costashatz / GeometricTools

Math Library for Linear Algebra, Numerical Methods, Geometric Representations and Collision Detection Algorithms

Geometric Tools

Math Library for Linear Algebra, Numerical Methods, Geometric Representations and Collision Detection Algorithms

Dependencies

1. C++11 compiler
   • Tested on gcc>=4.6, clang>=3.1
   • Should compile on Visual Studio 2013-2015
2. CMake
   • Tested on CMake>=2.8
   • Should work on 2.6 too
3. LAPACK/BLAS
   • Needed for Linear Algebra operations
   • In *ubuntu Linux, just install the following packages: liblapack-dev libblas-dev
4. Google Tests (gtest) [OPTIONAL]
   • Needed to build the test codes

How to compile:

cd path/to/GeometricTools
mkdir build && cd build
cmake ..
make

• Optional CMake options:
  1. BUILD_TEST (ON/OFF) - Determine to either build tests or not. Defaults to OFF.
  2. BUILD_EXAMPLES (ON/OFF) - Specify whether you want to build tests or not. Defaults to OFF.
  3. RUN_TEST (ON/OFF) - Specify whether you want to automatically execute all tests upon build. Defaults to OFF.

How to use:

• You can just edit the CMakeLists.txt and include the headers to your project (after all it is just a header library).
• Via ExternalProject to always get latest edition:

   find_package(LAPACK REQUIRED)
   set( ENV{BLA_VENDOR} "Generic" )
   find_package(BLAS REQUIRED)
  
   include(ExternalProject)
   ExternalProject_Add(GeometricToolsProj
       GIT_REPOSITORY "https://github.com/costashatz/GeometricTools"
       CMAKE_ARGS -DBUILD_TEST=OFF -DBUILD_EXAMPLES=OFF
       PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
       INSTALL_COMMAND ""
   )
   # Specify include dir
   ExternalProject_Get_Property(GeometricToolsProj source_dir)
   set(GEOMETRIC_TOOLS_INCLUDE_DIRS ${source_dir}/include)
  
   # Specify MainTest's link libraries
   ExternalProject_Get_Property(GeometricToolsProj binary_dir)
   set(GEOMETRIC_TOOLS_LIBS_DIR ${binary_dir})
  
   link_directories(${GEOMETRIC_TOOLS_LIBS_DIR})
   include_directories(${PROJECT_SOURCE_DIR}/include ${GEOMETRIC_TOOLS_INCLUDE_DIRS})
   ....
   target_link_libraries(mytarget GeometricTools ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})

So far I have implemented:

1. Generic Templated Class for Matrices
   • Supports any dimension and many properties
2. Generic Templated Class for Vectors
   • Supports any dimension and most of the vector properties
3. Solve Linear Systems
   • Using Gauss Elimination - error prone
   • Using LU Decomposition
4. Decompositions
   • LU Decomposition
   • QR Decomposition
   • SVD Decomposition - not working right now
5. Linear Shapes
   • Classes for basic linear shapes (line, ray, segment)
6. Polygons
   • Classes for basic 2D polygons (triangle, rectangle, polyline, general polygons)
7. Curves
   • Specific quadratic curves (defined by xTAx+bTx+c=0)
   • Generic polynomial curves/splines (templated in size [biggest power of curve]) - 1D functions
   • Piecewise Curves
   • Hermite Cubic Curves
   • Cardinal Cubic Curves
   • Plane (2D) Curves
8. Distances
   • Functions for computing distances between primitives (point-linear shapes, point-polyline, linear shapes-linear shapes, segment-polyline)
9. Intersections
   • Functions for computing intersection points (2D) between primitives (linear shapes-linear shapes, linear shapes-polygon)
10. Simple gtests (more need to be added)
11. Simple examples (more interactive ones need to be added)

Planning to implement:

1. More primitives (both in 2D and 3D)
   • Piecewise polynomial curves
   • Space(3D) polynomial curves
2. More Distances, Intersections in 2D/3D
3. Cleanify code/add comments