Merge cgogn:~cgogn/CGoGN

Apps/Examples/viewer.cpp

@@ -166,6 +166,8 @@ void Viewer::cb_Open()
 {
 	std::string filters("all (*.*);; trian (*.trian);; ctm (*.ctm);; off (*.off);; ply (*.ply)") ;
 	std::string filename = selectFile("Open Mesh", "", filters) ;
+	if (filename.empty())
+		return ;
 
 	importMesh(filename) ;
 	updateGL() ;

Apps/Tuto/stage_shader.cpp

@@ -189,14 +189,6 @@ void StageShader::importMesh(std::string& filename)
 		else
 			position = myMap.getAttribute<PFP::VEC3>(VERTEX , attrNames[0]) ;
 	}
-	else
-	{
-		position = myMap.addAttribute<PFP::VEC3>(VERTEX, "position");
-		Algo::Modelisation::Primitive3D<PFP> prim(myMap, position);
-		prim.hexaGrid_topo(10,10,10);
-		prim.embedHexaGrid(1.0f,1.0f,1.0f);
-	}
-
 
 	updateVBOprimitives(Algo::Render::GL2::TRIANGLES | Algo::Render::GL2::LINES | Algo::Render::GL2::POINTS) ;
 
@@ -316,6 +308,13 @@ int main(int argc, char** argv)
             std::string filename(argv[1]) ;
             sqt.importMesh(filename) ;
     }
+	else
+	{
+		sqt.position = sqt.myMap.addAttribute<PFP::VEC3>(VERTEX, "position");
+		Algo::Modelisation::Primitive3D<PFP> prim(sqt.myMap, sqt.position);
+		prim.hexaGrid_topo(10,10,10);
+		prim.embedHexaGrid(1.0f,1.0f,1.0f);
+	}
 
     sqt.initGUI() ;
 

README_ECLIPSE.TXT

-Pour utiliser Eclipse (testé avec la version Helios & Galileo)
+Pour utiliser Eclipse (testé avec la version Helios, Galileo & Indigo)
 
-Faire un nouveau projet C++
-Choisir Makefile project -> Empty Project
-Choisir Comme "Location": la racine de NewCGoGN
-Choisir Toolchains: Linux GCC
+ * Configurer un projet dans Eclipse :
+ - Faire un nouveau projet C++
+ - Choisir Makefile project -> Empty Project
+ - Choisir Comme "Location": la racine de CGoGN
+ - Choisir Toolchains: Linux GCC
 
+ * Compilation avec le petit marteau ;) (l'icone)
 Dans les propriétés du projet: 
 -> C/C++ Build:
 	Dans la configuration Default | Active:
@@ -12,14 +14,41 @@ Dans les propriétés du projet:
 	
 	on peut ensuite ajouter des configurations pour compiler ce que l'on veut
 	en changeant juste le Build directory:
-	CGoGNRelease:	build/Release		(compile la lib en release)
-	CGoGNDebug:		build/Debug			(compile la lib en debug)
-	Apps:			build/Apps			(compile les exemples et les tutos)
+	CGoGNRelease:		build/Release		(compile la lib en release)
+	CGoGNDebug:		build/Debug		(compile la lib en debug)
+	Apps:			build/Apps		(compile les exemples et les tutos)
 	Tuto:			build/Apps/Tuto		(compile les tutos)
 	etc..
 
-On peut alors compiler avec le petit marteau ;) (l'icone) et choisir avec le bouton droit ce que l'on 
-veut compiler.
-
 Ceci ajoute dans le repertoire de CGoGN un .project et un .cproject.
 
+ * Dépendances inter-projets et autocomplétion
+Si le projet X dépend d'un autre projet, alors :
+Projet X -> Properties -> Project references : cocher le projet dont il dépend.
+
+ * Dépendances de Qt :
+Afin d'éviter qu'Eclipse ne rejette les syntaxes Qt (les includes de Qt, les Q_OBJECT, les callbacks) :
+ - Télécharger le plugin Qt "eclipse-integration" http://qt.nokia.com/developer/eclipse-integration/
+ - Décompresser l'archive et copier son contenu dans le répertoire d'installation d'Eclipse (plugins et features)
+ - Relancer Eclipse au moins une fois avec l'option --clean (relecture des répertoires locaux)
+Normalement, dans Window->Preferences de Eclipse, Qt apparait dans le menu.
+ - Y ajouter le répertoire de Qt (/usr/bin sur Debian/Ubuntu) et le répertoire d'include (/usr/include/qt4).
+Ensuite, pour chaque projet, ajouter les includes suivants dans Properties -> C/C++ general -> Paths and Symbols
+parmi les includes de C++ :
+ - /usr/include/qt4
+ - /usr/include/qt4/Qt
+ - /usr/include/qt4/QtCore
+ - /usr/include/qt4/QtGui
+ - /usr/include/qt4/QtOpenGL
+REMARQUE : en bas de cette fenêtre, le bouton "Export Settings" permet d'exporter en XML la configuration afin 
+de l'importer dans les autres projets.
+ - Pour finir, un petit clic-droit sur le projet -> Index -> Freshen all files et le tour est joué.
+
+ * Coloration syntaxique des shaders
+ - Télécharger et décompresser EclipseShaders : http://sourceforge.net/projects/glshaders/
+ - Copier les répertoires plugins et features dans le répertoire d'installation eclipse
+ - Relancer Eclipse au moins une fois avec l'option --clean (relecture des répertoires locaux)
+Eclipse reconnaîtra désormais les fichiers .frag et .vert.
+Pour associer d'autres fichiers au programme GLSLeditor :
+ - Preferences -> General -> Editors -> File Associations
+Dans Preferences -> Shaders Preferences, on peut désormais configurer certaines options liées au shaders.

include/Algo/ImplicitHierarchicalMesh/ihm3.hpp

@@ -32,7 +32,7 @@ namespace IHM
 {
 
 /***************************************************
- *             ATTRIBUTES MANAGEMENT               *
+ *  		       	    ATTRIBUTES MANAGEMENT    	           	 *
  ***************************************************/
 
 template <typename T>
@@ -64,7 +64,7 @@ AttributeHandler_IHM<T> ImplicitHierarchicalMap3::getAttribute(unsigned int orbi
 }
 
 /***************************************************
- *                 MAP TRAVERSAL                   *
+ *          			 	    MAP TRAVERSAL         		  		         *
  ***************************************************/
 
 inline Dart ImplicitHierarchicalMap3::newDart()

include/Algo/Import/import.h

@@ -51,7 +51,7 @@ namespace Import
 * @return a boolean indicating if import was successfull
 */
 template <typename PFP>
-bool importMesh(typename PFP::MAP& map, const std::string& filename, std::vector<std::string>& attrNames, ImportSurfacique::ImportType kind = ImportSurfacique::UNKNOWNSURFACE);
+bool importMesh(typename PFP::MAP& map, const std::string& filename, std::vector<std::string>& attrNames, ImportSurfacique::ImportType kind = ImportSurfacique::UNKNOWNSURFACE, bool mergeCloseVertices=false);
 
 /**
  * import a volumic mesh

include/Algo/Import/import2tables.h

@@ -115,6 +115,8 @@ public:
 	bool importCTM(const std::string& filename, std::vector<std::string>& attrNames);
 
 	bool importASSIMP(const std::string& filename, std::vector<std::string>& attrNames);
+	
+	bool mergeCloseVertices();
 
 	/**
 	 * @param container container of vertex orbite

include/Algo/Import/import2tablesSurface.hpp

@@ -23,6 +23,8 @@
 *******************************************************************************/
 
 #include "Algo/Import/importPlyData.h"
+#include "Algo/Geometry/boundingbox.h"
+#include "Topology/generic/autoAttributeHandler.h"
 
 #include "openctm.h"
 
@@ -433,7 +435,7 @@ bool MeshTablesSurface<PFP>::importObj(const std::string& filename, std::vector<
 	m_emb.reserve(verticesID.size()*8);
 
 	std::vector<int> table;
-	table.reserve(64); // 64 cotes pour une face devrait suffire
+	table.reserve(64); // NBV cotes pour une face devrait suffire
 	m_nbFaces = 0;
     do
     {
@@ -672,9 +674,8 @@ bool MeshTablesSurface<PFP>::importPlyPTMgeneric(const std::string& filename, st
  * @param attrNames : reference that will be filled with the attribute names ;
  *  - 1 attrName for geometric position (VEC3)
  *  - 3 attrNames for local frame (3xVEC3) : Tangent, Bitangent and Normal vector
- *  - 6 attrNames for the function coefficients (6xVEC3) : 6 RGB coefficients being successively the constants, the linears (v then u) and the quadratics : a0 + a1*v + a2*u + a3*u*v + a4*v^2 + a5*u^2.
- * @return bool : success.
- * @return bool : success.
+ *  - 6 attrNames for the function coefficients (6xVEC3) : 6 RGB coefficients being successively the quadratic members, the linears and the constants (u then v) : a*u^2 + b*v^2 + c*uv + d*u + e*v +f.
+  * @return bool : success.
  */
 template <typename PFP>
 bool MeshTablesSurface<PFP>::importPlyPTM(const std::string& filename, std::vector<std::string>& attrNames)
@@ -931,6 +932,158 @@ bool MeshTablesSurface<PFP>::importASSIMP(const std::string& filename, std::vect
 	return true;
 }
 
+template<typename PFP>
+bool MeshTablesSurface<PFP>::mergeCloseVertices()
+{
+	const unsigned int NBV=64; // seems to be good
+
+	const int NEIGH[27]={
+	-NBV*NBV - NBV - 1, 	-NBV*NBV - NBV, 	-NBV*NBV - NBV + 1,
+	-NBV*NBV - 1, 	-NBV*NBV, 	-NBV*NBV + 1,
+	-NBV*NBV + NBV - 1,	-NBV*NBV + NBV,	- NBV*NBV + NBV + 1,
+	-NBV - 1,	- NBV,	-NBV + 1,
+	-1,	0,	1,
+	NBV - 1,	NBV,	NBV + 1,
+	NBV*NBV - NBV - 1,	NBV*NBV - NBV,	NBV*NBV - NBV + 1,
+	NBV*NBV - 1,	NBV*NBV,	NBV*NBV + 1,
+	NBV*NBV + NBV - 1,	NBV*NBV + NBV,	NBV*NBV + NBV + 1};
+
+	std::vector<unsigned int>** grid;
+	grid = new std::vector<unsigned int>*[NBV*NBV*NBV];
+
+	// init grid with null ptrs	
+	for (unsigned int i=0; i<NBV*NBV*NBV; ++i)
+		grid[i]=NULL;
+	
+	AttributeHandler<typename PFP::VEC3> positions = m_map.template getAttribute<typename PFP::VEC3>(VERTEX, "position");
+	
+	// compute BB
+	Geom::BoundingBox<typename PFP::VEC3> bb(positions[ positions.begin() ]) ;
+	for (unsigned int i = positions.begin(); i != positions.end(); positions.next(i))
+	{
+		bb.addPoint(positions[i]) ;
+	}
+
+	// add one voxel around to avoid testing		
+	typename PFP::VEC3 bbsize = (bb.max() - bb.min());
+	typename PFP::VEC3 one = bbsize/(NBV-2);
+	one*= 1.001f;
+	bb.addPoint( bb.min() - one);
+	bb.addPoint( bb.max() + one);
+	bbsize = (bb.max() - bb.min());
+	
+
+	AutoAttributeHandler<unsigned int> gridIndex(m_map,VERTEX, "gridIndex");
+	AutoAttributeHandler<unsigned int> newIndices(m_map,VERTEX, "newIndices");
+	
+	
+	// Store each vertex in the grid and store voxel index in vertex attribute
+	for (unsigned int i = positions.begin(); i != positions.end(); positions.next(i))
+	{
+		typename PFP::VEC3 P = positions[i];
+		P -= bb.min();
+		float pz = floor((P[2]/bbsize[2])*NBV);
+		float py = floor((P[1]/bbsize[1])*NBV);
+		float px = floor((P[0]/bbsize[0])*NBV);
+
+		unsigned int index = NBV*NBV*pz + NBV*py + px;
+		
+		if (pz==63) 
+			std::cout << "z 63 bb:"<<bb<<"  P="<<positions[i]<< std::endl;
+		
+		std::vector<unsigned int>* vox = grid[index];
+		if (vox==NULL)
+		{
+			grid[index] = new std::vector<unsigned int>();
+			grid[index]->reserve(8);
+			vox = grid[index];
+		}
+		vox->push_back(i);
+		gridIndex[i] = index;
+		newIndices[i] = 0xffffffff;
+	}
+	
+	// compute EPSILON: average length of 50 of 100 first edges of first faces divide by 10000
+	int nb = 100;
+	if (m_nbEdges.size()< 100) 
+		nb = m_nbEdges.size();
+		
+	int k=0;
+	typename PFP::REAL d=0;
+	for (int i=0; i< nb; i+=2)
+	{
+		typename PFP::VEC3 e1 = positions[m_emb[k+1]] - positions[m_emb[k]];
+		d += e1.norm();
+		k += m_nbEdges[i];
+	}
+	d /= float(nb/2);
+	
+	typename PFP::REAL EPSILON = d/10000.0f;
+	
+	
+	// traverse vertices
+	for (unsigned int i = positions.begin(); i != positions.end(); positions.next(i))
+	{
+		if (newIndices[i] == 0xffffffff) 
+		{
+			const typename PFP::VEC3& P = positions[i];
+			
+			for (unsigned int n=0; n<27; ++n)
+			{
+				std::vector<unsigned int>* voxel = grid[gridIndex[i]+NEIGH[n]];
+				if (voxel != NULL)
+				{
+					for (std::vector<unsigned int>::iterator v = voxel->begin(); v != voxel->end(); ++v)
+					{
+						if ((*v != i) && (*v != 0xffffffff))
+						{
+							typename PFP::VEC3 Q = positions[*v];
+							Q -= P;
+							typename PFP::REAL d2 = Q*Q;
+							if (d2 < EPSILON*EPSILON)
+							{
+								newIndices[*v] = i;
+								*v = 0xffffffff;
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+
+	// update faces indices
+	for	(std::vector<unsigned int>::iterator it = m_emb.begin(); it != m_emb.end(); ++it)
+	{
+		if (newIndices[*it] != 0xffffffff)
+		{
+			*it = newIndices[*it];
+		}
+	}
+
+	// delete embeddings
+	AttributeContainer& container = m_map.getAttributeContainer(VERTEX) ;
+
+	for (unsigned int i = positions.begin(); i != positions.end(); positions.next(i))
+	{
+		if (newIndices[i] != 0xffffffff)
+		{
+			container.removeLine(i);
+		}
+	}
+
+	// release grid memory	
+	for (unsigned int i=0; i<NBV*NBV*NBV; ++i)
+		if (grid[i]!=NULL)
+			delete grid[i];
+
+	delete[] grid;
+
+	return true;
+}
+
+
+
 } // namespace Import
 
 } // namespace Algo

include/Algo/Import/importMesh.hpp

@@ -114,6 +114,7 @@ bool importMesh(typename PFP::MAP& map, MeshTablesSurface<PFP>& mts)
 			}
 			else
 			{
+				m.unmark(d);
 				++nbnm;
 			}
 		}
@@ -425,12 +426,15 @@ bool importMesh(typename PFP::MAP& map, MeshTablesVolume<PFP>& mtv)
 }
 
 template <typename PFP>
-bool importMesh(typename PFP::MAP& map, const std::string& filename, std::vector<std::string>& attrNames, ImportSurfacique::ImportType kind)
+bool importMesh(typename PFP::MAP& map, const std::string& filename, std::vector<std::string>& attrNames, ImportSurfacique::ImportType kind, bool mergeCloseVertices)
 {
 	MeshTablesSurface<PFP> mts(map);
 
 	if(!mts.importMesh(filename, attrNames, kind))
 		return false;
+	
+	if (mergeCloseVertices)
+		mts.mergeCloseVertices();
 
 	return importMesh<PFP>(map, mts);
 }

include/Algo/Render/SVG/mapSVGRender.h

@@ -87,15 +87,17 @@ public:
 
 };
 
-class SvgPolyline: public SvgObj
+class SvgPoints: public SvgObj
 {
-protected:
+public:
+	void save(std::ofstream& out);
+};
 
 
+class SvgPolyline: public SvgObj
+{
 public:
-
 	void save(std::ofstream& out);
-
 };
 
 
@@ -151,7 +153,11 @@ public:
 	void renderLinesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, const FunctorSelect& good = SelectorTrue(), unsigned int thread=0);
 
 	template <typename PFP>
-	void renderFacesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, float shrink, const FunctorSelect& good = SelectorTrue(), unsigned int thread=0);
+	void renderFacesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, float shrink, bool cull = false, const FunctorSelect& good = SelectorTrue(), unsigned int thread=0);
+
+	template <typename PFP>
+	void renderPointsToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, const FunctorSelect& good = SelectorTrue(), unsigned int thread=0);
+
 
 	void orderPrimitives(std::list<SvgObj*>& primitives);
 };

include/Algo/Render/SVG/mapSVGRender.hpp

@@ -38,6 +38,32 @@ namespace Render
 namespace SVG
 {
 
+
+template <typename PFP>
+void SVGOut::renderPointsToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, const FunctorSelect& good, unsigned int thread)
+{
+	glm::i32vec4 viewport;
+	glGetIntegerv(GL_VIEWPORT, &(viewport[0]));
+
+	SvgPoints* points = new SvgPoints();
+	points->setColor(global_color);
+	points->setWidth(global_width);
+	DartMarker m(map, thread);
+	for(Dart d = map.begin(); d != map.end(); map.next(d))
+	{
+		if(!m.isMarked(d) && good(d))
+		{
+			const Geom::Vec3f& P = position[d];
+			glm::vec3 Q = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,m_proj,viewport);
+			glm::vec3 R = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,glm::mat4(1.0),viewport);
+			points->addVertex(Geom::Vec3f(Q[0],float(viewport[3])-Q[1],Q[2]));
+			m.markOrbit(VERTEX, d);
+		}
+	}
+	m_objs.push_back(points);
+}
+
+
 template <typename PFP>
 void SVGOut::renderLinesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, const FunctorSelect& good, unsigned int thread)
 {
@@ -75,7 +101,7 @@ void SVGOut::renderLinesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3&
 
 
 template <typename PFP>
-void SVGOut::renderFacesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, float shrink, const FunctorSelect& good, unsigned int thread)
+void SVGOut::renderFacesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3& position, float shrink, bool cull, const FunctorSelect& good, unsigned int thread)
 {
 	glm::i32vec4 viewport;
 	glGetIntegerv(GL_VIEWPORT, &(viewport[0]));
@@ -85,25 +111,42 @@ void SVGOut::renderFacesToSVG(typename PFP::MAP& map, const typename PFP::TVEC3&
 	{
 		if(!m.isMarked(d) && good(d))
 		{
-			typename PFP::VEC3 center = Algo::Geometry::faceCentroid<PFP>(map,d,position);
-			SvgPolygon* pol = new SvgPolygon();
-			Dart dd = d;
-			do
+			bool cullFace=false;
+			if (cull)
 			{
-				Geom::Vec3f P = position[d];
-				P = P*shrink + center*(1.0f-shrink);
-				glm::vec3 Q = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,m_proj,viewport);
-				glm::vec3 R = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,glm::mat4(1.0),viewport);
-				pol->addVertex(Geom::Vec3f(Q[0],float(viewport[3])-Q[1],Q[2]));
-				pol->addVertex3D(Geom::Vec3f(R[0],R[1],R[2]));
-				d = map.phi1(d);
-			}while (d!=dd);
-
-			pol->close();
-			pol->setColor(global_color);
-			pol->setWidth(global_width);
-			m_objs.push_back(pol);
+				const Geom::Vec3f& P = position[d];
 
+				glm::vec3 Q = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,m_proj,viewport);
+				const Geom::Vec3f& P2 = position[map.phi1(d)];
+				glm::vec3 R = glm::project(glm::vec3(P2[0],P2[1],P2[2]),m_model,m_proj,viewport);
+				const Geom::Vec3f& P3 = position[map.phi1(map.phi1(d))];
+				glm::vec3 S = glm::project(glm::vec3(P3[0],P3[1],P3[2]),m_model,m_proj,viewport);
+				glm::vec3 N = glm::cross(S-R,Q-R);
+				if (N[2]<0.0f)
+					cullFace=true;
+			}
+
+			if (!cullFace)
+			{
+				typename PFP::VEC3 center = Algo::Geometry::faceCentroid<PFP>(map,d,position);
+				SvgPolygon* pol = new SvgPolygon();
+				Dart dd = d;
+				do
+				{
+					Geom::Vec3f P = position[d];
+					P = P*shrink + center*(1.0f-shrink);
+					glm::vec3 Q = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,m_proj,viewport);
+					glm::vec3 R = glm::project(glm::vec3(P[0],P[1],P[2]),m_model,glm::mat4(1.0),viewport);
+					pol->addVertex(Geom::Vec3f(Q[0],float(viewport[3])-Q[1],Q[2]));
+					pol->addVertex3D(Geom::Vec3f(R[0],R[1],R[2]));
+					d = map.phi1(d);
+				}while (d!=dd);
+
+				pol->close();
+				pol->setColor(global_color);
+				pol->setWidth(global_width);
+				m_objs.push_back(pol);
+			}
 			m.markOrbit(FACE, d);
 		}
 	}

include/Utils/localFrame.h

+/*******************************************************************************
+* CGoGN: Combinatorial and Geometric modeling with Generic N-dimensional Maps  *
+* version 0.1                                                                  *
+* Copyright (C) 2009-2011, IGG Team, LSIIT, University of Strasbourg           *
+*                                                                              *
+* This library is free software; you can redistribute it and/or modify it      *
+* under the terms of the GNU Lesser General Public License as published by the *
+* Free Software Foundation; either version 2.1 of the License, or (at your     *
+* option) any later version.                                                   *
+*                                                                              *
+* This library is distributed in the hope that it will be useful, but WITHOUT  *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or        *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License  *
+* for more details.                                                            *
+*                                                                              *
+* You should have received a copy of the GNU Lesser General Public License     *
+* along with this library; if not, write to the Free Software Foundation,      *
+* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.           *
+*                                                                              *
+* Web site: http://cgogn.u-strasbg.fr/                                         *
+* Contact information: cgogn@unistra.fr                                        *
+*                                                                              *
+*******************************************************************************/
+
+#ifndef LOCALFRAME_H_
+#define LOCALFRAME_H_
+
+#include <cmath>
+
+namespace CGoGN {
+
+namespace Utils {
+
+/**
+ * Util for rotation of a 3D point (or vector) around a given line (going through the origin) and of a given angle
+ * @param axis the rotation axis direction
+ * @param angle the rotation angle
+ * @param p the point to rotate
+ */
+template <typename REAL>
+Geom::Vector<3,REAL> rotate (Geom::Vector<3,REAL> axis, REAL angle, Geom::Vector<3,REAL> p) ;
+
+/**
+ * Util for conversion from spherical to carthesian coordinates.
+ * The spherical coordinates are in radius-longitude-latitude
+ * @param sph the spherical coordinates
+ * @return the carthesian coordinates
+ */
+template<typename REAL>
+Geom::Vector<3,REAL> sphericalToCarth (const Geom::Vector<3,REAL>& sph) ;
+
+/**
+ * Util for conversion from carthesian to spherical coordinates.
+ * The spherical coordinates are in radius-longitude-latitude
+ * @param carth the carthesian coordinates
+ * @return the spherical coordinates
+ */
+template<typename REAL>
+Geom::Vector<3,REAL> carthToSpherical (const Geom::Vector<3,REAL>& carth) ;
+
+/**
+ * Class for representing a direct local frame composed of 3 orthonormal vectors T (tangent), B (bitangent) and N (normal).
+ * This class can compress/decompress a local frame, switching from its explicit representation (3 vectors) to its compressed representation (1 vector).
+ * Usage :
+ *  VEC3 T,B,N ;							// current set of orthonormal vectors composing the direct frame.
+ *  LocalFrame<PFP> lf(T,B,N) ; 				// Constructor from explicit expression.
+ *  if (lf.isOrthoNormalDirect())			// test if the frame is Orthogonal, Normalized and Direct
+ *   VEC3 compressed = lf.getCompressed() ;	// Extract compressed frame
+ *  LocalFrame<PFP> decompressed(compressed) ;	// Constructor from implicit (compressed) expression.
+ *
+ * All formulae were provided by "Représentation compacte d'un repère local", june 14th, 2011 by K. Vanhoey
+ */
+template <typename PFP>
+class LocalFrame
+{
+	typedef typename PFP::REAL REAL ;
+	typedef typename Geom::Vector<2,REAL> VEC2 ;
+	typedef typename Geom::Vector<3,REAL> VEC3 ;
+
+private: // fields
+	/**
+	 * The three explicit vectors
+	 */
+	VEC3 m_T,m_B,m_N ;
+
+public: // methods
+	/**
+	 * Constructor from explicit data
+	 * @param T the tangent vector
+	 * @param B the bitangent vector
+	 * @param N the normal vector
+	 */
+	LocalFrame(const VEC3& T, const VEC3& B, const VEC3& N) ;
+
+	/**
+	 * Constructor from implicit (compressed representation)
+	 * @param compressedFrame an implicit (compressed) version of the local frame (can be produced by localFrame.getCompressed())
+	 */
+	LocalFrame(const VEC3& compressedFrame) ;
+
+	~LocalFrame() {} ;
+
+	/**
+	 * Returns a compressed version of the current local frame
+	 * A VEC3 is not sufficient to completely define a local frame (if phiN=0, the decompression is not unique).
+	 */
+	VEC3 getCompressed() const ;
+
+	/**
+	 * Tests if the frames are identical
+	 * @param lf the frame to compare to the current frame
+	 * @param epsilon the authorized deviation
+	 * @return true if frames are identical (or deviate less than epsilon)
+	 */
+	bool equals(const LocalFrame<PFP>& lf, REAL epsilon = 1e-6) const ;
+
+	/**
+	 * Equality of frames
+	 * Identical to calling equals with default epsilon
+	 * @return true if frames are identical
+	 */
+	bool operator==(const LocalFrame<PFP>& lf) const ;
+
+	/**
+	 * Inequality of frames
+	 * Identical to calling !equals with default epsilon
+	 * @return false if frames are identical
+	 */
+	bool operator!=(const LocalFrame<PFP>& lf) const ;
+