From 1531bf4abb027bbba57ff512d1930aec63db3c0d Mon Sep 17 00:00:00 2001 From: Matthew Blanchard Date: Sat, 19 Dec 2015 23:49:03 -0500 Subject: [PATCH] Refactored the vec3 class. --- modules/vec3.lua | 322 ++++++++++++++--------------------------------- 1 file changed, 91 insertions(+), 231 deletions(-) diff --git a/modules/vec3.lua b/modules/vec3.lua index 43e1b92..312ae91 100644 --- a/modules/vec3.lua +++ b/modules/vec3.lua @@ -1,86 +1,50 @@ ---[[ -Copyright (c) 2010-2013 Matthias Richter +local sqrt= math.sqrt +local ffi = require "ffi" -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: +ffi.cdef[[ +typedef struct { + double x, y, z; +} cpml_vec3; +]] -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. +local vec3 = {} +local cpml_vec3 = ffi.typeof("cpml_vec3") +vec3.new = cpml_vec3 -Except as contained in this notice, the name(s) of the above copyright holders -shall not be used in advertising or otherwise to promote the sale, use or -other dealings in this Software without prior written authorization. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. -]]-- - --- Modified to include 3D capabilities by Bill Shillito, April 2014 --- Various bug fixes by Colby Klein, October 2014 - ---- 3 dimensional vectors. --- @module vec3 --- @alias vector - -local assert = assert -local sqrt, cos, sin, atan2, acos = math.sqrt, math.cos, math.sin, math.atan2, math.acos - -local vector = {} -vector.__index = vector - ---- Instance a new vec3. --- @param x X value, table containing 3 elements, or another vector. --- @param y Y value --- @param z Z value --- @return vec3 -local function new(x,y,z) - -- allow construction via vec3(a, b, c), vec3 { a, b, c } or vec3 { x = a, y = b, z = c } - if type(x) == "table" then - return setmetatable({x=x.x or x[1] or 0, y=x.y or x[2] or 0, z=x.z or x[3] or 0}, vector) - end - return setmetatable({x = x or 0, y = y or 0, z = z or 0}, vector) +function vec3.clone(a) + ffi.copy(vec3.new(), a, ffi.sizeof(out)) end -local function isvector(v) - return getmetatable(v) == vector or type(v.x and v.y and v.z) == "number" +function vec3.add(out, a, b) + out.x = a.x + b.x + out.y = a.y + b.y + out.z = a.z + b.z end -local zero = new(0,0,0) -local unit_x = new(1,0,0) -local unit_y = new(0,1,0) -local unit_z = new(0,0,1) - ---- Create a new vector containing the same data. --- @return vec3 -function vector:clone() - return new(self.x, self.y, self.z) +function vec3.sub(out, a, b) + out.x = a.x - b.x + out.y = a.y - b.y + out.z = a.z - b.z end ---- Unpack the vector into its components. --- @return number --- @return number --- @return number -function vector:unpack() - return self.x, self.y, self.z +function vec3.mul(out, a, b) + out.x = a.x * b + out.y = a.y * b + out.z = a.z * b end -function vector:__tostring() - return string.format("(%+0.3f,%+0.3f,%+0.3f)", self.x, self.y, self.z) -end - -function vector.__unm(a) - return new(-a.x, -a.y, -a.z) +<<<<<<< HEAD +function vec3.div(out, a, b) + out.x = a.x / b + out.y = a.y / b + out.z = a.z / b end +function vec3.cross(out, a, b) + out.x = a.y*b.z - a.z*b.y + out.y = a.z*b.x - a.x*b.z + out.z = a.x*b.y - a.y*b.x +======= function vector.__add(a,b) if type(a) == "number" then return new(a+b.x, a+b.y, a+b.z) @@ -127,190 +91,86 @@ end function vector.__eq(a,b) return a.x == b.x and a.y == b.y and a.z == b.z +>>>>>>> refs/remotes/excessive/master end -function vector.__lt(a,b) - -- This is a lexicographical order. - return a.x < b.x or (a.x == b.x and a.y < b.y) or (a.x == b.x and a.y == b.y and a.z < b.z) +function vec3.dot(a, b) + return a.x * b.x + a.y * b.y + a.z * b.z end -function vector.__le(a,b) - -- This is a lexicographical order. - return a.x <= b.x and a.y <= b.y and a.z <= b.z +function vec3.normalize(out, a) + local l = vec3.len(a) + out.x, out.y, out.z = a.x / l, a.y / l, a.z / l end ---- Dot product. --- @param a first vec3 to dot with --- @param b second vec3 to dot with --- @return number -function vector.dot(a,b) - assert(isvector(a) and isvector(b), "dot: wrong argument types ( expected)") - return a.x*b.x + a.y*b.y + a.z*b.z +function vec3.len2(a) + return a.x * a.x + a.y * a.y + a.z * a.z end -function vector:len2() - return self.x * self.x + self.y * self.y + self.z * self.z +function vec3.len(a) + return sqrt(a.x * a.x + a.y * a.y + a.z * a.z) end ---- Vector length/magnitude. --- @return number -function vector:len() - return sqrt(self.x * self.x + self.y * self.y + self.z * self.z) -end - ---- Distance between two points. --- @param a first point --- @param b second point --- @return number -function vector.dist(a, b) - assert(isvector(a) and isvector(b), "dist: wrong argument types ( expected)") +function vec3.dist(a, b) local dx = a.x - b.x local dy = a.y - b.y local dz = a.z - b.z return sqrt(dx * dx + dy * dy + dz * dz) end ---- Squared distance between two points. --- @param a first point --- @param b second point --- @return number -function vector.dist2(a, b) - assert(isvector(a) and isvector(b), "dist: wrong argument types ( expected)") +function vec3.dist2(a, b) local dx = a.x - b.x local dy = a.y - b.y local dz = a.z - b.z return (dx * dx + dy * dy + dz * dz) end ---- Normalize vector. --- Scales the vector in place such that its length is 1. --- @return vec3 -function vector:normalize_inplace() - local l = self:len() - if l > 0 then - self.x, self.y, self.z = self.x / l, self.y / l, self.z / l - end - return self -end ---- Normalize vector. --- Returns a copy of the vector scaled such that its length is 1. --- @return vec3 -function vector:normalize() - return self:clone():normalize_inplace() -end - ---- Rotate vector about an axis. --- @param phi Amount to rotate, in radians --- @param axis Axis to rotate by --- @return vec3 -function vector:rotate(phi, axis) - if axis == nil then return self end - - local u = axis:normalize() or Vector(0,0,1) -- default is to rotate in the xy plane - local c, s = cos(phi), sin(phi) - - -- Calculate generalized rotation matrix - local m1 = new((c + u.x * u.x * (1-c)), (u.x * u.y * (1-c) - u.z * s), (u.x * u.z * (1-c) + u.y * s)) - local m2 = new((u.y * u.x * (1-c) + u.z * s), (c + u.y * u.y * (1-c)), (u.y * u.z * (1-c) - u.x * s)) - local m3 = new((u.z * u.x * (1-c) - u.y * s), (u.z * u.y * (1-c) + u.x * s), (c + u.z * u.z * (1-c)) ) - - -- Return rotated vector - return new( m1:dot(self), m2:dot(self), m3:dot(self) ) -end - -function vector:rotate_inplace(phi, axis) - self = self:rotated(phi, axis) -end - -function vector:perpendicular() - return new(-self.y, self.x, 0) -end - -function vector:project_on(v) - assert(isvector(v), "invalid argument: cannot project vector on " .. type(v)) - -- (self * v) * v / v:len2() - local s = (self.x * v.x + self.y * v.y + self.z * v.z) / (v.x * v.x + v.y * v.y + v.z * v.z) - return new(s * v.x, s * v.y, s * v.z) -end - -function vector:project_from(v) - assert(isvector(v), "invalid argument: cannot project vector on " .. type(v)) - -- Does the reverse of projectOn. - local s = (v.x * v.x + v.y * v.y + v.z * v.z) / (self.x * v.x + self.y * v.y + self.z * v.z) - return new(s * v.x, s * v.y, s * v.z) -end - -function vector:mirror_on(v) - assert(isvector(v), "invalid argument: cannot mirror vector on " .. type(v)) - local s = 2 * (self.x * v.x + self.y * v.y + self.z * v.z) / (v.x * v.x + v.y * v.y + v.z * v.z) - return new(s * v.x - self.x, s * v.y - self.y, s * v.z - self.z) -end - ---- Cross product. --- @param v vec3 to cross with --- @return vec3 -function vector:cross(v) - assert(isvector(v), "cross: wrong argument types ( expected)") - return new(self.y*v.z - self.z*v.y, self.z*v.x - self.x*v.z, self.x*v.y - self.y*v.x) -end - --- @return vec3 -function vector:trim_inplace(maxLen) - -- ref.: http://blog.signalsondisplay.com/?p=336 - local s = maxLen * maxLen / self:len2() - s = (s > 1 and 1) or math.sqrt(s) - self.x, self.y, self.z = self.x * s, self.y * s, self.z * s - return self -end - --- @return vec3 -function vector:trim(maxLen) - return self:clone():trim_inplace(maxLen) -end - --- @return number -function vector:angle_to(other) - -- Only makes sense in 2D. - if other then - return atan2(self.y-other.y, self.x-other.x) - end - return atan2(self.y, self.x) -end - --- @return number -function vector:angle_between(other) - if other then - return acos(self:dot(other) / (self:len() * other:len())) - end - return 0 -end - --- @return vec3 -function vector:orientation_to_direction(orientation) - orientation = orientation or new(0, 1, 0) - return orientation - :rotated(self.z, unit_z) - :rotated(self.y, unit_y) - :rotated(self.x, unit_x) -end - --- http://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/ -function vector.lerp(a, b, s) +function vec3.lerp(a, b, s) return a + s * (b - a) end --- the module -return setmetatable( - { - new = new, - lerp = lerp, - isvector = isvector, - zero = zero, - unit_x = unit_x, - unit_y = unit_y, - unit_z = unit_z - }, { - __call = function(_, ...) return new(...) end - } -) + +function vec3.unpack(a) + return a.x, a.y, a.z +end + + +function vec3.tostring(a) + return string.format("(%+0.3f,%+0.3f,%+0.3f)", a.x, a.y, a.z) +end + +local vec3_mt = {} + +vec3_mt.__index = vec3 +vec3_mt.__call = vec3.new +vec3_mt.__tostring = vec3.tostring + +function vec3_mt.__unm(a) + return vec3.new(-a.x, -a.y, -a.z) +end + +function vec3_mt.__eq(a,b) + return a.x == b.x and a.y == b.y and a.z == b.z +end + +function vec3_mt.__add(a, b) + local temp = vec3.new() + vec3.add(temp, a, b) + return temp +end + +function vec3_mt.__mul(a, b) + local temp = vec3.new() + vec3.mul(temp, a, b) + return temp +end + +function vec3_mt.__div(a, b) + local temp = vec3.new() + vec3.div(temp, a, b) + return temp +end + +ffi.metatype(cpml_vec3, vec3_mt) +return setmetatable({}, vec3_mt)