FFa3DLocation.H

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// SPDX-FileCopyrightText: 2023 SAP SE
//
// SPDX-License-Identifier: Apache-2.0
//
// This file is part of FEDEM - https://openfedem.org
 
#ifndef FFA_3D_LOCATION_H
#define FFA_3D_LOCATION_H
 
#include <array>
 
#include "FFaLib/FFaAlgebra/FFaVec3.H"
#include "FFaLib/FFaString/FFaEnum.H"
 
class FaMat33;
class FaMat34;
 
 
class FFa3DLocation
{
public:
 
  enum PosType {
    CART_X_Y_Z,  
    CYL_R_YR_X,  
    CYL_R_ZR_Y,  
    CYL_R_XR_Z,  
    SPH_R_XR_YZ, 
    SPH_R_YR_ZX, 
    SPH_R_ZR_XY  
  };
 
  enum RotType {
    EUL_Z_Y_X , 
    PNT_PX_PXY, 
    PNT_PZ_PXZ, 
    DIR_EX_EXY  
  };
 
private:
 
  FFaEnumMapping(PosType) {
    FFaEnumEntry(CART_X_Y_Z , "CART_X_Y_Z");
    FFaEnumEntry(CYL_R_YR_X , "CYL_R_YR_X");
    FFaEnumEntry(CYL_R_ZR_Y , "CYL_R_ZR_Y");
    FFaEnumEntry(CYL_R_XR_Z , "CYL_R_XR_Z");
    FFaEnumEntry(SPH_R_XR_YZ, "SPH_R_XR_YZ");
    FFaEnumEntry(SPH_R_YR_ZX, "SPH_R_YR_ZX");
    FFaEnumEntry(SPH_R_ZR_XY, "SPH_R_ZR_XY");
    FFaEnumEntryEnd;
  };
 
  FFaEnumMapping(RotType) {
    FFaEnumEntry(EUL_Z_Y_X , "EUL_Z_Y_X" );
    FFaEnumEntry(PNT_PZ_PXZ, "PNT_PZ_PXZ");
    FFaEnumEntry(PNT_PX_PXY, "PNT_PX_PXY");
    FFaEnumEntry(DIR_EX_EXY, "DIR_EX_EXY");
    FFaEnumEntryEnd;
  };
 
  PosTypeEnum myPosTyp = CART_X_Y_Z; 
  RotTypeEnum myRotTyp = EUL_Z_Y_X;  
 
  std::array<FaVec3,3> myL; 
 
  bool saveNumericalData = false; 
 
public:
  FFa3DLocation() { saveNumericalData = false; }
  FFa3DLocation(PosType t, const FaVec3& v0,
        RotType r, const FaVec3& v1, const FaVec3& v2);
  FFa3DLocation(PosType t, const FaVec3& v0, RotType r, const FaVec3& v1);
  FFa3DLocation(const FaMat34& m);
  FFa3DLocation(const FFa3DLocation& m) { *this = m; }
 
  void saveMyNumericalData() { saveNumericalData = true; }
 
  FFa3DLocation& operator=(const FFa3DLocation& m);
  bool operator==(const FFa3DLocation& m) const;
 
  const FaVec3& operator[](int i) const;
  FaVec3& operator[](int i);
 
  PosType getPosType() const { return myPosTyp; }
  RotType getRotType() const { return myRotTyp; }
  int getNumFields() const { return myRotTyp == EUL_Z_Y_X ? 6 : 9; }
 
  bool changePosType(PosType newType);
  bool changeRotType(RotType newType);
 
  FFa3DLocation& changePosRefCS(const FaMat34& newRef, const FaMat34& oldRef);
  FFa3DLocation& changeRotRefCS(const FaMat34& newRef, const FaMat34& oldRef);
 
  FFa3DLocation& set(PosType p, const FaMat34& posRelMx,
                     RotType r, const FaMat34& rotRelMx, const FaMat34& glbPos);
  FFa3DLocation& set(PosType p, RotType r, const FaMat34& glbPos);
 
  FFa3DLocation& setPos(PosType p, const FaVec3& cartPos);
  FFa3DLocation& setRot(RotType r, const FaMat33& rotMat);
 
  FaVec3 translation() const;
  FaMat33 direction() const;
  FaMat34 getMatrix() const;
  FaMat34 getMatrix(const FaMat34& posRelMx, const FaMat34& rotRelMx) const;
 
  bool isValid() const;
 
  std::ostream& print(std::ostream& s, bool includeNumericalData = true) const;
 
  friend std::ostream& operator<<(std::ostream& s, const FFa3DLocation& m);
  friend std::istream& operator>>(std::istream& s, FFa3DLocation& m);
};
 
 
inline const FaVec3& FFa3DLocation::operator[] (int i) const
{
#ifdef FFA_INDEXCHECK
  if (i < 0 || i > 2)
    std::cerr <<"FFa3DLocation::operator[]: index i="<< i
              <<" is out of range [0,2]"<< std::endl;
#endif
  return myL[i];
}
 
inline FaVec3& FFa3DLocation::operator[] (int i)
{
#ifdef FFA_INDEXCHECK
  if (i < 0 || i > 2)
    std::cerr <<"FFa3DLocation::operator[]: index i="<< i
              << " is out of range [0,2]"<< std::endl;
#endif
  return myL[i];
}
 
#endif