Point3d.java
package org.djutils.draw.point;
import java.awt.geom.Point2D;
import java.util.Arrays;
import java.util.Iterator;
import org.djutils.draw.DrawRuntimeException;
import org.djutils.draw.Drawable3d;
import org.djutils.draw.Space3d;
import org.djutils.draw.bounds.Bounds3d;
import org.djutils.draw.line.Ray3d;
import org.djutils.exceptions.Throw;
/**
* A Point3d is an immutable point with an x, y, and z coordinate, stored with double precision. It differs from many Point
* implementations by being immutable.
* <p>
* Copyright (c) 2020-2021 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="https://djutils.org/docs/current/djutils/licenses.html">DJUTILS License</a>.
* </p>
* @author <a href="https://www.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="https://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public class Point3d implements Drawable3d, Point<Point3d, Space3d>
{
/** */
private static final long serialVersionUID = 20201201L;
/** The x-coordinate. */
@SuppressWarnings("checkstyle:visibilitymodifier")
public final double x;
/** The y-coordinate. */
@SuppressWarnings("checkstyle:visibilitymodifier")
public final double y;
/** The z-coordinate. */
@SuppressWarnings("checkstyle:visibilitymodifier")
public final double z;
/**
* Create a new Point with just an x, y and z coordinate, stored with double precision.
* @param x double; the x coordinate
* @param y double; the y coordinate
* @param z double; the z coordinate
* @throws IllegalArgumentException when x or y is NaN
*/
public Point3d(final double x, final double y, final double z)
{
Throw.when(Double.isNaN(x) || Double.isNaN(y) || Double.isNaN(z), IllegalArgumentException.class,
"Coordinate must be a number (not NaN)");
this.x = x;
this.y = y;
this.z = z;
}
/**
* Create a new Point with just an x, y and z coordinate, stored with double precision.
* @param xyz double[]; the x, y and z coordinate
* @throws NullPointerException when xyz is null
* @throws IllegalArgumentException when the dimension of xyz is not 3, or a coordinate is NaN
*/
public Point3d(final double[] xyz) throws NullPointerException, IllegalArgumentException
{
this(checkLengthIsThree(Throw.whenNull(xyz, "xyz-point cannot be null"))[0], xyz[1], xyz[2]);
}
/**
* Create an immutable point with just three values, x, y and z, stored with double precision from a Point2d and z.
* @param point Point2d; a Point2d
* @param z double; the z coordinate
* @throws NullPointerException when point is null
* @throws IllegalArgumentException when z is NaN
*/
public Point3d(final Point2d point, final double z) throws NullPointerException, IllegalArgumentException
{
Throw.whenNull(point, "point cannot be null");
Throw.when(Double.isNaN(z), IllegalArgumentException.class, "Coordinate must be a number (not NaN)");
this.x = point.x;
this.y = point.y;
this.z = z;
}
/**
* Create an immutable point with just three values, x, y and z, stored with double precision from an AWT Point2D and z.
* @param point Point2D; an AWT Point2D
* @param z double; the z coordinate
* @throws NullPointerException when point is null
* @throws IllegalArgumentException when point has a NaN coordinate, or z is NaN
*/
public Point3d(final Point2D point, final double z) throws NullPointerException, IllegalArgumentException
{
Throw.whenNull(point, "point cannot be null");
Throw.when(Double.isNaN(point.getX()) || Double.isNaN(point.getY()), IllegalArgumentException.class,
"Coordinate must be a number (not NaN)");
Throw.when(Double.isNaN(z), IllegalArgumentException.class, "Coordinate must be a number (not NaN)");
this.x = point.getX();
this.y = point.getY();
this.z = z;
}
/**
* Throw an IllegalArgumentException if the length of the provided array is not three.
* @param xyz double[]; the provided array
* @return double[]; the provided array
* @throws IllegalArgumentException when length of xyz is not three
*/
private static double[] checkLengthIsThree(final double[] xyz) throws IllegalArgumentException
{
Throw.when(xyz.length != 3, IllegalArgumentException.class, "Length of xy-array must be 2");
return xyz;
}
/** {@inheritDoc} */
@Override
public final double getX()
{
return this.x;
}
/** {@inheritDoc} */
@Override
public final double getY()
{
return this.y;
}
/**
* Return the z-coordinate.
* @return double; the z-coordinate
*/
public final double getZ()
{
return this.z;
}
/** {@inheritDoc} */
@Override
public double distanceSquared(final Point3d otherPoint) throws NullPointerException
{
Throw.whenNull(otherPoint, "point cannot be null");
double dx = getX() - otherPoint.x;
double dy = getY() - otherPoint.y;
double dz = getZ() - otherPoint.z;
return dx * dx + dy * dy + dz * dz;
}
/** {@inheritDoc} */
@Override
public double distance(final Point3d otherPoint) throws NullPointerException
{
Throw.whenNull(otherPoint, "point cannot be null");
return Math.sqrt(distanceSquared(otherPoint));
}
/** {@inheritDoc} */
@Override
public int size()
{
return 1;
}
/** {@inheritDoc} */
@Override
public Iterator<? extends Point3d> getPoints()
{
return Arrays.stream(new Point3d[] {this}).iterator();
}
/** {@inheritDoc} */
@Override
public Point2d project() throws DrawRuntimeException
{
return new Point2d(getX(), getY());
}
/**
* Return a new Point with a translation by the provided dx and dy.
* @param dx double; the horizontal translation
* @param dy double; the vertical translation
* @return Point3D; a new point with the translated coordinates
* @throws IllegalArgumentException when dx, or dy is NaN
*/
public Point3d translate(final double dx, final double dy) throws IllegalArgumentException
{
Throw.when(Double.isNaN(dx) || Double.isNaN(dy), IllegalArgumentException.class,
"Translation must be number (not NaN)");
return new Point3d(getX() + dx, getY() + dy, getZ());
}
/**
* Return a new Point3d with a translation by the provided dx, dy and dz.
* @param dx double; the x translation
* @param dy double; the y translation
* @param dz double; the z translation
* @return Point3d; a new point with the translated coordinates
* @throws IllegalArgumentException when dx, dy, or dz is NaN
*/
public Point3d 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,
"dx, dy and dz must be numbers (not NaN)");
return new Point3d(getX() + dx, getY() + dy, getZ() + dz);
}
/** {@inheritDoc} */
@Override
public Point3d scale(final double factor) throws IllegalArgumentException
{
Throw.when(Double.isNaN(factor), IllegalArgumentException.class, "factor must be a number (not NaN)");
return new Point3d(getX() * factor, getY() * factor, getZ() * factor);
}
/** {@inheritDoc} */
@Override
public Point3d neg()
{
return scale(-1.0);
}
/** {@inheritDoc} */
@Override
public Point3d abs()
{
return new Point3d(Math.abs(getX()), Math.abs(getY()), Math.abs(getZ()));
}
/** {@inheritDoc} */
@Override
public Point3d normalize() throws DrawRuntimeException
{
double length = Math.sqrt(getX() * getX() + getY() * getY() + getZ() * getZ());
Throw.when(length == 0.0, DrawRuntimeException.class, "cannot normalize (0.0, 0.0, 0.0)");
return this.scale(1.0 / length);
}
/** {@inheritDoc} */
@Override
public Point3d interpolate(final Point3d point, final double fraction)
{
Throw.whenNull(point, "point cannot be null");
Throw.when(Double.isNaN(fraction), IllegalArgumentException.class, "fraction must be a number (not NaN)");
return new Point3d((1.0 - fraction) * getX() + fraction * point.x, (1.0 - fraction) * getY() + fraction * point.y,
(1.0 - fraction) * getZ() + fraction * point.z);
}
/** {@inheritDoc} */
@Override
public boolean epsilonEquals(final Point3d other, final double epsilon)
{
Throw.whenNull(other, "other point cannot be null");
if (Math.abs(getX() - other.x) > epsilon)
{
return false;
}
if (Math.abs(getY() - other.y) > epsilon)
{
return false;
}
if (Math.abs(getZ() - other.z) > epsilon)
{
return false;
}
return true;
}
/** {@inheritDoc} */
@Override
public Bounds3d getBounds()
{
return new Bounds3d(this);
}
/** {@inheritDoc} */
@Override
public final Point3d closestPointOnSegment(final Point3d segmentPoint1, final Point3d segmentPoint2)
{
double dX = segmentPoint2.x - segmentPoint1.x;
double dY = segmentPoint2.y - segmentPoint1.y;
double dZ = segmentPoint2.z - segmentPoint1.z;
if (0 == dX && 0 == dY && 0 == dZ) // The points may be equal (unlike in Segment3d)
{
return segmentPoint1;
}
final double u = ((this.x - segmentPoint1.x) * dX + (this.y - segmentPoint1.y) * dY + (this.z - segmentPoint1.z) * dZ)
/ (dX * dX + dY * dY + dZ * dZ);
if (u < 0)
{
return segmentPoint1;
}
else if (u > 1)
{
return segmentPoint2;
}
else
{
return segmentPoint1.interpolate(segmentPoint2, u);
}
}
/** {@inheritDoc} */
@Override
public final Point3d closestPointOnLine(final Point3d linePoint1, final Point3d linePoint2) throws DrawRuntimeException
{
double dX = linePoint2.x - linePoint1.x;
double dY = linePoint2.y - linePoint1.y;
double dZ = linePoint2.z - linePoint1.z;
Throw.when(dX == 0 && dY == 0 && dZ == 0, DrawRuntimeException.class, "line points are at same location");
final double u = ((this.x - linePoint1.x) * dX + (this.y - linePoint1.y) * dY + (this.z - linePoint1.z) * dZ)
/ (dX * dX + dY * dY + dZ * dZ);
return linePoint1.interpolate(linePoint2, u);
}
/**
* Closest point on a ray.
* @param ray Ray3d; a point through which the line passes in the direction
* @return Point3d; the point on the line that is closest to this
*/
public final Point3d closestPointOnLine(final Ray3d ray)
{
double sinTheta = Math.sin(ray.theta);
double dX = Math.cos(ray.phi) * sinTheta;
double dY = Math.sin(ray.phi) * sinTheta;
double dZ = Math.cos(ray.theta);
final double u =
((this.x - ray.x) * dX + (this.y - ray.y) * dY + (this.z - ray.z) * dZ) / (dX * dX + dY * dY * dZ * dZ);
return ray.interpolate(new Point3d(ray.x + dX, ray.y + dY, ray.z + dZ), Math.max(0, u));
}
/**
* Return the direction of the point in radians with respect to the origin, ignoring the z-coordinate.
* @return double; the direction of the projection of the point in the x-y plane with respect to the origin, in radians
*/
final double horizontalDirection()
{
return Math.atan2(getY(), getX());
}
/**
* Return the direction to another point, in radians, ignoring the z-coordinate.
* @param point Point3d; the other point
* @return double; the direction of the projection of the point in the x-y plane to another point, in radians
* @throws NullPointerException when <code>point</code> is null
*/
final double horizontalDirection(final Point3d point) throws NullPointerException
{
Throw.whenNull(point, "point cannot be null");
return Math.atan2(point.y - getY(), point.x - getX());
}
/**
* Return the squared distance between the coordinates of this point and the provided point, ignoring the z-coordinate.
* @param point Point3d; the other point
* @return double; the squared distance between this point and the other point, ignoring the z-coordinate
* @throws NullPointerException when point is null
*/
final double horizontalDistanceSquared(final Point3d point)
{
Throw.whenNull(point, "point cannot be null");
double dx = getX() - point.x;
double dy = getY() - point.y;
return dx * dx + dy * dy;
}
/**
* Return the Euclidean distance between this point and the provided point, ignoring the z-coordinate.
* @param point Point3d; the other point
* @return double; the Euclidean distance between this point and the other point, ignoring the z-coordinate
* @throws NullPointerException when point is null
*/
final double horizontalDistance(final Point3d point)
{
return Math.sqrt(horizontalDistanceSquared(point));
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public String toString()
{
return String.format("(%f,%f,%f)", getX(), getY(), getZ());
}
/** {@inheritDoc} */
@Override
public String toString(final int fractionDigits)
{
int digits = fractionDigits < 0 ? 0 : fractionDigits;
String format = String.format("(%%.%1$df,%%.%1$df,%%.%1$df)", digits);
return String.format(format, getX(), getY(), getZ());
}
/** {@inheritDoc} */
@Override
public int hashCode()
{
final int prime = 31;
int result = 1;
long temp;
temp = Double.doubleToLongBits(this.x);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(this.y);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(this.z);
result = prime * result + (int) (temp ^ (temp >>> 32));
return result;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:needbraces")
@Override
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
Point3d other = (Point3d) obj;
if (Double.doubleToLongBits(this.x) != Double.doubleToLongBits(other.x))
return false;
if (Double.doubleToLongBits(this.y) != Double.doubleToLongBits(other.y))
return false;
if (Double.doubleToLongBits(this.z) != Double.doubleToLongBits(other.z))
return false;
return true;
}
}