frohlich
4f802689f2
Use consistent function names. Implement changes consistently over the different vector sizes. Modified Files: SGVec2.hxx SGVec3.hxx SGVec4.hxx
454 lines
12 KiB
C++
454 lines
12 KiB
C++
// Copyright (C) 2006-2009 Mathias Froehlich - Mathias.Froehlich@web.de
|
|
//
|
|
// This library is free software; you can redistribute it and/or
|
|
// modify it under the terms of the GNU Library General Public
|
|
// License as published by the Free Software Foundation; either
|
|
// version 2 of the License, or (at your option) any later version.
|
|
//
|
|
// This library is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
// Library General Public License for more details.
|
|
//
|
|
// You should have received a copy of the GNU General Public License
|
|
// along with this program; if not, write to the Free Software
|
|
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
//
|
|
|
|
#ifndef SGVec4_H
|
|
#define SGVec4_H
|
|
|
|
#ifndef NO_OPENSCENEGRAPH_INTERFACE
|
|
#include <osg/Vec4f>
|
|
#include <osg/Vec4d>
|
|
#endif
|
|
|
|
/// 4D Vector Class
|
|
template<typename T>
|
|
class SGVec4 {
|
|
public:
|
|
typedef T value_type;
|
|
|
|
/// Default constructor. Does not initialize at all.
|
|
/// If you need them zero initialized, use SGVec4::zeros()
|
|
SGVec4(void)
|
|
{
|
|
/// Initialize with nans in the debug build, that will guarantee to have
|
|
/// a fast uninitialized default constructor in the release but shows up
|
|
/// uninitialized values in the debug build very fast ...
|
|
#ifndef NDEBUG
|
|
for (unsigned i = 0; i < 4; ++i)
|
|
data()[i] = SGLimits<T>::quiet_NaN();
|
|
#endif
|
|
}
|
|
/// Constructor. Initialize by the given values
|
|
SGVec4(T x, T y, T z, T w)
|
|
{ data()[0] = x; data()[1] = y; data()[2] = z; data()[3] = w; }
|
|
/// Constructor. Initialize by the content of a plain array,
|
|
/// make sure it has at least 3 elements
|
|
explicit SGVec4(const T* d)
|
|
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
|
|
template<typename S>
|
|
explicit SGVec4(const SGVec4<S>& d)
|
|
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
|
|
explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
|
|
{ data()[0] = v3[0]; data()[1] = v3[1]; data()[2] = v3[2]; data()[3] = v4; }
|
|
|
|
/// Access by index, the index is unchecked
|
|
const T& operator()(unsigned i) const
|
|
{ return data()[i]; }
|
|
/// Access by index, the index is unchecked
|
|
T& operator()(unsigned i)
|
|
{ return data()[i]; }
|
|
|
|
/// Access raw data by index, the index is unchecked
|
|
const T& operator[](unsigned i) const
|
|
{ return data()[i]; }
|
|
/// Access raw data by index, the index is unchecked
|
|
T& operator[](unsigned i)
|
|
{ return data()[i]; }
|
|
|
|
/// Access the x component
|
|
const T& x(void) const
|
|
{ return data()[0]; }
|
|
/// Access the x component
|
|
T& x(void)
|
|
{ return data()[0]; }
|
|
/// Access the y component
|
|
const T& y(void) const
|
|
{ return data()[1]; }
|
|
/// Access the y component
|
|
T& y(void)
|
|
{ return data()[1]; }
|
|
/// Access the z component
|
|
const T& z(void) const
|
|
{ return data()[2]; }
|
|
/// Access the z component
|
|
T& z(void)
|
|
{ return data()[2]; }
|
|
/// Access the x component
|
|
const T& w(void) const
|
|
{ return data()[3]; }
|
|
/// Access the x component
|
|
T& w(void)
|
|
{ return data()[3]; }
|
|
|
|
/// Readonly raw storage interface
|
|
const T (&data(void) const)[4]
|
|
{ return _data; }
|
|
/// Readonly raw storage interface
|
|
T (&data(void))[4]
|
|
{ return _data; }
|
|
|
|
/// Inplace addition
|
|
SGVec4& operator+=(const SGVec4& v)
|
|
{ data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
|
|
/// Inplace subtraction
|
|
SGVec4& operator-=(const SGVec4& v)
|
|
{ data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
|
|
/// Inplace scalar multiplication
|
|
template<typename S>
|
|
SGVec4& operator*=(S s)
|
|
{ data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
|
|
/// Inplace scalar multiplication by 1/s
|
|
template<typename S>
|
|
SGVec4& operator/=(S s)
|
|
{ return operator*=(1/T(s)); }
|
|
|
|
/// Return an all zero vector
|
|
static SGVec4 zeros(void)
|
|
{ return SGVec4(0, 0, 0, 0); }
|
|
/// Return unit vectors
|
|
static SGVec4 e1(void)
|
|
{ return SGVec4(1, 0, 0, 0); }
|
|
static SGVec4 e2(void)
|
|
{ return SGVec4(0, 1, 0, 0); }
|
|
static SGVec4 e3(void)
|
|
{ return SGVec4(0, 0, 1, 0); }
|
|
static SGVec4 e4(void)
|
|
{ return SGVec4(0, 0, 0, 1); }
|
|
|
|
private:
|
|
T _data[4];
|
|
};
|
|
|
|
/// Unary +, do nothing ...
|
|
template<typename T>
|
|
inline
|
|
const SGVec4<T>&
|
|
operator+(const SGVec4<T>& v)
|
|
{ return v; }
|
|
|
|
/// Unary -, do nearly nothing
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
operator-(const SGVec4<T>& v)
|
|
{ return SGVec4<T>(-v(0), -v(1), -v(2), -v(3)); }
|
|
|
|
/// Binary +
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
operator+(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return SGVec4<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2), v1(3)+v2(3)); }
|
|
|
|
/// Binary -
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
operator-(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return SGVec4<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2), v1(3)-v2(3)); }
|
|
|
|
/// Scalar multiplication
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
operator*(S s, const SGVec4<T>& v)
|
|
{ return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
|
|
|
|
/// Scalar multiplication
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
operator*(const SGVec4<T>& v, S s)
|
|
{ return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
|
|
|
|
/// multiplication as a multiplicator, that is assume that the first vector
|
|
/// represents a 4x4 diagonal matrix with the diagonal elements in the vector.
|
|
/// Then the result is the product of that matrix times the second vector.
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
mult(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return SGVec4<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2), v1(3)*v2(3)); }
|
|
|
|
/// component wise min
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
min(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
|
|
SGMisc<T>::min(v1(1), v2(1)),
|
|
SGMisc<T>::min(v1(2), v2(2)),
|
|
SGMisc<T>::min(v1(3), v2(3)));
|
|
}
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
min(const SGVec4<T>& v, S s)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::min(s, v(0)),
|
|
SGMisc<T>::min(s, v(1)),
|
|
SGMisc<T>::min(s, v(2)),
|
|
SGMisc<T>::min(s, v(3)));
|
|
}
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
min(S s, const SGVec4<T>& v)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::min(s, v(0)),
|
|
SGMisc<T>::min(s, v(1)),
|
|
SGMisc<T>::min(s, v(2)),
|
|
SGMisc<T>::min(s, v(3)));
|
|
}
|
|
|
|
/// component wise max
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
max(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
|
|
SGMisc<T>::max(v1(1), v2(1)),
|
|
SGMisc<T>::max(v1(2), v2(2)),
|
|
SGMisc<T>::max(v1(3), v2(3)));
|
|
}
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
max(const SGVec4<T>& v, S s)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::max(s, v(0)),
|
|
SGMisc<T>::max(s, v(1)),
|
|
SGMisc<T>::max(s, v(2)),
|
|
SGMisc<T>::max(s, v(3)));
|
|
}
|
|
template<typename S, typename T>
|
|
inline
|
|
SGVec4<T>
|
|
max(S s, const SGVec4<T>& v)
|
|
{
|
|
return SGVec4<T>(SGMisc<T>::max(s, v(0)),
|
|
SGMisc<T>::max(s, v(1)),
|
|
SGMisc<T>::max(s, v(2)),
|
|
SGMisc<T>::max(s, v(3)));
|
|
}
|
|
|
|
/// Scalar dot product
|
|
template<typename T>
|
|
inline
|
|
T
|
|
dot(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
|
|
|
|
/// The euclidean norm of the vector, that is what most people call length
|
|
template<typename T>
|
|
inline
|
|
T
|
|
norm(const SGVec4<T>& v)
|
|
{ return sqrt(dot(v, v)); }
|
|
|
|
/// The euclidean norm of the vector, that is what most people call length
|
|
template<typename T>
|
|
inline
|
|
T
|
|
length(const SGVec4<T>& v)
|
|
{ return sqrt(dot(v, v)); }
|
|
|
|
/// The 1-norm of the vector, this one is the fastest length function we
|
|
/// can implement on modern cpu's
|
|
template<typename T>
|
|
inline
|
|
T
|
|
norm1(const SGVec4<T>& v)
|
|
{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
|
|
|
|
/// The inf-norm of the vector
|
|
template<typename T>
|
|
inline
|
|
T
|
|
normI(const SGVec4<T>& v)
|
|
{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
|
|
|
|
/// The euclidean norm of the vector, that is what most people call length
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
normalize(const SGVec4<T>& v)
|
|
{
|
|
T normv = norm(v);
|
|
if (normv <= SGLimits<T>::min())
|
|
return SGVec4<T>::zeros();
|
|
return (1/normv)*v;
|
|
}
|
|
|
|
/// Return true if exactly the same
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator==(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
|
|
|
|
/// Return true if not exactly the same
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return ! (v1 == v2); }
|
|
|
|
/// Return true if smaller, good for putting that into a std::map
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator<(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{
|
|
if (v1(0) < v2(0)) return true;
|
|
else if (v2(0) < v1(0)) return false;
|
|
else if (v1(1) < v2(1)) return true;
|
|
else if (v2(1) < v1(1)) return false;
|
|
else if (v1(2) < v2(2)) return true;
|
|
else if (v2(2) < v1(2)) return false;
|
|
else return (v1(3) < v2(3));
|
|
}
|
|
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator<=(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{
|
|
if (v1(0) < v2(0)) return true;
|
|
else if (v2(0) < v1(0)) return false;
|
|
else if (v1(1) < v2(1)) return true;
|
|
else if (v2(1) < v1(1)) return false;
|
|
else if (v1(2) < v2(2)) return true;
|
|
else if (v2(2) < v1(2)) return false;
|
|
else return (v1(3) <= v2(3));
|
|
}
|
|
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator>(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return operator<(v2, v1); }
|
|
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
operator>=(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return operator<=(v2, v1); }
|
|
|
|
/// Return true if equal to the relative tolerance tol
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol, T atol)
|
|
{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
|
|
|
|
/// Return true if equal to the relative tolerance tol
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol)
|
|
{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
|
|
|
|
/// Return true if about equal to roundoff of the underlying type
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{
|
|
T tol = 100*SGLimits<T>::epsilon();
|
|
return equivalent(v1, v2, tol, tol);
|
|
}
|
|
|
|
/// The euclidean distance of the two vectors
|
|
template<typename T>
|
|
inline
|
|
T
|
|
dist(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ return norm(v1 - v2); }
|
|
|
|
/// The squared euclidean distance of the two vectors
|
|
template<typename T>
|
|
inline
|
|
T
|
|
distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
|
|
{ SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
|
|
|
|
// calculate the projection of u along the direction of d.
|
|
template<typename T>
|
|
inline
|
|
SGVec4<T>
|
|
projection(const SGVec4<T>& u, const SGVec4<T>& d)
|
|
{
|
|
T denom = dot(d, d);
|
|
T ud = dot(u, d);
|
|
if (SGLimits<T>::min() < denom) return u;
|
|
else return d * (dot(u, d) / denom);
|
|
}
|
|
|
|
#ifndef NDEBUG
|
|
template<typename T>
|
|
inline
|
|
bool
|
|
isNaN(const SGVec4<T>& v)
|
|
{
|
|
return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
|
|
|| SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
|
|
}
|
|
#endif
|
|
|
|
/// Output to an ostream
|
|
template<typename char_type, typename traits_type, typename T>
|
|
inline
|
|
std::basic_ostream<char_type, traits_type>&
|
|
operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec4<T>& v)
|
|
{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
|
|
|
|
inline
|
|
SGVec4f
|
|
toVec4f(const SGVec4d& v)
|
|
{ return SGVec4f((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
|
|
|
|
inline
|
|
SGVec4d
|
|
toVec4d(const SGVec4f& v)
|
|
{ return SGVec4d(v(0), v(1), v(2), v(3)); }
|
|
|
|
#ifndef NO_OPENSCENEGRAPH_INTERFACE
|
|
inline
|
|
SGVec4d
|
|
toSG(const osg::Vec4d& v)
|
|
{ return SGVec4d(v[0], v[1], v[2], v[3]); }
|
|
|
|
inline
|
|
SGVec4f
|
|
toSG(const osg::Vec4f& v)
|
|
{ return SGVec4f(v[0], v[1], v[2], v[3]); }
|
|
|
|
inline
|
|
osg::Vec4d
|
|
toOsg(const SGVec4d& v)
|
|
{ return osg::Vec4d(v[0], v[1], v[2], v[3]); }
|
|
|
|
inline
|
|
osg::Vec4f
|
|
toOsg(const SGVec4f& v)
|
|
{ return osg::Vec4f(v[0], v[1], v[2], v[3]); }
|
|
#endif
|
|
|
|
#endif
|