frohlich
4f802689f2
Use consistent function names. Implement changes consistently over the different vector sizes. Modified Files: SGVec2.hxx SGVec3.hxx SGVec4.hxx
520 lines
13 KiB
C++
520 lines
13 KiB
C++
// Copyright (C) 2006-2009 Mathias Froehlich - Mathias.Froehlich@web.de
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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 General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#ifndef SGVec3_H
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#define SGVec3_H
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#ifndef NO_OPENSCENEGRAPH_INTERFACE
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#include <osg/Vec3f>
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#include <osg/Vec3d>
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#endif
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/// 3D Vector Class
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template<typename T>
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class SGVec3 {
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public:
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typedef T value_type;
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/// Default constructor. Does not initialize at all.
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/// If you need them zero initialized, use SGVec3::zeros()
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SGVec3(void)
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{
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/// Initialize with nans in the debug build, that will guarantee to have
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/// a fast uninitialized default constructor in the release but shows up
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/// uninitialized values in the debug build very fast ...
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#ifndef NDEBUG
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for (unsigned i = 0; i < 3; ++i)
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data()[i] = SGLimits<T>::quiet_NaN();
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#endif
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}
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/// Constructor. Initialize by the given values
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SGVec3(T x, T y, T z)
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{ data()[0] = x; data()[1] = y; data()[2] = z; }
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/// Constructor. Initialize by the content of a plain array,
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/// make sure it has at least 3 elements
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explicit SGVec3(const T* d)
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{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
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template<typename S>
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explicit SGVec3(const SGVec3<S>& d)
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{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
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explicit SGVec3(const SGVec2<T>& v2, const T& v3 = 0)
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{ data()[0] = v2[0]; data()[1] = v2[1]; data()[2] = v3; }
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/// Access by index, the index is unchecked
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const T& operator()(unsigned i) const
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{ return data()[i]; }
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/// Access by index, the index is unchecked
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T& operator()(unsigned i)
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{ return data()[i]; }
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/// Access raw data by index, the index is unchecked
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const T& operator[](unsigned i) const
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{ return data()[i]; }
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/// Access raw data by index, the index is unchecked
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T& operator[](unsigned i)
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{ return data()[i]; }
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/// Access the x component
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const T& x(void) const
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{ return data()[0]; }
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/// Access the x component
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T& x(void)
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{ return data()[0]; }
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/// Access the y component
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const T& y(void) const
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{ return data()[1]; }
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/// Access the y component
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T& y(void)
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{ return data()[1]; }
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/// Access the z component
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const T& z(void) const
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{ return data()[2]; }
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/// Access the z component
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T& z(void)
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{ return data()[2]; }
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/// Readonly raw storage interface
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const T (&data(void) const)[3]
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{ return _data; }
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/// Readonly raw storage interface
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T (&data(void))[3]
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{ return _data; }
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/// Inplace addition
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SGVec3& operator+=(const SGVec3& v)
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{ data()[0] += v(0); data()[1] += v(1); data()[2] += v(2); return *this; }
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/// Inplace subtraction
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SGVec3& operator-=(const SGVec3& v)
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{ data()[0] -= v(0); data()[1] -= v(1); data()[2] -= v(2); return *this; }
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/// Inplace scalar multiplication
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template<typename S>
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SGVec3& operator*=(S s)
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{ data()[0] *= s; data()[1] *= s; data()[2] *= s; return *this; }
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/// Inplace scalar multiplication by 1/s
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template<typename S>
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SGVec3& operator/=(S s)
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{ return operator*=(1/T(s)); }
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/// Return an all zero vector
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static SGVec3 zeros(void)
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{ return SGVec3(0, 0, 0); }
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/// Return unit vectors
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static SGVec3 e1(void)
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{ return SGVec3(1, 0, 0); }
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static SGVec3 e2(void)
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{ return SGVec3(0, 1, 0); }
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static SGVec3 e3(void)
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{ return SGVec3(0, 0, 1); }
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/// Constructor. Initialize by a geodetic coordinate
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/// Note that this conversion is relatively expensive to compute
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static SGVec3 fromGeod(const SGGeod& geod);
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/// Constructor. Initialize by a geocentric coordinate
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/// Note that this conversion is relatively expensive to compute
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static SGVec3 fromGeoc(const SGGeoc& geoc);
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private:
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T _data[3];
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};
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template<>
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inline
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SGVec3<double>
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SGVec3<double>::fromGeod(const SGGeod& geod)
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{
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SGVec3<double> cart;
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SGGeodesy::SGGeodToCart(geod, cart);
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return cart;
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}
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template<>
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inline
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SGVec3<float>
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SGVec3<float>::fromGeod(const SGGeod& geod)
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{
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SGVec3<double> cart;
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SGGeodesy::SGGeodToCart(geod, cart);
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return SGVec3<float>(cart(0), cart(1), cart(2));
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}
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template<>
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inline
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SGVec3<double>
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SGVec3<double>::fromGeoc(const SGGeoc& geoc)
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{
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SGVec3<double> cart;
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SGGeodesy::SGGeocToCart(geoc, cart);
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return cart;
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}
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template<>
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inline
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SGVec3<float>
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SGVec3<float>::fromGeoc(const SGGeoc& geoc)
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{
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SGVec3<double> cart;
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SGGeodesy::SGGeocToCart(geoc, cart);
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return SGVec3<float>(cart(0), cart(1), cart(2));
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}
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/// Unary +, do nothing ...
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template<typename T>
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inline
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const SGVec3<T>&
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operator+(const SGVec3<T>& v)
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{ return v; }
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/// Unary -, do nearly nothing
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template<typename T>
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inline
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SGVec3<T>
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operator-(const SGVec3<T>& v)
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{ return SGVec3<T>(-v(0), -v(1), -v(2)); }
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/// Binary +
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template<typename T>
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inline
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SGVec3<T>
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operator+(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return SGVec3<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2)); }
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/// Binary -
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template<typename T>
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inline
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SGVec3<T>
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operator-(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return SGVec3<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2)); }
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/// Scalar multiplication
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template<typename S, typename T>
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inline
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SGVec3<T>
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operator*(S s, const SGVec3<T>& v)
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{ return SGVec3<T>(s*v(0), s*v(1), s*v(2)); }
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/// Scalar multiplication
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template<typename S, typename T>
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inline
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SGVec3<T>
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operator*(const SGVec3<T>& v, S s)
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{ return SGVec3<T>(s*v(0), s*v(1), s*v(2)); }
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/// multiplication as a multiplicator, that is assume that the first vector
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/// represents a 3x3 diagonal matrix with the diagonal elements in the vector.
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/// Then the result is the product of that matrix times the second vector.
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template<typename T>
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inline
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SGVec3<T>
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mult(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return SGVec3<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2)); }
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/// component wise min
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template<typename T>
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inline
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SGVec3<T>
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min(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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return SGVec3<T>(SGMisc<T>::min(v1(0), v2(0)),
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SGMisc<T>::min(v1(1), v2(1)),
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SGMisc<T>::min(v1(2), v2(2)));
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}
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template<typename S, typename T>
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inline
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SGVec3<T>
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min(const SGVec3<T>& v, S s)
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{
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return SGVec3<T>(SGMisc<T>::min(s, v(0)),
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SGMisc<T>::min(s, v(1)),
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SGMisc<T>::min(s, v(2)));
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}
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template<typename S, typename T>
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inline
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SGVec3<T>
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min(S s, const SGVec3<T>& v)
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{
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return SGVec3<T>(SGMisc<T>::min(s, v(0)),
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SGMisc<T>::min(s, v(1)),
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SGMisc<T>::min(s, v(2)));
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}
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/// component wise max
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template<typename T>
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inline
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SGVec3<T>
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max(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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return SGVec3<T>(SGMisc<T>::max(v1(0), v2(0)),
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SGMisc<T>::max(v1(1), v2(1)),
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SGMisc<T>::max(v1(2), v2(2)));
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}
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template<typename S, typename T>
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inline
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SGVec3<T>
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max(const SGVec3<T>& v, S s)
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{
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return SGVec3<T>(SGMisc<T>::max(s, v(0)),
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SGMisc<T>::max(s, v(1)),
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SGMisc<T>::max(s, v(2)));
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}
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template<typename S, typename T>
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inline
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SGVec3<T>
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max(S s, const SGVec3<T>& v)
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{
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return SGVec3<T>(SGMisc<T>::max(s, v(0)),
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SGMisc<T>::max(s, v(1)),
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SGMisc<T>::max(s, v(2)));
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}
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/// Scalar dot product
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template<typename T>
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inline
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T
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dot(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2); }
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/// The euclidean norm of the vector, that is what most people call length
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template<typename T>
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inline
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T
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norm(const SGVec3<T>& v)
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{ return sqrt(dot(v, v)); }
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/// The euclidean norm of the vector, that is what most people call length
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template<typename T>
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inline
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T
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length(const SGVec3<T>& v)
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{ return sqrt(dot(v, v)); }
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/// The 1-norm of the vector, this one is the fastest length function we
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/// can implement on modern cpu's
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template<typename T>
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inline
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T
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norm1(const SGVec3<T>& v)
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{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)); }
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/// The inf-norm of the vector
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template<typename T>
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inline
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T
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normI(const SGVec3<T>& v)
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{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2))); }
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/// Vector cross product
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template<typename T>
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inline
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SGVec3<T>
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cross(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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return SGVec3<T>(v1(1)*v2(2) - v1(2)*v2(1),
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v1(2)*v2(0) - v1(0)*v2(2),
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v1(0)*v2(1) - v1(1)*v2(0));
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}
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/// return any normalized vector perpendicular to v
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template<typename T>
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inline
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SGVec3<T>
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perpendicular(const SGVec3<T>& v)
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{
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T absv1 = fabs(v(0));
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T absv2 = fabs(v(1));
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T absv3 = fabs(v(2));
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if (absv2 < absv1 && absv3 < absv1) {
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T quot = v(1)/v(0);
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return (1/sqrt(1+quot*quot))*SGVec3<T>(quot, -1, 0);
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} else if (absv3 < absv2) {
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T quot = v(2)/v(1);
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return (1/sqrt(1+quot*quot))*SGVec3<T>(0, quot, -1);
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} else if (SGLimits<T>::min() < absv3) {
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T quot = v(0)/v(2);
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return (1/sqrt(1+quot*quot))*SGVec3<T>(-1, 0, quot);
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} else {
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// the all zero case ...
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return SGVec3<T>(0, 0, 0);
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}
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}
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/// Construct a unit vector in the given direction.
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/// or the zero vector if the input vector is zero.
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template<typename T>
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inline
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SGVec3<T>
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normalize(const SGVec3<T>& v)
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{
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T normv = norm(v);
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if (normv <= SGLimits<T>::min())
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return SGVec3<T>::zeros();
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return (1/normv)*v;
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}
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/// Return true if exactly the same
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template<typename T>
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inline
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bool
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operator==(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return v1(0) == v2(0) && v1(1) == v2(1) && v1(2) == v2(2); }
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/// Return true if not exactly the same
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template<typename T>
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inline
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bool
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operator!=(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return ! (v1 == v2); }
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/// Return true if smaller, good for putting that into a std::map
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template<typename T>
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inline
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bool
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operator<(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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if (v1(0) < v2(0)) return true;
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else if (v2(0) < v1(0)) return false;
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else if (v1(1) < v2(1)) return true;
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else if (v2(1) < v1(1)) return false;
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else return (v1(2) < v2(2));
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}
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template<typename T>
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inline
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bool
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operator<=(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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if (v1(0) < v2(0)) return true;
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else if (v2(0) < v1(0)) return false;
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else if (v1(1) < v2(1)) return true;
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else if (v2(1) < v1(1)) return false;
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else return (v1(2) <= v2(2));
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}
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template<typename T>
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inline
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bool
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operator>(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return operator<(v2, v1); }
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template<typename T>
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inline
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bool
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operator>=(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return operator<=(v2, v1); }
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/// Return true if equal to the relative tolerance tol
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template<typename T>
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inline
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bool
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equivalent(const SGVec3<T>& v1, const SGVec3<T>& v2, T rtol, T atol)
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{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
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/// Return true if equal to the relative tolerance tol
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template<typename T>
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inline
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bool
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equivalent(const SGVec3<T>& v1, const SGVec3<T>& v2, T rtol)
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{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
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/// Return true if about equal to roundoff of the underlying type
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template<typename T>
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inline
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bool
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equivalent(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{
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T tol = 100*SGLimits<T>::epsilon();
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return equivalent(v1, v2, tol, tol);
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}
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/// The euclidean distance of the two vectors
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template<typename T>
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inline
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T
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dist(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ return norm(v1 - v2); }
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/// The squared euclidean distance of the two vectors
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template<typename T>
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inline
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T
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distSqr(const SGVec3<T>& v1, const SGVec3<T>& v2)
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{ SGVec3<T> tmp = v1 - v2; return dot(tmp, tmp); }
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// calculate the projection of u along the direction of d.
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template<typename T>
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inline
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SGVec3<T>
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projection(const SGVec3<T>& u, const SGVec3<T>& d)
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{
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T denom = dot(d, d);
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T ud = dot(u, d);
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if (SGLimits<T>::min() < denom) return u;
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else return d * (dot(u, d) / denom);
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}
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#ifndef NDEBUG
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template<typename T>
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inline
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bool
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isNaN(const SGVec3<T>& v)
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{
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return SGMisc<T>::isNaN(v(0)) ||
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SGMisc<T>::isNaN(v(1)) || SGMisc<T>::isNaN(v(2));
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}
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#endif
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/// Output to an ostream
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template<typename char_type, typename traits_type, typename T>
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inline
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std::basic_ostream<char_type, traits_type>&
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operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec3<T>& v)
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{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << " ]"; }
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inline
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SGVec3f
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toVec3f(const SGVec3d& v)
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{ return SGVec3f((float)v(0), (float)v(1), (float)v(2)); }
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inline
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SGVec3d
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toVec3d(const SGVec3f& v)
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{ return SGVec3d(v(0), v(1), v(2)); }
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#ifndef NO_OPENSCENEGRAPH_INTERFACE
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inline
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SGVec3d
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toSG(const osg::Vec3d& v)
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{ return SGVec3d(v[0], v[1], v[2]); }
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inline
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SGVec3f
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toSG(const osg::Vec3f& v)
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{ return SGVec3f(v[0], v[1], v[2]); }
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inline
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osg::Vec3d
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toOsg(const SGVec3d& v)
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{ return osg::Vec3d(v[0], v[1], v[2]); }
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inline
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|
osg::Vec3f
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toOsg(const SGVec3f& v)
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{ return osg::Vec3f(v[0], v[1], v[2]); }
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#endif
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#endif
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