336 lines
12 KiB
C++
336 lines
12 KiB
C++
// Copyright (C) 2002-2008 Nikolaus Gebhardt
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// This file is part of the "Irrlicht Engine".
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// For conditions of distribution and use, see copyright notice in irrlicht.h
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#ifndef __IRR_POINT_3D_H_INCLUDED__
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#define __IRR_POINT_3D_H_INCLUDED__
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#include "irrMath.h"
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namespace irr
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{
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namespace core
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{
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//! 3d vector template class with lots of operators and methods.
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template <class T>
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class vector3d
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{
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public:
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//! Default constructor (null vector).
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vector3d() : X(0), Y(0), Z(0) {}
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//! Constructor with three different values
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vector3d(T nx, T ny, T nz) : X(nx), Y(ny), Z(nz) {}
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//! Constructor with the same value for all elements
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explicit vector3d(T n) : X(n), Y(n), Z(n) {}
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//! Copy constructor
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vector3d(const vector3d<T>& other) : X(other.X), Y(other.Y), Z(other.Z) {}
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// operators
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vector3d<T> operator-() const { return vector3d<T>(-X, -Y, -Z); }
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vector3d<T>& operator=(const vector3d<T>& other) { X = other.X; Y = other.Y; Z = other.Z; return *this; }
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vector3d<T> operator+(const vector3d<T>& other) const { return vector3d<T>(X + other.X, Y + other.Y, Z + other.Z); }
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vector3d<T>& operator+=(const vector3d<T>& other) { X+=other.X; Y+=other.Y; Z+=other.Z; return *this; }
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vector3d<T> operator+(const T val) const { return vector3d<T>(X + val, Y + val, Z + val); }
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vector3d<T>& operator+=(const T val) { X+=val; Y+=val; Z+=val; return *this; }
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vector3d<T> operator-(const vector3d<T>& other) const { return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z); }
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vector3d<T>& operator-=(const vector3d<T>& other) { X-=other.X; Y-=other.Y; Z-=other.Z; return *this; }
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vector3d<T> operator-(const T val) const { return vector3d<T>(X - val, Y - val, Z - val); }
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vector3d<T>& operator-=(const T val) { X-=val; Y-=val; Z-=val; return *this; }
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vector3d<T> operator*(const vector3d<T>& other) const { return vector3d<T>(X * other.X, Y * other.Y, Z * other.Z); }
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vector3d<T>& operator*=(const vector3d<T>& other) { X*=other.X; Y*=other.Y; Z*=other.Z; return *this; }
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vector3d<T> operator*(const T v) const { return vector3d<T>(X * v, Y * v, Z * v); }
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vector3d<T>& operator*=(const T v) { X*=v; Y*=v; Z*=v; return *this; }
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vector3d<T> operator/(const vector3d<T>& other) const { return vector3d<T>(X / other.X, Y / other.Y, Z / other.Z); }
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vector3d<T>& operator/=(const vector3d<T>& other) { X/=other.X; Y/=other.Y; Z/=other.Z; return *this; }
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vector3d<T> operator/(const T v) const { T i=(T)1.0/v; return vector3d<T>(X * i, Y * i, Z * i); }
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vector3d<T>& operator/=(const T v) { T i=(T)1.0/v; X*=i; Y*=i; Z*=i; return *this; }
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bool operator<=(const vector3d<T>&other) const { return X<=other.X && Y<=other.Y && Z<=other.Z;}
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bool operator>=(const vector3d<T>&other) const { return X>=other.X && Y>=other.Y && Z>=other.Z;}
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bool operator<(const vector3d<T>&other) const { return X<other.X && Y<other.Y && Z<other.Z;}
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bool operator>(const vector3d<T>&other) const { return X>other.X && Y>other.Y && Z>other.Z;}
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//! use weak float compare
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bool operator==(const vector3d<T>& other) const
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{
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return this->equals(other);
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}
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bool operator!=(const vector3d<T>& other) const
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{
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return !this->equals(other);
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}
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// functions
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//! returns if this vector equals the other one, taking floating point rounding errors into account
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bool equals(const vector3d<T>& other, const T tolerance = (T)ROUNDING_ERROR_32 ) const
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{
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return core::equals(X, other.X, tolerance) &&
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core::equals(Y, other.Y, tolerance) &&
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core::equals(Z, other.Z, tolerance);
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}
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vector3d<T>& set(const T nx, const T ny, const T nz) {X=nx; Y=ny; Z=nz; return *this;}
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vector3d<T>& set(const vector3d<T>& p) {X=p.X; Y=p.Y; Z=p.Z;return *this;}
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//! Get length of the vector.
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T getLength() const { return (T) sqrt((f64)(X*X + Y*Y + Z*Z)); }
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//! Get squared length of the vector.
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/** This is useful because it is much faster than getLength().
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\return Squared length of the vector. */
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T getLengthSQ() const { return X*X + Y*Y + Z*Z; }
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//! Get the dot product with another vector.
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T dotProduct(const vector3d<T>& other) const
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{
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return X*other.X + Y*other.Y + Z*other.Z;
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}
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//! Get distance from another point.
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/** Here, the vector is interpreted as point in 3 dimensional space. */
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T getDistanceFrom(const vector3d<T>& other) const
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{
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return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLength();
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}
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//! Returns squared distance from another point.
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/** Here, the vector is interpreted as point in 3 dimensional space. */
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T getDistanceFromSQ(const vector3d<T>& other) const
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{
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return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLengthSQ();
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}
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//! Calculates the cross product with another vector.
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/** \param p Vector to multiply with.
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\return Crossproduct of this vector with p. */
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vector3d<T> crossProduct(const vector3d<T>& p) const
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{
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return vector3d<T>(Y * p.Z - Z * p.Y, Z * p.X - X * p.Z, X * p.Y - Y * p.X);
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}
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//! Returns if this vector interpreted as a point is on a line between two other points.
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/** It is assumed that the point is on the line.
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\param begin Beginning vector to compare between.
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\param end Ending vector to compare between.
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\return True if this vector is between begin and end, false if not. */
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bool isBetweenPoints(const vector3d<T>& begin, const vector3d<T>& end) const
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{
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const T f = (end - begin).getLengthSQ();
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return getDistanceFromSQ(begin) <= f &&
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getDistanceFromSQ(end) <= f;
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}
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//! Normalizes the vector.
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/** In case of the 0 vector the result is still 0, otherwise
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the length of the vector will be 1.
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TODO: 64 Bit template doesnt work.. need specialized template
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\return Reference to this vector after normalization. */
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vector3d<T>& normalize()
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{
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T l = X*X + Y*Y + Z*Z;
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if (l == 0)
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return *this;
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l = (T) reciprocal_squareroot ( (f32)l );
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X *= l;
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Y *= l;
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Z *= l;
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return *this;
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}
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//! Sets the length of the vector to a new value
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vector3d<T>& setLength(T newlength)
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{
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normalize();
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return (*this *= newlength);
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}
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//! Inverts the vector.
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vector3d<T>& invert()
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{
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X *= -1.0f;
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Y *= -1.0f;
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Z *= -1.0f;
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return *this;
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}
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//! Rotates the vector by a specified number of degrees around the Y axis and the specified center.
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/** \param degrees Number of degrees to rotate around the Y axis.
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\param center The center of the rotation. */
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void rotateXZBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
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{
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degrees *= DEGTORAD64;
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T cs = (T)cos(degrees);
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T sn = (T)sin(degrees);
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X -= center.X;
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Z -= center.Z;
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set(X*cs - Z*sn, Y, X*sn + Z*cs);
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X += center.X;
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Z += center.Z;
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}
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//! Rotates the vector by a specified number of degrees around the Z axis and the specified center.
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/** \param degrees: Number of degrees to rotate around the Z axis.
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\param center: The center of the rotation. */
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void rotateXYBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
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{
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degrees *= DEGTORAD64;
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T cs = (T)cos(degrees);
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T sn = (T)sin(degrees);
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X -= center.X;
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Y -= center.Y;
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set(X*cs - Y*sn, X*sn + Y*cs, Z);
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X += center.X;
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Y += center.Y;
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}
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//! Rotates the vector by a specified number of degrees around the X axis and the specified center.
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/** \param degrees: Number of degrees to rotate around the X axis.
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\param center: The center of the rotation. */
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void rotateYZBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
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{
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degrees *= DEGTORAD64;
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T cs = (T)cos(degrees);
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T sn = (T)sin(degrees);
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Z -= center.Z;
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Y -= center.Y;
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set(X, Y*cs - Z*sn, Y*sn + Z*cs);
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Z += center.Z;
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Y += center.Y;
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}
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//! Returns interpolated vector.
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/** \param other Other vector to interpolate between
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\param d Value between 0.0f and 1.0f. */
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vector3d<T> getInterpolated(const vector3d<T>& other, const T d) const
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{
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const T inv = (T) 1.0 - d;
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return vector3d<T>(other.X*inv + X*d, other.Y*inv + Y*d, other.Z*inv + Z*d);
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}
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//! Returns interpolated vector. ( quadratic )
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/** \param v2 Second vector to interpolate with
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\param v3 Third vector to interpolate with
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\param d Value between 0.0f and 1.0f. */
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vector3d<T> getInterpolated_quadratic(const vector3d<T>& v2, const vector3d<T>& v3, const T d) const
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{
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// this*(1-d)*(1-d) + 2 * v2 * (1-d) + v3 * d * d;
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const T inv = (T) 1.0 - d;
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const T mul0 = inv * inv;
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const T mul1 = (T) 2.0 * d * inv;
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const T mul2 = d * d;
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return vector3d<T> ( X * mul0 + v2.X * mul1 + v3.X * mul2,
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Y * mul0 + v2.Y * mul1 + v3.Y * mul2,
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Z * mul0 + v2.Z * mul1 + v3.Z * mul2);
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}
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//! Gets the Y and Z rotations of a vector.
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/** Thanks to Arras on the Irrlicht forums for this method.
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\return A vector representing the rotation in degrees of
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this vector. The Z component of the vector will always be 0. */
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vector3d<T> getHorizontalAngle() const
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{
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vector3d<T> angle;
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angle.Y = (T)(atan2(X, Z) * RADTODEG64);
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if (angle.Y < 0.0f)
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angle.Y += 360.0f;
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if (angle.Y >= 360.0f)
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angle.Y -= 360.0f;
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const f64 z1 = sqrt(X*X + Z*Z);
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angle.X = (T)(atan2(z1, (f64)Y) * RADTODEG64 - 90.0);
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if (angle.X < 0.0f)
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angle.X += 360.0f;
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if (angle.X >= 360.0f)
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angle.X -= 360.0f;
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return angle;
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}
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//! Builds a direction vector from (this) rotation vector.
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/** This vector is assumed to hold 3 Euler angle rotations, in degrees.
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The implementation performs the same calculations as using a matrix to
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do the rotation.
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\param[in] forwards The direction representing "forwards" which will be
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rotated by this vector. If you do not provide a
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direction, then the positive Z axis (0, 0, 1) will
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be assumed to be fowards.
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\return A vector calculated by rotating the forwards direction by
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the 3 Euler angles that this vector is assumed to represent. */
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vector3d<T> rotationToDirection(const vector3d<T> & forwards = vector3d<T>(0, 0, 1)) const
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{
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const f64 cr = cos( core::DEGTORAD64 * X );
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const f64 sr = sin( core::DEGTORAD64 * X );
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const f64 cp = cos( core::DEGTORAD64 * Y );
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const f64 sp = sin( core::DEGTORAD64 * Y );
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const f64 cy = cos( core::DEGTORAD64 * Z );
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const f64 sy = sin( core::DEGTORAD64 * Z );
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const f64 srsp = sr*sp;
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const f64 crsp = cr*sp;
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const f64 pseudoMatrix[] = {
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( cp*cy ), ( cp*sy ), ( -sp ),
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( srsp*cy-cr*sy ), ( srsp*sy+cr*cy ), ( sr*cp ),
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( crsp*cy+sr*sy ), ( crsp*sy-sr*cy ), ( cr*cp )};
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return vector3d<T>(
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(T)(forwards.X * pseudoMatrix[0] +
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forwards.Y * pseudoMatrix[3] +
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forwards.Z * pseudoMatrix[6]),
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(T)(forwards.X * pseudoMatrix[1] +
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forwards.Y * pseudoMatrix[4] +
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forwards.Z * pseudoMatrix[7]),
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(T)(forwards.X * pseudoMatrix[2] +
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forwards.Y * pseudoMatrix[5] +
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forwards.Z * pseudoMatrix[8]));
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}
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//! Fills an array of 4 values with the vector data (usually floats).
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/** Useful for setting in shader constants for example. The fourth value
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will always be 0. */
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void getAs4Values(T* array) const
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{
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array[0] = X;
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array[1] = Y;
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array[2] = Z;
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array[3] = 0;
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}
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//! X coordinate of the vector
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T X;
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//! Y coordinate of the vector
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T Y;
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//! Z coordinate of the vector
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T Z;
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};
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//! Typedef for a f32 3d vector.
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typedef vector3d<f32> vector3df;
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//! Typedef for an integer 3d vector.
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typedef vector3d<s32> vector3di;
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//! Function multiplying a scalar and a vector component-wise.
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template<class S, class T>
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vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; }
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} // end namespace core
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} // end namespace irr
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#endif
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