CoordinateSystem.hpp

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/*
 * (c) Copyright 2020 CORSIKA Project, corsika-project@lists.kit.edu
 *
 * This software is distributed under the terms of the GNU General Public
 * Licence version 3 (GPL Version 3). See file LICENSE for a full version of
 * the license.
 */

#pragma once

#include <corsika/framework/core/PhysicalUnits.hpp>
#include <corsika/framework/geometry/QuantityVector.hpp>
#include <corsika/framework/core/Logging.hpp>

#include <Eigen/Dense>
#include <stdexcept>
#include <memory>

namespace corsika {

  typedef Eigen::Transform<double, 3, Eigen::Affine> EigenTransform;
  typedef Eigen::Translation<double, 3> EigenTranslation;

  template <typename T>
  class Vector; // fwd decl

  class CoordinateSystem; // fwd decl
  using CoordinateSystemPtr = std::shared_ptr<CoordinateSystem const>;

  CoordinateSystemPtr const& get_root_CoordinateSystem();

  CoordinateSystemPtr make_translation(CoordinateSystemPtr const& cs,
                                       QuantityVector<length_d> const& vector);

  template <typename TDim>
  CoordinateSystemPtr make_rotationToZ(CoordinateSystemPtr const& cs,
                                       Vector<TDim> const& vVec);

  template <typename TDim>
  CoordinateSystemPtr make_rotation(CoordinateSystemPtr const& cs,
                                    QuantityVector<TDim> const& axis, double const angle);

  template <typename TDim>
  CoordinateSystemPtr make_translationAndRotation(
      CoordinateSystemPtr const& cs, QuantityVector<length_d> const& translation,
      QuantityVector<TDim> const& axis, double const angle);

  class CoordinateSystem {

    CoordinateSystem(CoordinateSystemPtr const& referenceCS, EigenTransform const& transf)
        : referenceCS_(referenceCS)
        , transf_(transf) {}

    CoordinateSystem()
        : referenceCS_(nullptr)
        , transf_(EigenTransform::Identity()) {}

  public:
    // default resource allocation
    CoordinateSystem(CoordinateSystem const&) = delete;
    CoordinateSystem(CoordinateSystem&&) = delete;
    CoordinateSystem& operator=(CoordinateSystem const& pCS) =
        delete; // avoid making copies
    ~CoordinateSystem() = default;

    bool isRoot() const { return !referenceCS_; }

    CoordinateSystemPtr getReferenceCS() const;

    EigenTransform const& getTransform() const;

    bool operator==(CoordinateSystem const&) const;
    bool operator!=(CoordinateSystem const&) const;

  protected:
    friend CoordinateSystemPtr const& get_root_CoordinateSystem();

    friend CoordinateSystemPtr make_translation(CoordinateSystemPtr const& cs,
                                                QuantityVector<length_d> const& vector);
    template <typename TDim>
    friend CoordinateSystemPtr make_rotationToZ(CoordinateSystemPtr const& cs,
                                                Vector<TDim> const& vVec);
    template <typename TDim>
    friend CoordinateSystemPtr make_rotation(CoordinateSystemPtr const& cs,
                                             QuantityVector<TDim> const& axis,
                                             double const angle);
    template <typename TDim>
    friend CoordinateSystemPtr make_translationAndRotation(
        CoordinateSystemPtr const& cs, QuantityVector<length_d> const& translation,
        QuantityVector<TDim> const& axis, double const angle);

  private:
    CoordinateSystemPtr referenceCS_;
    EigenTransform transf_;
  };

  EigenTransform get_transformation(CoordinateSystem const& c1,
                                    CoordinateSystem const& c2);

} // namespace corsika

#include <corsika/detail/framework/geometry/CoordinateSystem.inl>