Fixed conflicts after merging with branch eigenize

1 files changed, 119 insertions, 125 deletions

diff --git a/xs/src/slic3r/GUI/3DScene.cpp b/xs/src/slic3r/GUI/3DScene.cpp
index dd7a3fb4a..a3f7e0a4c 100644
--- a/xs/src/slic3r/GUI/3DScene.cpp
+++ b/xs/src/slic3r/GUI/3DScene.cpp
@@ -26,11 +26,6 @@
 
 #include "GUI.hpp"
 
-static const float UNIT_MATRIX[] = { 1.0f, 0.0f, 0.0f, 0.0f,
-                                     0.0f, 1.0f, 0.0f, 0.0f,
-                                     0.0f, 0.0f, 1.0f, 0.0f,
-                                     0.0f, 0.0f, 0.0f, 1.0f };
-
 namespace Slic3r {
 
 void GLIndexedVertexArray::load_mesh_flat_shading(const TriangleMesh &mesh)
@@ -44,7 +39,7 @@ void GLIndexedVertexArray::load_mesh_flat_shading(const TriangleMesh &mesh)
     for (int i = 0; i < mesh.stl.stats.number_of_facets; ++ i) {
         const stl_facet &facet = mesh.stl.facet_start[i];
         for (int j = 0; j < 3; ++ j)
-            this->push_geometry(facet.vertex[j].x, facet.vertex[j].y, facet.vertex[j].z, facet.normal.x, facet.normal.y, facet.normal.z);
+            this->push_geometry(facet.vertex[j](0), facet.vertex[j](1), facet.vertex[j](2), facet.normal(0), facet.normal(1), facet.normal(2));
     }
 }
 
@@ -60,7 +55,7 @@ void GLIndexedVertexArray::load_mesh_full_shading(const TriangleMesh &mesh)
     for (int i = 0; i < mesh.stl.stats.number_of_facets; ++i) {
         const stl_facet &facet = mesh.stl.facet_start[i];
         for (int j = 0; j < 3; ++j)
-            this->push_geometry(facet.vertex[j].x, facet.vertex[j].y, facet.vertex[j].z, facet.normal.x, facet.normal.y, facet.normal.z);
+            this->push_geometry(facet.vertex[j](0), facet.vertex[j](1), facet.vertex[j](2), facet.normal(0), facet.normal(1), facet.normal(2));
 
         this->push_triangle(vertices_count, vertices_count + 1, vertices_count + 2);
         vertices_count += 3;
@@ -200,7 +195,8 @@ const float GLVolume::OUTSIDE_COLOR[4] = { 0.0f, 0.38f, 0.8f, 1.0f };
 const float GLVolume::SELECTED_OUTSIDE_COLOR[4] = { 0.19f, 0.58f, 1.0f, 1.0f };
 
 GLVolume::GLVolume(float r, float g, float b, float a)
-    : m_angle_z(0.0f)
+    : m_origin(0, 0, 0)
+    , m_angle_z(0.0f)
     , m_scale_factor(1.0f)
     , m_transformed_bounding_box_dirty(true)
     , m_transformed_convex_hull_bounding_box_dirty(true)
@@ -257,12 +253,12 @@ void GLVolume::set_render_color()
         set_render_color(color, 4);
 }
 
-const Pointf3& GLVolume::get_origin() const
+const Vec3d& GLVolume::get_origin() const
 {
     return m_origin;
 }
 
-void GLVolume::set_origin(const Pointf3& origin)
+void GLVolume::set_origin(const Vec3d& origin)
 {
     if (m_origin != origin)
     {
@@ -297,15 +293,13 @@ void GLVolume::set_convex_hull(const TriangleMesh& convex_hull)
     m_convex_hull = &convex_hull;
 }
 
-std::vector<float> GLVolume::world_matrix() const
+Transform3d GLVolume::world_matrix() const
 {
-    std::vector<float> world_mat(UNIT_MATRIX, std::end(UNIT_MATRIX));
-    Eigen::Transform<float, 3, Eigen::Affine> m = Eigen::Transform<float, 3, Eigen::Affine>::Identity();
-    m.translate(Eigen::Vector3f((float)m_origin.x, (float)m_origin.y, (float)m_origin.z));
-    m.rotate(Eigen::AngleAxisf(m_angle_z, Eigen::Vector3f::UnitZ()));
-    m.scale(m_scale_factor);
-    ::memcpy((void*)world_mat.data(), (const void*)m.data(), 16 * sizeof(float));
-    return world_mat;
+    Transform3d matrix = Transform3d::Identity();
+    matrix.translate(m_origin);
+    matrix.rotate(Eigen::AngleAxisd((double)m_angle_z, Vec3d::UnitZ()));
+    matrix.scale((double)m_scale_factor);
+    return matrix;
 }
 
 BoundingBoxf3 GLVolume::transformed_bounding_box() const
@@ -376,7 +370,7 @@ void GLVolume::render() const
 
     ::glCullFace(GL_BACK);
     ::glPushMatrix();
-    ::glTranslated(m_origin.x, m_origin.y, m_origin.z);
+    ::glTranslated(m_origin(0), m_origin(1), m_origin(2));
     ::glRotatef(m_angle_z * 180.0f / PI, 0.0f, 0.0f, 1.0f);
     ::glScalef(m_scale_factor, m_scale_factor, m_scale_factor);
     if (this->indexed_vertex_array.indexed())
@@ -410,7 +404,7 @@ void GLVolume::render_using_layer_height() const
         glUniform1f(z_texture_row_to_normalized_id, (GLfloat)(1.0f / layer_height_texture_height()));
 
     if (z_cursor_id >= 0)
-        glUniform1f(z_cursor_id, (GLfloat)(layer_height_texture_data.print_object->model_object()->bounding_box().max.z * layer_height_texture_data.z_cursor_relative));
+        glUniform1f(z_cursor_id, (GLfloat)(layer_height_texture_data.print_object->model_object()->bounding_box().max(2) * layer_height_texture_data.z_cursor_relative));
 
     if (z_cursor_band_width_id >= 0)
         glUniform1f(z_cursor_band_width_id, (GLfloat)layer_height_texture_data.edit_band_width);
@@ -502,7 +496,7 @@ void GLVolume::render_VBOs(int color_id, int detection_id, int worldmatrix_id) c
     ::glNormalPointer(GL_FLOAT, 6 * sizeof(float), nullptr);
 
     ::glPushMatrix();
-    ::glTranslated(m_origin.x, m_origin.y, m_origin.z);
+    ::glTranslated(m_origin(0), m_origin(1), m_origin(2));
     ::glRotatef(m_angle_z * 180.0f / PI, 0.0f, 0.0f, 1.0f);
     ::glScalef(m_scale_factor, m_scale_factor, m_scale_factor);
 
@@ -547,7 +541,7 @@ void GLVolume::render_legacy() const
     ::glNormalPointer(GL_FLOAT, 6 * sizeof(float), indexed_vertex_array.vertices_and_normals_interleaved.data());
 
     ::glPushMatrix();
-    ::glTranslated(m_origin.x, m_origin.y, m_origin.z);
+    ::glTranslated(m_origin(0), m_origin(1), m_origin(2));
     ::glRotatef(m_angle_z * 180.0f / PI, 0.0f, 0.0f, 1.0f);
     ::glScalef(m_scale_factor, m_scale_factor, m_scale_factor);
 
@@ -562,7 +556,7 @@ void GLVolume::render_legacy() const
 
 double GLVolume::layer_height_texture_z_to_row_id() const
 {
-    return (this->layer_height_texture.get() == nullptr) ? 0.0 : double(this->layer_height_texture->cells - 1) / (double(this->layer_height_texture->width) * this->layer_height_texture_data.print_object->model_object()->bounding_box().max.z);
+    return (this->layer_height_texture.get() == nullptr) ? 0.0 : double(this->layer_height_texture->cells - 1) / (double(this->layer_height_texture->width) * this->layer_height_texture_data.print_object->model_object()->bounding_box().max(2));
 }
 
 void GLVolume::generate_layer_height_texture(PrintObject *print_object, bool force)
@@ -667,7 +661,7 @@ std::vector<int> GLVolumeCollection::load_object(
             }
             v.is_modifier = model_volume->modifier;
             v.shader_outside_printer_detection_enabled = !model_volume->modifier;
-            v.set_origin(Pointf3(instance->offset.x, instance->offset.y, 0.0));
+            v.set_origin(Vec3d(instance->offset(0), instance->offset(1), 0.0));
             v.set_angle_z(instance->rotation);
             v.set_scale_factor(instance->scaling_factor);
         }
@@ -698,16 +692,16 @@ int GLVolumeCollection::load_wipe_tower_preview(
         // We'll now create the box with jagged edge. y-coordinates of the pre-generated model are shifted so that the front
         // edge has y=0 and centerline of the back edge has y=depth:
         Pointf3s points;
-        std::vector<Point3> facets;
+        std::vector<Vec3crd> facets;
         float out_points_idx[][3] = {{0, -depth, 0}, {0, 0, 0}, {38.453, 0, 0}, {61.547, 0, 0}, {100, 0, 0}, {100, -depth, 0}, {55.7735, -10, 0}, {44.2265, 10, 0},
                                      {38.453, 0, 1}, {0, 0, 1}, {0, -depth, 1}, {100, -depth, 1}, {100, 0, 1}, {61.547, 0, 1}, {55.7735, -10, 1}, {44.2265, 10, 1}};
         int out_facets_idx[][3] = {{0, 1, 2}, {3, 4, 5}, {6, 5, 0}, {3, 5, 6}, {6, 2, 7}, {6, 0, 2}, {8, 9, 10}, {11, 12, 13}, {10, 11, 14}, {14, 11, 13}, {15, 8, 14},
                                    {8, 10, 14}, {3, 12, 4}, {3, 13, 12}, {6, 13, 3}, {6, 14, 13}, {7, 14, 6}, {7, 15, 14}, {2, 15, 7}, {2, 8, 15}, {1, 8, 2}, {1, 9, 8},
                                    {0, 9, 1}, {0, 10, 9}, {5, 10, 0}, {5, 11, 10}, {4, 11, 5}, {4, 12, 11}};
         for (int i=0;i<16;++i)
-            points.push_back(Pointf3(out_points_idx[i][0] / (100.f/min_width), out_points_idx[i][1] + depth, out_points_idx[i][2]));
+            points.push_back(Vec3d(out_points_idx[i][0] / (100.f/min_width), out_points_idx[i][1] + depth, out_points_idx[i][2]));
         for (int i=0;i<28;++i)
-            facets.push_back(Point3(out_facets_idx[i][0], out_facets_idx[i][1], out_facets_idx[i][2]));
+            facets.push_back(Vec3crd(out_facets_idx[i][0], out_facets_idx[i][1], out_facets_idx[i][2]));
         TriangleMesh tooth_mesh(points, facets);
 
         // We have the mesh ready. It has one tooth and width of min_width. We will now append several of these together until we are close to
@@ -718,7 +712,7 @@ int GLVolumeCollection::load_wipe_tower_preview(
             tooth_mesh.translate(min_width, 0.f, 0.f);
         }
 
-        mesh.scale(Pointf3(width/(n*min_width), 1.f, height)); // Scaling to proper width
+        mesh.scale(Vec3d(width/(n*min_width), 1.f, height)); // Scaling to proper width
     }
     else
         mesh = make_cube(width, depth, height);
@@ -738,7 +732,7 @@ int GLVolumeCollection::load_wipe_tower_preview(
     else
         v.indexed_vertex_array.load_mesh_flat_shading(mesh);
 
-    v.set_origin(Pointf3(pos_x, pos_y, 0.));
+    v.set_origin(Vec3d(pos_x, pos_y, 0.));
 
     // finalize_geometry() clears the vertex arrays, therefore the bounding box has to be computed before finalize_geometry().
     v.bounding_box = v.indexed_vertex_array.bounding_box();
@@ -824,9 +818,9 @@ bool GLVolumeCollection::check_outside_state(const DynamicPrintConfig* config, M
         return false;
 
     BoundingBox bed_box_2D = get_extents(Polygon::new_scale(opt->values));
-    BoundingBoxf3 print_volume(Pointf3(unscale(bed_box_2D.min.x), unscale(bed_box_2D.min.y), 0.0), Pointf3(unscale(bed_box_2D.max.x), unscale(bed_box_2D.max.y), config->opt_float("max_print_height")));
+    BoundingBoxf3 print_volume(unscale(bed_box_2D.min(0), bed_box_2D.min(1), 0.0), unscale(bed_box_2D.max(0), bed_box_2D.max(1), unscale<double>(config->opt_float("max_print_height"))));
     // Allow the objects to protrude below the print bed
-    print_volume.min.z = -1e10;
+    print_volume.min(2) = -1e10;
 
     ModelInstance::EPrintVolumeState state = ModelInstance::PVS_Inside;
     bool all_contained = true;
@@ -989,8 +983,8 @@ static void thick_lines_to_indexed_vertex_array(
     // right, left, top, bottom
     int     idx_prev[4]      = { -1, -1, -1, -1 };
     double  bottom_z_prev    = 0.;
-    Pointf  b1_prev;
-    Vectorf v_prev;
+    Vec2d  b1_prev(Vec2d::Zero());
+    Vec2d v_prev(Vec2d::Zero());
     int     idx_initial[4]   = { -1, -1, -1, -1 };
     double  width_initial    = 0.;
     double  bottom_z_initial = 0.0;
@@ -1000,7 +994,7 @@ static void thick_lines_to_indexed_vertex_array(
     for (size_t ii = 0; ii < lines_end; ++ ii) {
         size_t i = (ii == lines.size()) ? 0 : ii;
         const Line &line = lines[i];
-        double len = unscale(line.length());
+        double len = unscale<double>(line.length());
         double inv_len = 1.0 / len;
         double bottom_z = top_z - heights[i];
         double middle_z = 0.5 * (top_z + bottom_z);
@@ -1010,29 +1004,29 @@ static void thick_lines_to_indexed_vertex_array(
         bool is_last = (ii == lines_end - 1);
         bool is_closing = closed && is_last;
 
-        Vectorf v = Vectorf::new_unscale(line.vector());
-        v.scale(inv_len);
+        Vec2d v = unscale(line.vector());
+        v *= inv_len;
 
-        Pointf a = Pointf::new_unscale(line.a);
-        Pointf b = Pointf::new_unscale(line.b);
-        Pointf a1 = a;
-        Pointf a2 = a;
-        Pointf b1 = b;
-        Pointf b2 = b;
+        Vec2d a = unscale(line.a);
+        Vec2d b = unscale(line.b);
+        Vec2d a1 = a;
+        Vec2d a2 = a;
+        Vec2d b1 = b;
+        Vec2d b2 = b;
         {
             double dist = 0.5 * width;  // scaled
-            double dx = dist * v.x;
-            double dy = dist * v.y;
-            a1.translate(+dy, -dx);
-            a2.translate(-dy, +dx);
-            b1.translate(+dy, -dx);
-            b2.translate(-dy, +dx);
+            double dx = dist * v(0);
+            double dy = dist * v(1);
+            a1 += Vec2d(+dy, -dx);
+            a2 += Vec2d(-dy, +dx);
+            b1 += Vec2d(+dy, -dx);
+            b2 += Vec2d(-dy, +dx);
         }
 
         // calculate new XY normals
         Vector n = line.normal();
-        Vectorf3 xy_right_normal = Vectorf3::new_unscale(n.x, n.y, 0);
-        xy_right_normal.scale(inv_len);
+        Vec3d xy_right_normal = unscale(n(0), n(1), 0);
+        xy_right_normal *= inv_len;
 
         int idx_a[4];
         int idx_b[4];
@@ -1050,7 +1044,7 @@ static void thick_lines_to_indexed_vertex_array(
         // Share top / bottom vertices if possible.
         if (is_first) {
             idx_a[TOP] = idx_last++;
-            volume.push_geometry(a.x, a.y, top_z   , 0., 0.,  1.); 
+            volume.push_geometry(a(0), a(1), top_z   , 0., 0.,  1.); 
         } else {
             idx_a[TOP] = idx_prev[TOP];
         }
@@ -1058,11 +1052,11 @@ static void thick_lines_to_indexed_vertex_array(
         if (is_first || bottom_z_different) {
             // Start of the 1st line segment or a change of the layer thickness while maintaining the print_z.
             idx_a[BOTTOM] = idx_last ++;
-            volume.push_geometry(a.x, a.y, bottom_z, 0., 0., -1.);
+            volume.push_geometry(a(0), a(1), bottom_z, 0., 0., -1.);
             idx_a[LEFT ] = idx_last ++;
-            volume.push_geometry(a2.x, a2.y, middle_z, -xy_right_normal.x, -xy_right_normal.y, -xy_right_normal.z);
+            volume.push_geometry(a2(0), a2(1), middle_z, -xy_right_normal(0), -xy_right_normal(1), -xy_right_normal(2));
             idx_a[RIGHT] = idx_last ++;
-            volume.push_geometry(a1.x, a1.y, middle_z, xy_right_normal.x, xy_right_normal.y, xy_right_normal.z);
+            volume.push_geometry(a1(0), a1(1), middle_z, xy_right_normal(0), xy_right_normal(1), xy_right_normal(2));
         }
         else {
             idx_a[BOTTOM] = idx_prev[BOTTOM];
@@ -1076,16 +1070,16 @@ static void thick_lines_to_indexed_vertex_array(
         } else {
             // Continuing a previous segment.
             // Share left / right vertices if possible.
-			double v_dot    = dot(v_prev, v);
+			double v_dot    = v_prev.dot(v);
             bool   sharp    = v_dot < 0.707; // sin(45 degrees)
             if (sharp) {
                 if (!bottom_z_different)
                 {
                     // Allocate new left / right points for the start of this segment as these points will receive their own normals to indicate a sharp turn.
                     idx_a[RIGHT] = idx_last++;
-                    volume.push_geometry(a1.x, a1.y, middle_z, xy_right_normal.x, xy_right_normal.y, xy_right_normal.z);
+                    volume.push_geometry(a1(0), a1(1), middle_z, xy_right_normal(0), xy_right_normal(1), xy_right_normal(2));
                     idx_a[LEFT] = idx_last++;
-                    volume.push_geometry(a2.x, a2.y, middle_z, -xy_right_normal.x, -xy_right_normal.y, -xy_right_normal.z);
+                    volume.push_geometry(a2(0), a2(1), middle_z, -xy_right_normal(0), -xy_right_normal(1), -xy_right_normal(2));
                 }
             }
             if (v_dot > 0.9) {
@@ -1101,32 +1095,32 @@ static void thick_lines_to_indexed_vertex_array(
                 {
                     // Create a sharp corner with an overshot and average the left / right normals.
                     // At the crease angle of 45 degrees, the overshot at the corner will be less than (1-1/cos(PI/8)) = 8.2% over an arc.
-                    Pointf intersection;
+                    Vec2d intersection(Vec2d::Zero());
                     Geometry::ray_ray_intersection(b1_prev, v_prev, a1, v, intersection);
                     a1 = intersection;
                     a2 = 2. * a - intersection;
-                    assert(length(a1.vector_to(a)) < width);
-                    assert(length(a2.vector_to(a)) < width);
+                    assert((a - a1).norm() < width);
+                    assert((a - a2).norm() < width);
                     float *n_left_prev  = volume.vertices_and_normals_interleaved.data() + idx_prev[LEFT ] * 6;
                     float *p_left_prev  = n_left_prev  + 3;
                     float *n_right_prev = volume.vertices_and_normals_interleaved.data() + idx_prev[RIGHT] * 6;
                     float *p_right_prev = n_right_prev + 3;
-                    p_left_prev [0] = float(a2.x);
-                    p_left_prev [1] = float(a2.y);
-                    p_right_prev[0] = float(a1.x);
-                    p_right_prev[1] = float(a1.y);
-                    xy_right_normal.x += n_right_prev[0];
-                    xy_right_normal.y += n_right_prev[1];
-                    xy_right_normal.scale(1. / length(xy_right_normal));
-                    n_left_prev [0] = float(-xy_right_normal.x);
-                    n_left_prev [1] = float(-xy_right_normal.y);
-                    n_right_prev[0] = float( xy_right_normal.x);
-                    n_right_prev[1] = float( xy_right_normal.y);
+                    p_left_prev [0] = float(a2(0));
+                    p_left_prev [1] = float(a2(1));
+                    p_right_prev[0] = float(a1(0));
+                    p_right_prev[1] = float(a1(1));
+                    xy_right_normal(0) += n_right_prev[0];
+                    xy_right_normal(1) += n_right_prev[1];
+                    xy_right_normal *= 1. / xy_right_normal.norm();
+                    n_left_prev [0] = float(-xy_right_normal(0));
+                    n_left_prev [1] = float(-xy_right_normal(1));
+                    n_right_prev[0] = float( xy_right_normal(0));
+                    n_right_prev[1] = float( xy_right_normal(1));
                     idx_a[LEFT ] = idx_prev[LEFT ];
                     idx_a[RIGHT] = idx_prev[RIGHT];
                 }
             }
-            else if (cross(v_prev, v) > 0.) {
+            else if (cross2(v_prev, v) > 0.) {
                 // Right turn. Fill in the right turn wedge.
                 volume.push_triangle(idx_prev[RIGHT], idx_a   [RIGHT],  idx_prev[TOP]   );
                 volume.push_triangle(idx_prev[RIGHT], idx_prev[BOTTOM], idx_a   [RIGHT] );
@@ -1162,20 +1156,20 @@ static void thick_lines_to_indexed_vertex_array(
             idx_b[TOP] = idx_initial[TOP];
         } else {
             idx_b[TOP] = idx_last ++;
-            volume.push_geometry(b.x, b.y, top_z   , 0., 0.,  1.);
+            volume.push_geometry(b(0), b(1), top_z   , 0., 0.,  1.);
         }
 
         if (is_closing && (width == width_initial) && (bottom_z == bottom_z_initial)) {
             idx_b[BOTTOM] = idx_initial[BOTTOM];
         } else {
             idx_b[BOTTOM] = idx_last ++;
-            volume.push_geometry(b.x, b.y, bottom_z, 0., 0., -1.);
+            volume.push_geometry(b(0), b(1), bottom_z, 0., 0., -1.);
         }
         // Generate new vertices for the end of this line segment.
         idx_b[LEFT  ] = idx_last ++;
-        volume.push_geometry(b2.x, b2.y, middle_z, -xy_right_normal.x, -xy_right_normal.y, -xy_right_normal.z);
+        volume.push_geometry(b2(0), b2(1), middle_z, -xy_right_normal(0), -xy_right_normal(1), -xy_right_normal(2));
         idx_b[RIGHT ] = idx_last ++;
-        volume.push_geometry(b1.x, b1.y, middle_z, xy_right_normal.x, xy_right_normal.y, xy_right_normal.z);
+        volume.push_geometry(b1(0), b1(1), middle_z, xy_right_normal(0), xy_right_normal(1), xy_right_normal(2));
 
         memcpy(idx_prev, idx_b, 4 * sizeof(int));
         bottom_z_prev = bottom_z;
@@ -1234,15 +1228,15 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
     int      idx_initial[4] = { -1, -1, -1, -1 };
     int      idx_prev[4] = { -1, -1, -1, -1 };
     double   z_prev = 0.0;
-    Vectorf3 n_right_prev;
-    Vectorf3 n_top_prev;
-    Vectorf3 unit_v_prev;
+    Vec3d n_right_prev = Vec3d::Zero();
+    Vec3d n_top_prev = Vec3d::Zero();
+    Vec3d unit_v_prev = Vec3d::Zero();
     double   width_initial = 0.0;
 
     // new vertices around the line endpoints
     // left, right, top, bottom
-    Pointf3 a[4];
-    Pointf3 b[4];
+    Vec3d a[4] = { Vec3d::Zero(), Vec3d::Zero(), Vec3d::Zero(), Vec3d::Zero() };
+    Vec3d b[4] = { Vec3d::Zero(), Vec3d::Zero(), Vec3d::Zero(), Vec3d::Zero() };
 
     // loop once more in case of closed loops
     size_t lines_end = closed ? (lines.size() + 1) : lines.size();
@@ -1254,29 +1248,29 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
         double height = heights[i];
         double width = widths[i];
 
-        Vectorf3 unit_v = normalize(Vectorf3::new_unscale(line.vector()));
+        Vec3d unit_v = unscale(line.vector()).normalized();
 
-        Vectorf3 n_top;
-        Vectorf3 n_right;
-        Vectorf3 unit_positive_z(0.0, 0.0, 1.0);
+        Vec3d n_top = Vec3d::Zero();
+        Vec3d n_right = Vec3d::Zero();
+        Vec3d unit_positive_z(0.0, 0.0, 1.0);
 
-        if ((line.a.x == line.b.x) && (line.a.y == line.b.y))
+        if ((line.a(0) == line.b(0)) && (line.a(1) == line.b(1)))
         {
             // vertical segment
-            n_right = (line.a.z < line.b.z) ? Vectorf3(-1.0, 0.0, 0.0) : Vectorf3(1.0, 0.0, 0.0);
-            n_top = Vectorf3(0.0, 1.0, 0.0);
+            n_right = (line.a(2) < line.b(2)) ? Vec3d(-1.0, 0.0, 0.0) : Vec3d(1.0, 0.0, 0.0);
+            n_top = Vec3d(0.0, 1.0, 0.0);
         }
         else
         {
             // generic segment
-            n_right = normalize(cross(unit_v, unit_positive_z));
-            n_top = normalize(cross(n_right, unit_v));
+            n_right = unit_v.cross(unit_positive_z).normalized();
+            n_top = n_right.cross(unit_v).normalized();
         }
 
-        Vectorf3 rl_displacement = 0.5 * width * n_right;
-        Vectorf3 tb_displacement = 0.5 * height * n_top;
-        Pointf3 l_a = Pointf3::new_unscale(line.a);
-        Pointf3 l_b = Pointf3::new_unscale(line.b);
+        Vec3d rl_displacement = 0.5 * width * n_right;
+        Vec3d tb_displacement = 0.5 * height * n_top;
+        Vec3d l_a = unscale(line.a);
+        Vec3d l_b = unscale(line.b);
 
         a[RIGHT] = l_a + rl_displacement;
         a[LEFT] = l_a - rl_displacement;
@@ -1287,15 +1281,15 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
         b[TOP] = l_b + tb_displacement;
         b[BOTTOM] = l_b - tb_displacement;
 
-        Vectorf3 n_bottom = -n_top;
-        Vectorf3 n_left = -n_right;
+        Vec3d n_bottom = -n_top;
+        Vec3d n_left = -n_right;
 
         int idx_a[4];
         int idx_b[4];
         int idx_last = int(volume.vertices_and_normals_interleaved.size() / 6);
 
-        bool z_different = (z_prev != l_a.z);
-        z_prev = l_b.z;
+        bool z_different = (z_prev != l_a(2));
+        z_prev = l_b(2);
 
         // Share top / bottom vertices if possible.
         if (ii == 0)
@@ -1329,9 +1323,9 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
         {
             // Continuing a previous segment.
             // Share left / right vertices if possible.
-            double v_dot = dot(unit_v_prev, unit_v);
+            double v_dot = unit_v_prev.dot(unit_v);
             bool is_sharp = v_dot < 0.707; // sin(45 degrees)
-            bool is_right_turn = dot(n_top_prev, cross(unit_v_prev, unit_v)) > 0.0;
+            bool is_right_turn = n_top_prev.dot(unit_v_prev.cross(unit_v)) > 0.0;
 
             if (is_sharp)
             {
@@ -1354,9 +1348,9 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
                 // At the crease angle of 45 degrees, the overshot at the corner will be less than (1-1/cos(PI/8)) = 8.2% over an arc.
 
                 // averages normals
-                Vectorf3 average_n_right = normalize(0.5 * (n_right + n_right_prev));
-                Vectorf3 average_n_left = -average_n_right;
-                Vectorf3 average_rl_displacement = 0.5 * width * average_n_right;
+                Vec3d average_n_right = 0.5 * (n_right + n_right_prev).normalized();
+                Vec3d average_n_left = -average_n_right;
+                Vec3d average_rl_displacement = 0.5 * width * average_n_right;
 
                 // updates vertices around a
                 a[RIGHT] = l_a + average_rl_displacement;
@@ -1364,25 +1358,25 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
 
                 // updates previous line normals
                 float* normal_left_prev = volume.vertices_and_normals_interleaved.data() + idx_prev[LEFT] * 6;
-                normal_left_prev[0] = float(average_n_left.x);
-                normal_left_prev[1] = float(average_n_left.y);
-                normal_left_prev[2] = float(average_n_left.z);
+                normal_left_prev[0] = float(average_n_left(0));
+                normal_left_prev[1] = float(average_n_left(1));
+                normal_left_prev[2] = float(average_n_left(2));
 
                 float* normal_right_prev = volume.vertices_and_normals_interleaved.data() + idx_prev[RIGHT] * 6;
-                normal_right_prev[0] = float(average_n_right.x);
-                normal_right_prev[1] = float(average_n_right.y);
-                normal_right_prev[2] = float(average_n_right.z);
+                normal_right_prev[0] = float(average_n_right(0));
+                normal_right_prev[1] = float(average_n_right(1));
+                normal_right_prev[2] = float(average_n_right(2));
 
                 // updates previous line's vertices around b
                 float* b_left_prev = normal_left_prev + 3;
-                b_left_prev[0] = float(a[LEFT].x);
-                b_left_prev[1] = float(a[LEFT].y);
-                b_left_prev[2] = float(a[LEFT].z);
+                b_left_prev[0] = float(a[LEFT](0));
+                b_left_prev[1] = float(a[LEFT](1));
+                b_left_prev[2] = float(a[LEFT](2));
 
                 float* b_right_prev = normal_right_prev + 3;
-                b_right_prev[0] = float(a[RIGHT].x);
-                b_right_prev[1] = float(a[RIGHT].y);
-                b_right_prev[2] = float(a[RIGHT].z);
+                b_right_prev[0] = float(a[RIGHT](0));
+                b_right_prev[1] = float(a[RIGHT](1));
+                b_right_prev[2] = float(a[RIGHT](2));
 
                 idx_a[LEFT] = idx_prev[LEFT];
                 idx_a[RIGHT] = idx_prev[RIGHT];
@@ -1479,14 +1473,14 @@ static void thick_lines_to_indexed_vertex_array(const Lines3& lines,
 #undef BOTTOM
 }
 
-static void point_to_indexed_vertex_array(const Point3& point,
+static void point_to_indexed_vertex_array(const Vec3crd& point,
     double width,
     double height,
     GLIndexedVertexArray& volume)
 {
     // builds a double piramid, with vertices on the local axes, around the point
 
-    Pointf3 center = Pointf3::new_unscale(point);
+    Vec3d center = unscale(point);
 
     double scale_factor = 1.0;
     double w = scale_factor * width;
@@ -1500,13 +1494,13 @@ static void point_to_indexed_vertex_array(const Point3& point,
         idxs[i] = idx_last + i;
     }
 
-    Vectorf3 displacement_x(w, 0.0, 0.0);
-    Vectorf3 displacement_y(0.0, w, 0.0);
-    Vectorf3 displacement_z(0.0, 0.0, h);
+    Vec3d displacement_x(w, 0.0, 0.0);
+    Vec3d displacement_y(0.0, w, 0.0);
+    Vec3d displacement_z(0.0, 0.0, h);
 
-    Vectorf3 unit_x(1.0, 0.0, 0.0);
-    Vectorf3 unit_y(0.0, 1.0, 0.0);
-    Vectorf3 unit_z(0.0, 0.0, 1.0);
+    Vec3d unit_x(1.0, 0.0, 0.0);
+    Vec3d unit_y(0.0, 1.0, 0.0);
+    Vec3d unit_z(0.0, 0.0, 1.0);
 
     // vertices
     volume.push_geometry(center - displacement_x, -unit_x); // idxs[0]
@@ -1549,7 +1543,7 @@ void _3DScene::thick_lines_to_verts(const Lines3& lines,
     thick_lines_to_indexed_vertex_array(lines, widths, heights, closed, volume.indexed_vertex_array);
 }
 
-static void thick_point_to_verts(const Point3& point,
+static void thick_point_to_verts(const Vec3crd& point,
     double width,
     double height,
     GLVolume& volume)
@@ -1655,7 +1649,7 @@ void _3DScene::polyline3_to_verts(const Polyline3& polyline, double width, doubl
     thick_lines_to_verts(lines, widths, heights, false, volume);
 }
 
-void _3DScene::point3_to_verts(const Point3& point, double width, double height, GLVolume& volume)
+void _3DScene::point3_to_verts(const Vec3crd& point, double width, double height, GLVolume& volume)
 {
     thick_point_to_verts(point, width, height, volume);
 }