a point that the direction goes through.
* @param x double; the x coordinate of the new DirectedPoint
* @param y double; the y coordinate of the new DirectedPoint
* @param z double; the z coordinate of the new DirectedPoint
* @param throughX double; the x-coordinate of a point that the direction goes through
* @param throughY double; the y-coordinate of a point that the direction goes through
* @param throughZ double; the z-coordinate of a point that the direction goes through
* @throws DrawRuntimeException when throughX == x and throughY == y and
* throughZ == z, or any through-value is NaN
*/
public DirectedPoint3d(final double x, final double y, final double z, final double throughX, final double throughY,
final double throughZ) throws DrawRuntimeException
{
this(x, y, z, buildDirectionVector(throughX - x, throughY - y, throughZ - z));
}
/**
* Build the direction vector.
* @param dX double; x difference
* @param dY double; y difference
* @param dZ double; z difference
* @return double[]; a two-element array containing dirY and dirZ
*/
private static double[] buildDirectionVector(final double dX, final double dY, final double dZ)
{
Throw.when(0 == dX && 0 == dY && 0 == dZ, IllegalArgumentException.class, "Through point may not be equal to point");
return new double[] {Math.atan2(Math.hypot(dX, dY), dZ), Math.atan2(dY, dX)};
}
/**
* Construct a new DirectedPoint3d form a Point3d and the coordinates that the direction goes through.
* @param point Point3d; the point
* @param throughX double; the x coordinate of a point that the direction goes through
* @param throughY double; the y coordinate of a point that the direction goes through
* @param throughZ double; the z coordinate of a point that the direction goes through
* @throws DrawRuntimeException when throughX == point.x and throughY ==
* point.y and throughZ == point.z, or any through-value is NaN
*/
public DirectedPoint3d(final Point3d point, final double throughX, final double throughY, final double throughZ)
throws DrawRuntimeException
{
this(Throw.whenNull(point, "point").x, point.y, point.z, throughX, throughY, throughZ);
}
/**
* Verify that a double array is not null, has two elements.
* @param orientation double[]; the array to check
* @return double; the first element of the argument
* @throws NullPointerException when orientation is null
* @throws IllegalArgumentException when the length of the orientation array is not 2
*/
private static double checkOrientationVector(final double[] orientation)
throws NullPointerException, IllegalArgumentException
{
Throw.when(orientation.length != 2, IllegalArgumentException.class, "length of orientation array must be 2");
return orientation[0];
}
/**
* Create a new DirectedPoint3d with x, y and z coordinates and orientation specified using a double array of two elements
* (containing dirY,dirZ in that order).
* @param x double; the x coordinate
* @param y double; the y coordinate
* @param z double; the z coordinate
* @param orientation double[]; the two direction values (dirY and dirZ) in a double array containing dirY and dirZ in that
* order. DirY is the rotation from the positive z-axis to the direction. DirZ is the angle from the positive
* x-axis to the projection of the direction in the x-y-plane.
* @throws NullPointerException when orientation is null
* @throws IllegalArgumentException when the length of the direction array is not 2, or contains a NaN value
*/
public DirectedPoint3d(final double x, final double y, final double z, final double[] orientation)
throws NullPointerException, IllegalArgumentException
{
this(x, y, z, checkOrientationVector(orientation), orientation[1]);
}
/**
* Create a new OrientedPoint3d from x, y and z coordinates packed in a double array of three elements and a direction
* specified using a double array of two elements.
* @param xyz double[]; the x, y and z coordinates in that order
* @param orientation double[]; the two orientation angles dirY and dirZ in that order
* @throws NullPointerException when xyx or orientation is null
* @throws IllegalArgumentException when the length of the xyx array is not 3 or the length of the
* orientation array is not 2
*/
public DirectedPoint3d(final double[] xyz, final double[] orientation) throws NullPointerException, IllegalArgumentException
{
this(xyz, checkOrientationVector(orientation), orientation[1]);
}
/**
* Construct a new DirectedPoint3d from x, y and z coordinates and a point that the direction goes through.
* @param x double; the x coordinate of the new DirectedPoint3d
* @param y double; the y coordinate of the new DirectedPoint3d
* @param z double; the z coordinate of the new DirectedPoint3d
* @param throughPoint Point3d; a point that the direction goes through
* @throws NullPointerException when throughPoint is null
* @throws DrawRuntimeException when throughPoint is exactly at (x, y, z)
*/
public DirectedPoint3d(final double x, final double y, final double z, final Point3d throughPoint)
throws NullPointerException, DrawRuntimeException
{
this(x, y, z, Throw.whenNull(throughPoint, "througPoint").x, throughPoint.y, throughPoint.z);
}
/**
* Construct a new DirectedPoint3d.
* @param point Point3d; the location of the new DirectedPoint3d
* @param throughPoint Point3d; another point that the direction goes through
* @throws NullPointerException when point is null or throughPoint is null
* @throws DrawRuntimeException when throughPoint is exactly at point
*/
public DirectedPoint3d(final Point3d point, final Point3d throughPoint) throws NullPointerException, DrawRuntimeException
{
this(Throw.whenNull(point, "point").x, point.y, point.z, Throw.whenNull(throughPoint, "throughPoint").x, throughPoint.y,
throughPoint.z);
}
@Override
public DirectedPoint3d translate(final double dx, final double dy) throws IllegalArgumentException
{
Throw.when(Double.isNaN(dx) || Double.isNaN(dy), IllegalArgumentException.class, "translation may not contain NaN");
return new DirectedPoint3d(this.x + dx, this.y + dy, this.z, this.dirY, this.dirZ);
}
@Override
public DirectedPoint3d translate(final double dx, final double dy, final double dz) throws IllegalArgumentException
{
Throw.when(Double.isNaN(dx) || Double.isNaN(dy) || Double.isNaN(dz), IllegalArgumentException.class,
"Translation may not contain NaN");
return new DirectedPoint3d(this.x + dx, this.y + dy, this.z + dz, this.dirY, this.dirZ);
}
@Override
public DirectedPoint3d scale(final double factor) throws IllegalArgumentException
{
return new DirectedPoint3d(this.x * factor, this.y * factor, this.z * factor, this.dirY, this.dirZ);
}
@Override
public DirectedPoint3d neg()
{
return new DirectedPoint3d(-this.x, -this.y, -this.z, AngleUtil.normalizeAroundZero(this.dirY + Math.PI),
AngleUtil.normalizeAroundZero(this.dirZ + Math.PI));
}
@Override
public DirectedPoint3d abs()
{
return new DirectedPoint3d(Math.abs(this.x), Math.abs(this.y), Math.abs(this.z), this.dirY, this.dirZ);
}
@Override
public DirectedPoint3d normalize() throws DrawRuntimeException
{
double length = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
Throw.when(length == 0.0, DrawRuntimeException.class, "cannot normalize (0.0, 0.0, 0.0)");
return new DirectedPoint3d(this.x / length, this.y / length, this.z / length, this.dirY, this.dirZ);
}
/**
* Interpolate towards another DirectedPoint3d with a fraction. It is allowed for fraction to be less than zero or larger
* than 1. In that case the interpolation turns into an extrapolation. DirY and dirZ are interpolated/extrapolated using the
* interpolateShortest method.
* @param otherPoint OrientedPoint3d; the other point
* @param fraction double; the factor for interpolation towards the other point. When <code>fraction</code> is
* between 0 and 1, it is an interpolation, otherwise an extrapolation. If fraction is 0;
* this Point is returned; if fraction is 1, the otherPoint is returned
* @return DirectedPoint3d; a new OrientedPoint3d at the requested fraction
* @throws NullPointerException when otherPoint is null
* @throws IllegalArgumentException when fraction is NaN
*/
public DirectedPoint3d interpolate(final DirectedPoint3d otherPoint, final double fraction)
throws NullPointerException, IllegalArgumentException
{
Throw.whenNull(otherPoint, "otherPoint");
Throw.when(Double.isNaN(fraction), IllegalArgumentException.class, "fraction must be a number (not NaN)");
if (0.0 == fraction)
{
return this;
}
if (1.0 == fraction)
{
return otherPoint;
}
return new DirectedPoint3d((1.0 - fraction) * this.x + fraction * otherPoint.x,
(1.0 - fraction) * this.y + fraction * otherPoint.y, (1.0 - fraction) * this.z + fraction * otherPoint.z,
AngleUtil.interpolateShortest(this.dirY, otherPoint.dirY, fraction),
AngleUtil.interpolateShortest(this.dirZ, otherPoint.dirZ, fraction));
}
/**
* Return a new DirectedPoint3d with an in-place rotation around the z-axis by the provided rotateZ. The resulting rotation
* will be normalized between -π and π.
* @param rotateZ double; the rotation around the z-axis
* @return DirectedPoint3d; a new point with the same coordinates, dirX and dirY and modified dirZ
* @throws IllegalArgumentException when rotateZ is NaN
*/
public DirectedPoint3d rotate(final double rotateZ) throws IllegalArgumentException
{
Throw.when(Double.isNaN(rotateZ), IllegalArgumentException.class, "rotateZ must be a number (not NaN)");
return new DirectedPoint3d(this.x, this.y, this.z, this.dirY, AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
}
/**
* Return a new OrientedPoint3d point with an in-place rotation by the provided rotateY, and rotateZ. The resulting
* rotations will be normalized between -π and π.
* @param rotateY double; the rotation around the y-axis
* @param rotateZ double; the rotation around the z-axis
* @return DirectedPoint3d; a new point with the same coordinates and applied rotations
* @throws IllegalArgumentException when any of the rotations is NaN
*/
public DirectedPoint3d rotate(final double rotateY, final double rotateZ) throws IllegalArgumentException
{
Throw.when(Double.isNaN(rotateY) || Double.isNaN(rotateZ), IllegalArgumentException.class,
"rotateY and rotateZ must be a numbers (not NaN)");
return new DirectedPoint3d(this.x, this.y, this.z, AngleUtil.normalizeAroundZero(this.dirY + rotateY),
AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
}
@Override
public double getDirZ()
{
return this.dirZ;
}
@Override
public double getDirY()
{
return this.dirY;
}
@Override
public Iterator getPoints()
{
return Arrays.stream(new DirectedPoint3d[] {this}).iterator();
}
@Override
public String toString()
{
return toString("%f", false);
}
@Override
public String toString(final String doubleFormat, final boolean doNotIncludeClassName)
{
String format = String.format("%1$s[x=%2$s, y=%2$s, z=%2%s, dirY=%2$s, dirZ=%2$s]",
doNotIncludeClassName ? "" : "DirectedPoint3d ", doubleFormat);
return String.format(Locale.US, format, this.x, this.y, this.z, this.dirY, this.dirZ);
}
@Override
public boolean epsilonEquals(final DirectedPoint3d other, final double epsilonCoordinate, final double epsilonRotation)
throws NullPointerException, IllegalArgumentException
{
Throw.whenNull(other, "other");
Throw.when(epsilonCoordinate < 0 || epsilonRotation < 0, IllegalArgumentException.class,
"epsilonCoordinate and epsilonRotation may not be negative");
Throw.when(Double.isNaN(epsilonCoordinate) || Double.isNaN(epsilonRotation), IllegalArgumentException.class,
"epsilonCoordinate and epsilonRotation may not be NaN");
if (Math.abs(this.x - other.x) > epsilonCoordinate)
{
return false;
}
if (Math.abs(this.y - other.y) > epsilonCoordinate)
{
return false;
}
if (Math.abs(this.z - other.z) > epsilonCoordinate)
{
return false;
}
if (Math.abs(AngleUtil.normalizeAroundZero(this.dirZ - other.dirZ)) > epsilonRotation)
{
return false;
}
if (Math.abs(AngleUtil.normalizeAroundZero(this.dirY - other.dirY)) > epsilonRotation)
{
return false;
}
return true;
}
@Override
public int hashCode()
{
final int prime = 31;
int result = super.hashCode();
result = prime * result + Objects.hash(this.dirZ, this.dirY);
return result;
}
@Override
@SuppressWarnings("checkstyle:needbraces")
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (!super.equals(obj))
return false;
if (getClass() != obj.getClass())
return false;
DirectedPoint3d other = (DirectedPoint3d) obj;
return Double.doubleToLongBits(this.dirZ) == Double.doubleToLongBits(other.dirZ)
&& Double.doubleToLongBits(this.dirY) == Double.doubleToLongBits(other.dirY);
}
}