433 lines
11 KiB
C++
433 lines
11 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 SGVec4_H
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#define SGVec4_H
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#include <iosfwd>
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#include <simgear/math/simd.hxx>
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/// 4D Vector Class
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template<typename T>
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class SGVec4 {
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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 SGVec4::zeros()
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SGVec4(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 < 4; ++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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SGVec4(T x, T y, T z, T w)
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{ _data = simd4_t<T,4>(x, y, z, w); }
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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 SGVec4(const T* d)
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{ _data = d ? simd4_t<T,4>(d) : simd4_t<T,4>(T(0)); }
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template<typename S>
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explicit SGVec4(const SGVec4<S>& d)
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{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
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explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
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{ _data = v3.simd3(); data()[3] = v4; }
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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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/// Access the x component
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const T& w(void) const
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{ return data()[3]; }
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/// Access the x component
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T& w(void)
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{ return data()[3]; }
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/// Readonly raw storage interface
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const T (&data(void) const)[4]
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{ return _data.ptr(); }
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/// Readonly raw storage interface
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T (&data(void))[4]
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{ return _data.ptr(); }
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/// Readonly raw storage interface
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const simd4_t<T,4> (&simd4(void) const)
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{ return _data; }
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/// Readonly raw storage interface
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simd4_t<T,4> (&simd4(void))
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{ return _data; }
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/// Inplace addition
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SGVec4& operator+=(const SGVec4& v)
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{ _data += v.simd4(); return *this; }
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/// Inplace subtraction
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SGVec4& operator-=(const SGVec4& v)
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{ _data -= v.simd4(); return *this; }
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/// Inplace scalar multiplication
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template<typename S>
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SGVec4& operator*=(S s)
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{ _data *= s; return *this; }
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/// Inplace scalar multiplication by 1/s
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template<typename S>
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SGVec4& operator/=(S s)
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{ _data*=(1/T(s)); return *this; }
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/// Return an all zero vector
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static SGVec4 zeros(void)
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{ return SGVec4(0, 0, 0, 0); }
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/// Return unit vectors
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static SGVec4 e1(void)
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{ return SGVec4(1, 0, 0, 0); }
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static SGVec4 e2(void)
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{ return SGVec4(0, 1, 0, 0); }
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static SGVec4 e3(void)
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{ return SGVec4(0, 0, 1, 0); }
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static SGVec4 e4(void)
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{ return SGVec4(0, 0, 0, 1); }
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private:
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simd4_t<T,4> _data;
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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 SGVec4<T>&
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operator+(const SGVec4<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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SGVec4<T>
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operator-(SGVec4<T> v)
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{ v *= -1; return v; }
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/// Binary +
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template<typename T>
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inline
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SGVec4<T>
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operator+(SGVec4<T> v1, const SGVec4<T>& v2)
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{ v1.simd4() += v2.simd4(); return v1; }
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/// Binary -
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template<typename T>
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inline
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SGVec4<T>
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operator-(SGVec4<T> v1, const SGVec4<T>& v2)
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{ v1.simd4() -= v2.simd4(); return v1; }
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/// Scalar multiplication
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template<typename S, typename T>
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inline
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SGVec4<T>
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operator*(S s, SGVec4<T> v)
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{ v.simd4() *= s; return v; }
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/// Scalar multiplication
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template<typename S, typename T>
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inline
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SGVec4<T>
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operator*(SGVec4<T> v, S s)
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{ v.simd4() *= s; return v; }
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/// multiplication as a multiplicator, that is assume that the first vector
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/// represents a 4x4 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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SGVec4<T>
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mult(SGVec4<T> v1, const SGVec4<T>& v2)
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{ v1.simd4() *= v2.simd4(); return v1; }
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/// component wise min
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template<typename T>
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inline
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SGVec4<T>
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min(SGVec4<T> v1, const SGVec4<T>& v2)
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{ v1.simd4() = simd4::min(v1.simd4(), v2.simd4()); return v1; }
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template<typename S, typename T>
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inline
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SGVec4<T>
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min(SGVec4<T> v, S s)
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{ v.simd4() = simd4::min(v.simd4(), simd4_t<T,4>(s)); return v; }
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template<typename S, typename T>
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inline
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SGVec4<T>
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min(S s, SGVec4<T> v)
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{ v.simd4() = simd4::min(v.simd4(), simd4_t<T,4>(s)); return v; }
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/// component wise max
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template<typename T>
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inline
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SGVec4<T>
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max(SGVec4<T> v1, const SGVec4<T>& v2)
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{ v1.simd4() = simd4::max(v1.simd4(), v2.simd4()); return v1; }
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template<typename S, typename T>
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inline
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SGVec4<T>
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max(SGVec4<T> v, S s)
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{ v.simd4() = simd4::max(v.simd4(), simd4_t<T,4>(s)); return v; }
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template<typename S, typename T>
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inline
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SGVec4<T>
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max(S s, SGVec4<T> v)
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{ v.simd4() = simd4::max(v.simd4(), simd4_t<T,4>(s)); return v; }
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/// Add two vectors taking care of (integer) overflows. The values are limited
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/// to the respective minimum and maximum values.
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template<class T>
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SGVec4<T> addClipOverflow(SGVec4<T> const& lhs, SGVec4<T> const& rhs)
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{
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return SGVec4<T>(
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SGMisc<T>::addClipOverflow(lhs.x(), rhs.x()),
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SGMisc<T>::addClipOverflow(lhs.y(), rhs.y()),
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SGMisc<T>::addClipOverflow(lhs.z(), rhs.z()),
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SGMisc<T>::addClipOverflow(lhs.w(), rhs.w())
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);
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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 SGVec4<T>& v1, const SGVec4<T>& v2)
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{ return simd4::dot(v1.simd4(), v2.simd4()); }
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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 SGVec4<T>& v)
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{ return simd4::magnitude(v.simd4()); }
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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 SGVec4<T>& v)
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{ return simd4::magnitude(v.simd4()); }
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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(SGVec4<T> v)
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{ v.simd4() = simd4::abs(v.simd4()); return (v(0)+v(1)+v(2)+v(3)); }
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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(SGVec4<T> v)
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{
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v.simd4() = simd4::abs(v.simd4());
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return SGMisc<T>::max(v(0), v(1), v(2), v(3));
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}
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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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SGVec4<T>
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normalize(const SGVec4<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 SGVec4<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 SGVec4<T>& v1, const SGVec4<T>& v2)
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{ return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
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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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 if (v1(2) < v2(2)) return true;
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else if (v2(2) < v1(2)) return false;
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else return (v1(3) < v2(3));
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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 SGVec4<T>& v1, const SGVec4<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 if (v1(2) < v2(2)) return true;
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else if (v2(2) < v1(2)) return false;
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else return (v1(3) <= v2(3));
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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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<T>& v2)
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{ return simd4::magnitude(v1.simd4() - v2.simd4()); }
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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(SGVec4<T> v1, const SGVec4<T>& v2)
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{ return simd4::magnitude2(v1.simd4() - v2.simd4()); }
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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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SGVec4<T>
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projection(const SGVec4<T>& u, const SGVec4<T>& d)
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{
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T denom = simd4::magnitude2(d.simd4());
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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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template<typename T>
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inline
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SGVec4<T>
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interpolate(T tau, const SGVec4<T>& v1, const SGVec4<T>& v2)
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{
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SGVec4<T> r;
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r.simd4() = simd4::interpolate(tau, v1.simd4(), v2.simd4());
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return r;
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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 SGVec4<T>& v)
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{
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return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
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|| SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
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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 SGVec4<T>& v)
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{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
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inline
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SGVec4f
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toVec4f(const SGVec4d& v)
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{ SGVec4f f(v); return f; }
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inline
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SGVec4d
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toVec4d(const SGVec4f& v)
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{ SGVec4d d(v); return d; }
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#endif
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