irrlicht/include/vector3d.h

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// Copyright (C) 2002-2007 Nikolaus Gebhardt
// This file is part of the "Irrlicht Engine".
// For conditions of distribution and use, see copyright notice in irrlicht.h
#ifndef __IRR_POINT_3D_H_INCLUDED__
#define __IRR_POINT_3D_H_INCLUDED__
#include "irrMath.h"
namespace irr
{
namespace core
{
//! 3d vector template class with lots of operators and methods.
template <class T>
class vector3d
{
public:
#ifdef IRRLICHT_FAST_MATH
vector3d() {};
#else
vector3d() : X(0), Y(0), Z(0) {};
#endif
vector3d(T nx, T ny, T nz) : X(nx), Y(ny), Z(nz) {};
vector3d(const vector3d<T>& other) : X(other.X), Y(other.Y), Z(other.Z) {};
// operators
vector3d<T> operator-() const { return vector3d<T>(-X, -Y, -Z); }
vector3d<T>& operator=(const vector3d<T>& other) { X = other.X; Y = other.Y; Z = other.Z; return *this; }
vector3d<T> operator+(const vector3d<T>& other) const { return vector3d<T>(X + other.X, Y + other.Y, Z + other.Z); }
vector3d<T>& operator+=(const vector3d<T>& other) { X+=other.X; Y+=other.Y; Z+=other.Z; return *this; }
vector3d<T> operator-(const vector3d<T>& other) const { return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z); }
vector3d<T>& operator-=(const vector3d<T>& other) { X-=other.X; Y-=other.Y; Z-=other.Z; return *this; }
vector3d<T> operator*(const vector3d<T>& other) const { return vector3d<T>(X * other.X, Y * other.Y, Z * other.Z); }
vector3d<T>& operator*=(const vector3d<T>& other) { X*=other.X; Y*=other.Y; Z*=other.Z; return *this; }
vector3d<T> operator*(const T v) const { return vector3d<T>(X * v, Y * v, Z * v); }
vector3d<T>& operator*=(const T v) { X*=v; Y*=v; Z*=v; return *this; }
vector3d<T> operator/(const vector3d<T>& other) const { return vector3d<T>(X / other.X, Y / other.Y, Z / other.Z); }
vector3d<T>& operator/=(const vector3d<T>& other) { X/=other.X; Y/=other.Y; Z/=other.Z; return *this; }
vector3d<T> operator/(const T v) const { T i=(T)1.0/v; return vector3d<T>(X * i, Y * i, Z * i); }
vector3d<T>& operator/=(const T v) { T i=(T)1.0/v; X*=i; Y*=i; Z*=i; return *this; }
bool operator<=(const vector3d<T>&other) const { return X<=other.X && Y<=other.Y && Z<=other.Z;};
bool operator>=(const vector3d<T>&other) const { return X>=other.X && Y>=other.Y && Z>=other.Z;};
bool operator<(const vector3d<T>&other) const { return X<other.X && Y<other.Y && Z<other.Z;};
bool operator>(const vector3d<T>&other) const { return X>other.X && Y>other.Y && Z>other.Z;};
//! use week float compare
//bool operator==(const vector3d<T>& other) const { return other.X==X && other.Y==Y && other.Z==Z; }
//bool operator!=(const vector3d<T>& other) const { return other.X!=X || other.Y!=Y || other.Z!=Z; }
bool operator==(const vector3d<T>& other) const
{
return core::equals(X, other.X) &&
core::equals(Y, other.Y) &&
core::equals(Z, other.Z);
}
bool operator!=(const vector3d<T>& other) const
{
return !core::equals(X, other.X) ||
!core::equals(Y, other.Y) ||
!core::equals(Z, other.Z);
}
// functions
//! returns if this vector equals the other one, taking floating point rounding errors into account
bool equals(const vector3d<T>& other, const f32 tolerance = ROUNDING_ERROR_32 ) const
{
return core::equals(X, other.X, tolerance) &&
core::equals(Y, other.Y, tolerance) &&
core::equals(Z, other.Z, tolerance);
}
void set(const T nx, const T ny, const T nz) {X=nx; Y=ny; Z=nz; }
void set(const vector3d<T>& p) { X=p.X; Y=p.Y; Z=p.Z;}
//! Returns length of the vector.
T getLength() const { return (T) sqrt(X*X + Y*Y + Z*Z); }
//! Returns squared length of the vector.
/** This is useful because it is much faster than
getLength(). */
T getLengthSQ() const { return X*X + Y*Y + Z*Z; }
//! Returns the dot product with another vector.
T dotProduct(const vector3d<T>& other) const
{
return X*other.X + Y*other.Y + Z*other.Z;
}
//! Returns distance from another point.
/** Here, the vector is interpreted as point in 3 dimensional space. */
T getDistanceFrom(const vector3d<T>& other) const
{
return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLength();
}
//! Returns squared distance from another point.
/** Here, the vector is interpreted as point in 3 dimensional space. */
T getDistanceFromSQ(const vector3d<T>& other) const
{
return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLengthSQ();
}
//! Calculates the cross product with another vector
//! \param p: vector to multiply with.
//! \return Crossproduct of this vector with p.
vector3d<T> crossProduct(const vector3d<T>& p) const
{
return vector3d<T>(Y * p.Z - Z * p.Y, Z * p.X - X * p.Z, X * p.Y - Y * p.X);
}
//! Returns if this vector interpreted as a point is on a line between two other points.
/** It is assumed that the point is on the line. */
//! \param begin: Beginning vector to compare between.
//! \param end: Ending vector to compare between.
//! \return True if this vector is between begin and end. False if not.
bool isBetweenPoints(const vector3d<T>& begin, const vector3d<T>& end) const
{
T f = (end - begin).getLengthSQ();
return getDistanceFromSQ(begin) < f &&
getDistanceFromSQ(end) < f;
}
//! Normalizes the vector. In case of the 0 vector the result
//! is still 0, otherwise the length of the vector will be 1.
//! Todo: 64 Bit template doesnt work.. need specialized template
vector3d<T>& normalize()
{
T l = X*X + Y*Y + Z*Z;
if (l == 0)
return *this;
l = (T) reciprocal_squareroot ( (f32)l );
X *= l;
Y *= l;
Z *= l;
return *this;
}
//! Sets the length of the vector to a new value
void setLength(T newlength)
{
normalize();
*this *= newlength;
}
//! Inverts the vector.
void invert()
{
X *= -1.0f;
Y *= -1.0f;
Z *= -1.0f;
}
//! Rotates the vector by a specified number of degrees around the Y
//! axis and the specified center.
//! \param degrees: Number of degrees to rotate around the Y axis.
//! \param center: The center of the rotation.
void rotateXZBy(f64 degrees, const vector3d<T>& center)
{
degrees *= DEGTORAD64;
T cs = (T)cos(degrees);
T sn = (T)sin(degrees);
X -= center.X;
Z -= center.Z;
set(X*cs - Z*sn, Y, X*sn + Z*cs);
X += center.X;
Z += center.Z;
}
//! Rotates the vector by a specified number of degrees around the Z
//! axis and the specified center.
//! \param degrees: Number of degrees to rotate around the Z axis.
//! \param center: The center of the rotation.
void rotateXYBy(f64 degrees, const vector3d<T>& center)
{
degrees *= DEGTORAD64;
T cs = (T)cos(degrees);
T sn = (T)sin(degrees);
X -= center.X;
Y -= center.Y;
set(X*cs - Y*sn, X*sn + Y*cs, Z);
X += center.X;
Y += center.Y;
}
//! Rotates the vector by a specified number of degrees around the X
//! axis and the specified center.
//! \param degrees: Number of degrees to rotate around the X axis.
//! \param center: The center of the rotation.
void rotateYZBy(f64 degrees, const vector3d<T>& center)
{
degrees *= DEGTORAD64;
T cs = (T)cos(degrees);
T sn = (T)sin(degrees);
Z -= center.Z;
Y -= center.Y;
set(X, Y*cs - Z*sn, Y*sn + Z*cs);
Z += center.Z;
Y += center.Y;
}
//! Returns interpolated vector.
/** \param other: other vector to interpolate between
\param d: value between 0.0f and 1.0f. */
vector3d<T> getInterpolated(const vector3d<T>& other, const T d) const
{
const T inv = (T) 1.0 - d;
return vector3d<T>(other.X*inv + X*d, other.Y*inv + Y*d, other.Z*inv + Z*d);
}
//! Returns interpolated vector. ( quadratic )
/** \param v2: second vector to interpolate with
\param v3: third vector to interpolate with
\param d: value between 0.0f and 1.0f. */
vector3d<T> getInterpolated_quadratic(const vector3d<T>& v2, const vector3d<T>& v3, const T d) const
{
// this*(1-d)*(1-d) + 2 * v2 * (1-d) + v3 * d * d;
const T inv = (T) 1.0 - d;
const T mul0 = inv * inv;
const T mul1 = (T) 2.0 * d * inv;
const T mul2 = d * d;
return vector3d<T> ( X * mul0 + v2.X * mul1 + v3.X * mul2,
Y * mul0 + v2.Y * mul1 + v3.Y * mul2,
Z * mul0 + v2.Z * mul1 + v3.Z * mul2);
}
//! Gets the Y and Z rotations of a vector.
/** Thanks to Arras on the Irrlicht forums to add this method.
\return A vector representing the rotation in degrees of
this vector. The Z component of the vector will always be 0. */
vector3d<T> getHorizontalAngle()
{
vector3d<T> angle;
angle.Y = (T)atan2(X, Z);
angle.Y *= (f32)RADTODEG64;
if (angle.Y < 0.0f) angle.Y += 360.0f;
if (angle.Y >= 360.0f) angle.Y -= 360.0f;
f32 z1 = (f32)sqrt(X*X + Z*Z);
angle.X = (T)atan2(z1, Y);
angle.X *= (f32)RADTODEG64;
angle.X -= 90.0f;
if (angle.X < 0.0f) angle.X += 360.0f;
if (angle.X >= 360.0f) angle.X -= 360.0f;
return angle;
}
//! Fills an array of 4 values with the vector data (usually floats).
/** Useful for setting in shader constants for example. The fourth value
will always be 0. */
void getAs4Values(T* array) const
{
array[0] = X;
array[1] = Y;
array[2] = Z;
array[3] = 0;
}
// member variables
T X, Y, Z;
};
//! Typedef for a f32 3d vector.
typedef vector3d<f32> vector3df;
//! Typedef for an integer 3d vector.
typedef vector3d<s32> vector3di;
template<class S, class T> vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; }
} // end namespace core
} // end namespace irr
#endif