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use crate::*;
use std::marker::PhantomData;
#[derive(Debug, PartialEq, PartialOrd, Clone, Default)]
pub struct PointCloud3Df32<P>
where
P: IsBuildable3D,
{
pub data: Vec<f32>,
_phantom: PhantomData<P>,
}
impl<P> PointCloud3Df32<P>
where
P: IsBuildable3D,
{
pub fn new() -> PointCloud3Df32<P> {
PointCloud3Df32 {
data: Vec::new(),
_phantom: PhantomData::default(),
}
}
pub fn with_capacity(n: usize) -> PointCloud3Df32<P> {
PointCloud3Df32 {
data: Vec::with_capacity(3 * n),
_phantom: PhantomData::default(),
}
}
}
impl<P> IsPushable<P> for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn push(&mut self, p: P) {
self.data.push(p.x() as f32);
self.data.push(p.y() as f32);
self.data.push(p.z() as f32);
}
fn reserve(&mut self, n: usize) {
self.data.reserve(3 * n)
}
}
impl<P> IsDataContainer<P> for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn reserve_d(&mut self, n: usize) {
self.data.reserve(3 * n);
}
fn len_d(&self) -> usize {
self.data.len() / 3
}
fn push_d(&mut self, p: P) {
self.data.push(p.x() as f32);
self.data.push(p.y() as f32);
self.data.push(p.z() as f32);
}
fn get_d(&self, index: usize) -> P {
P::new(
self.data[3 * index + 0] as f64,
self.data[3 * index + 1] as f64,
self.data[3 * index + 2] as f64,
)
}
fn set_d(&mut self, index: usize, p: P) {
self.data[3 * index + 0] = p.x() as f32;
self.data[3 * index + 1] = p.y() as f32;
self.data[3 * index + 2] = p.z() as f32;
}
}
impl<P> IsMovable3D for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn move_by(&mut self, x: f64, y: f64, z: f64) {
for index in 0..self.data.len() / 3 {
self.data[3 * index + 0] += x as f32;
self.data[3 * index + 1] += y as f32;
self.data[3 * index + 2] += z as f32;
}
}
}
impl<P> HasBoundingBox3DMaybe for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn bounding_box_maybe(&self) -> Result<BoundingBox3D> {
let d = &self.data;
let n_p = d.len() / 3;
if n_p <= 2 {
return Err(ErrorKind::TooFewPoints);
}
let mut minx = d[0];
let mut miny = d[1];
let mut minz = d[2];
let mut maxx = d[0];
let mut maxy = d[1];
let mut maxz = d[2];
for i in 1..n_p {
let [x, y, z] = [d[3 * i + 0], d[3 * i + 1], d[3 * i + 2]];
if x < minx {
minx = x;
}
if y < miny {
miny = y;
}
if z < minz {
minz = z;
}
if x > maxx {
maxx = x;
}
if y > maxy {
maxy = y;
}
if z > maxz {
maxz = z;
}
}
BoundingBox3D::new(
&Point3D {
x: minx as f64,
y: miny as f64,
z: minz as f64,
},
&Point3D {
x: maxx as f64,
y: maxy as f64,
z: maxz as f64,
},
)
}
}
impl<P> Into<Vec<f32>> for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn into(self) -> Vec<f32> {
self.data
}
}
impl<P> From<Vec<f32>> for PointCloud3Df32<P>
where
P: IsBuildable3D,
{
fn from(data: Vec<f32>) -> Self {
Self {
data,
_phantom: PhantomData::default(),
}
}
}