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picking.h

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#ifndef animal_picking_h
#define animal_picking_h

#include <animal/linear.h>
#include <animal/container_traits.h>
//#include <iostream>

namespace animal {

class ConstrainedItem
{
public:
    virtual void getPoint( float&, float&, float& ) const {}    
    
    virtual void moveTo( float, float, float ) {}   
    
    virtual ~ConstrainedItem(){}    
    
    virtual void print() const {}
    
    virtual bool operator == ( const ConstrainedItem* ) const =0;
    
    virtual void draw() {};
};



template<class Int, class Real, class Points, class Vec>
inline bool findClosestPointToLine( Int& index, Real& distance, const Points& coords, const Vec& lineOrigin, const Vec& lineDirection, Real threshold )
{
    //std::cout << "findClosestPointToLine, origin = "<<lineOrigin<<", direction = "<<lineDirection<<std::endl;
    distance = threshold + 1;
    for( Int i=0; i<static_cast<Int>(size(coords)); ++i  )
    {
        Vec gap = coords[i];
        v_meq( gap,lineOrigin );
        // gap == coords[i]-origin
        Real gapnorm = v_norm(gap);
        if( gapnorm < 1.0e-9 ) {  // too close for normalization, take it as closest point
            distance=gapnorm;
            index = i;
            return true;
        }
        else {
            Real cosine = v_dot(gap,lineDirection) / gapnorm;
            //std::cout<<"point "<<i<<": "<< coords[i] <<", distance = "<< cosine << std::endl;
            if( cosine>1-distance )
            {
                distance = 1-cosine;
                index = i;
            }
        }
    }
    if( distance<threshold ) return true;
    else return false;
} 







}//animal

#endif

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