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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// Copyright 2010 Michael Smith, all rights reserved. |
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// 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. |
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// Derived closely from: |
/**************************************** |
* 3D Vector Classes |
* By Bill Perone (billperone@yahoo.com) |
* Original: 9-16-2002 |
* Revised: 19-11-2003 |
* 11-12-2003 |
* 18-12-2003 |
* 06-06-2004 |
* |
* � 2003, This code is provided "as is" and you can use it freely as long as |
* credit is given to Bill Perone in the application it is used in |
* |
* Notes: |
* if a*b = 0 then a & b are orthogonal |
* a%b = -b%a |
* a*(b%c) = (a%b)*c |
* a%b = a(cast to matrix)*b |
* (a%b).length() = area of parallelogram formed by a & b |
* (a%b).length() = a.length()*b.length() * sin(angle between a & b) |
* (a%b).length() = 0 if angle between a & b = 0 or a.length() = 0 or b.length() = 0 |
* a * (b%c) = volume of parallelpiped formed by a, b, c |
* vector triple product: a%(b%c) = b*(a*c) - c*(a*b) |
* scalar triple product: a*(b%c) = c*(a%b) = b*(c%a) |
* vector quadruple product: (a%b)*(c%d) = (a*c)*(b*d) - (a*d)*(b*c) |
* if a is unit vector along b then a%b = -b%a = -b(cast to matrix)*a = 0 |
* vectors a1...an are linearly dependant if there exists a vector of scalars (b) where a1*b1 + ... + an*bn = 0 |
* or if the matrix (A) * b = 0 |
* |
****************************************/ |
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#ifndef VECTOR3_H |
#define VECTOR3_H |
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#include <math.h> |
#include <string.h> |
#include "Constants.h" |
#include "Vector3.h" |
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template <typename T> |
class Vector3 |
{ |
public: |
T x, y, z; |
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// trivial ctor |
Vector3<T>() { x = y = z = 0; } |
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// setting ctor |
Vector3<T>(const T x0, const T y0, const T z0): x(x0), y(y0), z(z0) {} |
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// function call operator |
void operator ()(const T x0, const T y0, const T z0) |
{ x= x0; y= y0; z= z0; } |
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// indexing operator |
T operator [](uint8_t i) |
{ switch(i) { |
case 0: return x; |
case 1: return y; |
case 2: return z; |
default: return 0; |
} |
} |
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// test for equality |
bool operator==(const Vector3<T> &v) |
{ return (x==v.x && y==v.y && z==v.z); } |
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// test for inequality |
bool operator!=(const Vector3<T> &v) |
{ return (x!=v.x || y!=v.y || z!=v.z); } |
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// negation |
Vector3<T> operator -(void) const |
{ return Vector3<T>(-x,-y,-z); } |
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// addition |
Vector3<T> operator +(const Vector3<T> &v) const |
{ return Vector3<T>(x+v.x, y+v.y, z+v.z); } |
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// subtraction |
Vector3<T> operator -(const Vector3<T> &v) const |
{ return Vector3<T>(x-v.x, y-v.y, z-v.z); } |
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// uniform scaling |
Vector3<T> operator *(const T num) const |
{ |
Vector3<T> temp(*this); |
return temp*=num; |
} |
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// uniform scaling |
Vector3<T> operator /(const T num) const |
{ |
Vector3<T> temp(*this); |
return temp/=num; |
} |
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// addition |
Vector3<T> &operator +=(const Vector3<T> &v) |
{ |
x+=v.x; y+=v.y; z+=v.z; |
return *this; |
} |
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// subtraction |
Vector3<T> &operator -=(const Vector3<T> &v) |
{ |
x-=v.x; y-=v.y; z-=v.z; |
return *this; |
} |
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// uniform scaling |
Vector3<T> &operator *=(const T num) |
{ |
x*=num; y*=num; z*=num; |
return *this; |
} |
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// uniform scaling |
Vector3<T> &operator /=(const T num) |
{ |
x/=num; y/=num; z/=num; |
return *this; |
} |
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// dot product |
T operator *(const Vector3<T> &v) const |
{ return x*v.x + y*v.y + z*v.z; } |
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// cross product |
Vector3<T> operator %(const Vector3<T> &v) const |
{ |
Vector3<T> temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x); |
return temp; |
} |
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// gets the length of this vector squared |
T length_squared() const |
{ return (T)(*this * *this); } |
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// gets the length of this vector |
float length() const |
{ return (T)sqrt(*this * *this); } |
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// normalizes this vector |
void normalize() |
{ *this/=length(); } |
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// zero the vector |
void zero() |
{ x = y = z = 0.0; } |
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// returns the normalized version of this vector |
Vector3<T> normalized() const |
{ return *this/length(); } |
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// reflects this vector about n |
void reflect(const Vector3<T> &n) |
{ |
Vector3<T> orig(*this); |
project(n); |
*this= *this*2 - orig; |
} |
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// projects this vector onto v |
void project(const Vector3<T> &v) |
{ *this= v * (*this * v)/(v*v); } |
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// returns this vector projected onto v |
Vector3<T> projected(const Vector3<T> &v) |
{ return v * (*this * v)/(v*v); } |
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// computes the angle between 2 arbitrary vectors |
T angle(const Vector3<T> &v1, const Vector3<T> &v2) |
{ return (T)acosf((v1*v2) / (v1.length()*v2.length())); } |
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// computes the angle between 2 arbitrary normalized vectors |
T angle_normalized(const Vector3<T> &v1, const Vector3<T> &v2) |
{ return (T)acosf(v1*v2); } |
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// check if any elements are NAN |
bool is_nan(void) |
{ return isnan(x) || isnan(y) || isnan(z); } |
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// check if any elements are infinity |
bool is_inf(void) |
{ return isinf(x) || isinf(y) || isinf(z); } |
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// rotate by a standard rotation |
void rotate(enum Rotation rotation); |
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}; |
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typedef Vector3<int16_t> Vector3i; |
typedef Vector3<uint16_t> Vector3ui; |
typedef Vector3<int32_t> Vector3l; |
typedef Vector3<uint32_t> Vector3ul; |
typedef Vector3<float> Vector3f; |
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#endif // VECTOR3_H |