138 lines
3.8 KiB
C++
138 lines
3.8 KiB
C++
// vector.cxx -- additional vector routines
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//
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// Written by Curtis Olson, started December 1997.
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//
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// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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//
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Library General Public
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// License as published by the Free Software Foundation; either
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// version 2 of the License, or (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Library General Public License for more details.
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//
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// You should have received a copy of the GNU Library General Public
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// License along with this library; if not, write to the
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// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
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// Boston, MA 02111-1307, USA.
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//
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// $Id$
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#include <math.h>
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#include <stdio.h>
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// #include <Include/fg_types.h>
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#include "vector.hxx"
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// Given a point p, and a line through p0 with direction vector d,
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// find the closest point (p1) on the line
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void sgClosestPointToLine( sgVec3 p1, const sgVec3 p, const sgVec3 p0,
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const sgVec3 d ) {
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sgVec3 u, u1;
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// u = p - p0
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sgSubVec3(u, p, p0);
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// calculate the projection, u1, of u along d.
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// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
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sgScaleVec3( u1, d, sgScalarProductVec3(u,d) / sgScalarProductVec3(d,d) );
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// calculate the point p1 along the line that is closest to p
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// p0 = p1 + u1
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sgAddVec3(p1, p0, u1);
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}
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// Given a point p, and a line through p0 with direction vector d,
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// find the closest point (p1) on the line
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void sgdClosestPointToLine( sgdVec3 p1, const sgdVec3 p, const sgdVec3 p0,
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const sgdVec3 d ) {
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sgdVec3 u, u1;
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// u = p - p0
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sgdSubVec3(u, p, p0);
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// calculate the projection, u1, of u along d.
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// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
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double ud = sgdScalarProductVec3(u, d);
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double dd = sgdScalarProductVec3(d, d);
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double tmp = ud / dd;
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sgdScaleVec3(u1, d, tmp);;
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// calculate the point p1 along the line that is closest to p
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// p0 = p1 + u1
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sgdAddVec3(p1, p0, u1);
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}
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// Given a point p, and a line through p0 with direction vector d,
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// find the shortest distance (squared) from the point to the line
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double sgClosestPointToLineDistSquared( const sgVec3 p, const sgVec3 p0,
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const sgVec3 d ) {
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sgVec3 u, u1, v;
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// u = p - p0
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sgSubVec3(u, p, p0);
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// calculate the projection, u1, of u along d.
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// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
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sgScaleVec3( u1, d, sgScalarProductVec3(u,d) / sgScalarProductVec3(d,d) );
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// v = u - u1 = vector from closest point on line, p1, to the
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// original point, p.
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sgSubVec3(v, u, u1);
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return ( sgScalarProductVec3(v, v) );
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}
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// Given a point p, and a line through p0 with direction vector d,
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// find the shortest distance (squared) from the point to the line
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double sgdClosestPointToLineDistSquared( const sgdVec3 p, const sgdVec3 p0,
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const sgdVec3 d ) {
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sgdVec3 u, u1, v;
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// u = p - p0
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sgdSubVec3(u, p, p0);
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// calculate the projection, u1, of u along d.
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// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
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double ud = sgdScalarProductVec3(u, d);
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double dd = sgdScalarProductVec3(d, d);
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double tmp = ud / dd;
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sgdScaleVec3(u1, d, tmp);;
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// v = u - u1 = vector from closest point on line, p1, to the
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// original point, p.
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sgdSubVec3(v, u, u1);
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return ( sgdScalarProductVec3(v, v) );
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}
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// This is a quicker form of
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// sgMakeMatTrans4( sgMat4 sgTrans, sgVec3 trans )
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// sgPostMultMat4( sgMat, sgTRANS );
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void sgPostMultMat4ByTransMat4( sgMat4 src, const sgVec3 trans )
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{
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for( int i=0; i<4; i++) {
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for( int j=0; j<3; j++ ) {
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src[i][j] += (src[i][3] * trans[j]);
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}
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}
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}
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