engine/include/support/vector3d.h

   1 // Copyright (C) 2002-2007 Nikolaus Gebhardt
   2 // This file is part of the "Irrlicht Engine".
   3 // For conditions of distribution and use, see copyright notice in irrlicht.h
   4
   5 #ifndef __IRR_POINT_3D_H_INCLUDED__
   6 #define __IRR_POINT_3D_H_INCLUDED__
   7
   8 #include "irrMath.h"
   9
  10 namespace irr
  11 {
  12 namespace core
  13 {
  14
  15         //! 3d vector template class with lots of operators and methods.
  16         template <class T>
  17         class vector3d
  18         {
  19         public:
  20
  21                 vector3d() : X(0), Y(0), Z(0) {}
  22                 vector3d(T nx, T ny, T nz) : X(nx), Y(ny), Z(nz) {}
  23                 vector3d(const vector3d<T>& other) : X(other.X), Y(other.Y), Z(other.Z) {}
  24
  25                 // operators
  26
  27                 vector3d<T> operator-() const { return vector3d<T>(-X, -Y, -Z);   }
  28
  29                 vector3d<T>& operator=(const vector3d<T>& other)        { X = other.X; Y = other.Y; Z = other.Z; return *this; }
  30
  31                 vector3d<T> operator+(const vector3d<T>& other) const { return vector3d<T>(X + other.X, Y + other.Y, Z + other.Z);      }
  32                 vector3d<T>& operator+=(const vector3d<T>& other)       { X+=other.X; Y+=other.Y; Z+=other.Z; return *this; }
  33
  34                 vector3d<T> operator-(const vector3d<T>& other) const { return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z);      }
  35                 vector3d<T>& operator-=(const vector3d<T>& other)       { X-=other.X; Y-=other.Y; Z-=other.Z; return *this; }
  36
  37                 vector3d<T> operator*(const vector3d<T>& other) const { return vector3d<T>(X * other.X, Y * other.Y, Z * other.Z);      }
  38                 vector3d<T>& operator*=(const vector3d<T>& other)       { X*=other.X; Y*=other.Y; Z*=other.Z; return *this; }
  39                 vector3d<T> operator*(const T v) const { return vector3d<T>(X * v, Y * v, Z * v);       }
  40                 vector3d<T>& operator*=(const T v) { X*=v; Y*=v; Z*=v; return *this; }
  41
  42                 vector3d<T> operator/(const vector3d<T>& other) const { return vector3d<T>(X / other.X, Y / other.Y, Z / other.Z);      }
  43                 vector3d<T>& operator/=(const vector3d<T>& other)       { X/=other.X; Y/=other.Y; Z/=other.Z; return *this; }
  44                 vector3d<T> operator/(const T v) const { T i=(T)1.0/v; return vector3d<T>(X * i, Y * i, Z * i); }
  45                 vector3d<T>& operator/=(const T v) { T i=(T)1.0/v; X*=i; Y*=i; Z*=i; return *this; }
  46
  47                 bool operator<=(const vector3d<T>&other) const { return X<=other.X && Y<=other.Y && Z<=other.Z;};
  48                 bool operator>=(const vector3d<T>&other) const { return X>=other.X && Y>=other.Y && Z>=other.Z;};
  49                 bool operator<(const vector3d<T>&other) const { return X<other.X && Y<other.Y && Z<other.Z;};
  50                 bool operator>(const vector3d<T>&other) const { return X>other.X && Y>other.Y && Z>other.Z;};
  51
  52                 //! use week float compare
  53                 //bool operator==(const vector3d<T>& other) const { return other.X==X && other.Y==Y && other.Z==Z; }
  54                 //bool operator!=(const vector3d<T>& other) const { return other.X!=X || other.Y!=Y || other.Z!=Z; }
  55
  56                 bool operator==(const vector3d<T>& other) const
  57                 {
  58                         return this->equals(other);
  59                 }
  60
  61                 bool operator!=(const vector3d<T>& other) const
  62                 {
  63                         return !this->equals(other);
  64                 }
  65
  66                 // functions
  67
  68                 //! returns if this vector equals the other one, taking floating point rounding errors into account
  69                 bool equals(const vector3d<T>& other, const T tolerance = (T)ROUNDING_ERROR_32 ) const
  70                 {
  71                         return core::equals(X, other.X, tolerance) &&
  72                                 core::equals(Y, other.Y, tolerance) &&
  73                                 core::equals(Z, other.Z, tolerance);
  74                 }
  75
  76                 void set(const T nx, const T ny, const T nz) {X=nx; Y=ny; Z=nz; }
  77                 void set(const vector3d<T>& p) { X=p.X; Y=p.Y; Z=p.Z;}
  78
  79                 //! Returns length of the vector.
  80                 T getLength() const { return (T) sqrt((f64)(X*X + Y*Y + Z*Z)); }
  81
  82                 //! Returns squared length of the vector.
  83                 /** This is useful because it is much faster than
  84                 getLength(). */
  85                 T getLengthSQ() const { return X*X + Y*Y + Z*Z; }
  86
  87                 //! Returns the dot product with another vector.
  88                 T dotProduct(const vector3d<T>& other) const
  89                 {
  90                         return X*other.X + Y*other.Y + Z*other.Z;
  91                 }
  92
  93                 //! Returns distance from another point.
  94                 /** Here, the vector is interpreted as point in 3 dimensional space. */
  95                 T getDistanceFrom(const vector3d<T>& other) const
  96                 {
  97                         return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLength();
  98                 }
  99
 100                 //! Returns squared distance from another point.
 101                 /** Here, the vector is interpreted as point in 3 dimensional space. */
 102                 T getDistanceFromSQ(const vector3d<T>& other) const
 103                 {
 104                         return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLengthSQ();
 105                 }
 106
 107                 //! Calculates the cross product with another vector
 108                 //! \param p: vector to multiply with.
 109                 //! \return Crossproduct of this vector with p.
 110                 vector3d<T> crossProduct(const vector3d<T>& p) const
 111                 {
 112                         return vector3d<T>(Y * p.Z - Z * p.Y, Z * p.X - X * p.Z, X * p.Y - Y * p.X);
 113                 }
 114
 115                 //! Returns if this vector interpreted as a point is on a line between two other points.
 116                 /** It is assumed that the point is on the line. */
 117                 //! \param begin: Beginning vector to compare between.
 118                 //! \param end: Ending vector to compare between.
 119                 //! \return True if this vector is between begin and end.  False if not.
 120                 bool isBetweenPoints(const vector3d<T>& begin, const vector3d<T>& end) const
 121                 {
 122                         T f = (end - begin).getLengthSQ();
 123                         return getDistanceFromSQ(begin) < f &&
 124                                 getDistanceFromSQ(end) < f;
 125                 }
 126
 127                 //! Normalizes the vector. In case of the 0 vector the result
 128                 //! is still 0, otherwise the length of the vector will be 1.
 129                 //! Todo: 64 Bit template doesnt work.. need specialized template
 130                 vector3d<T>& normalize()
 131                 {
 132                         T l = X*X + Y*Y + Z*Z;
 133                         if (l == 0)
 134                                 return *this;
 135                         l = (T) reciprocal_squareroot ( (f32)l );
 136                         X *= l;
 137                         Y *= l;
 138                         Z *= l;
 139                         return *this;
 140                 }
 141
 142                 //! Sets the length of the vector to a new value
 143                 void setLength(T newlength)
 144                 {
 145                         normalize();
 146                         *this *= newlength;
 147                 }
 148
 149                 //! Inverts the vector.
 150                 void invert()
 151                 {
 152                         X *= -1.0f;
 153                         Y *= -1.0f;
 154                         Z *= -1.0f;
 155                 }
 156
 157                 //! Rotates the vector by a specified number of degrees around the Y
 158                 //! axis and the specified center.
 159                 //! \param degrees: Number of degrees to rotate around the Y axis.
 160                 //! \param center: The center of the rotation.
 161                 void rotateXZBy(f64 degrees, const vector3d<T>& center)
 162                 {
 163                         degrees *= DEGTORAD64;
 164                         T cs = (T)cos(degrees);
 165                         T sn = (T)sin(degrees);
 166                         X -= center.X;
 167                         Z -= center.Z;
 168                         set(X*cs - Z*sn, Y, X*sn + Z*cs);
 169                         X += center.X;
 170                         Z += center.Z;
 171                 }
 172
 173                 //! Rotates the vector by a specified number of degrees around the Z
 174                 //! axis and the specified center.
 175                 //! \param degrees: Number of degrees to rotate around the Z axis.
 176                 //! \param center: The center of the rotation.
 177                 void rotateXYBy(f64 degrees, const vector3d<T>& center)
 178                 {
 179                         degrees *= DEGTORAD64;
 180                         T cs = (T)cos(degrees);
 181                         T sn = (T)sin(degrees);
 182                         X -= center.X;
 183                         Y -= center.Y;
 184                         set(X*cs - Y*sn, X*sn + Y*cs, Z);
 185                         X += center.X;
 186                         Y += center.Y;
 187                 }
 188
 189                 //! Rotates the vector by a specified number of degrees around the X
 190                 //! axis and the specified center.
 191                 //! \param degrees: Number of degrees to rotate around the X axis.
 192                 //! \param center: The center of the rotation.
 193                 void rotateYZBy(f64 degrees, const vector3d<T>& center)
 194                 {
 195                         degrees *= DEGTORAD64;
 196                         T cs = (T)cos(degrees);
 197                         T sn = (T)sin(degrees);
 198                         Z -= center.Z;
 199                         Y -= center.Y;
 200                         set(X, Y*cs - Z*sn, Y*sn + Z*cs);
 201                         Z += center.Z;
 202                         Y += center.Y;
 203                 }
 204
 205                 //! Returns interpolated vector.
 206                 /** \param other: other vector to interpolate between
 207                 \param d: value between 0.0f and 1.0f. */
 208                 vector3d<T> getInterpolated(const vector3d<T>& other, const T d) const
 209                 {
 210                         const T inv = (T) 1.0 - d;
 211                         return vector3d<T>(other.X*inv + X*d, other.Y*inv + Y*d, other.Z*inv + Z*d);
 212                 }
 213
 214                 //! Returns interpolated vector. ( quadratic )
 215                 /** \param v2: second vector to interpolate with
 216                 \param v3: third vector to interpolate with
 217                 \param d: value between 0.0f and 1.0f. */
 218                 vector3d<T> getInterpolated_quadratic(const vector3d<T>& v2, const vector3d<T>& v3, const T d) const
 219                 {
 220                         // this*(1-d)*(1-d) + 2 * v2 * (1-d) + v3 * d * d;
 221                         const T inv = (T) 1.0 - d;
 222                         const T mul0 = inv * inv;
 223                         const T mul1 = (T) 2.0 * d * inv;
 224                         const T mul2 = d * d;
 225
 226                         return vector3d<T> ( X * mul0 + v2.X * mul1 + v3.X * mul2,
 227                                         Y * mul0 + v2.Y * mul1 + v3.Y * mul2,
 228                                         Z * mul0 + v2.Z * mul1 + v3.Z * mul2);
 229                 }
 230
 231                 //! Gets the Y and Z rotations of a vector.
 232                 /** Thanks to Arras on the Irrlicht forums to add this method.
 233                 \return A vector representing the rotation in degrees of
 234                 this vector. The Z component of the vector will always be 0. */
 235                 vector3d<T> getHorizontalAngle()
 236                 {
 237                         vector3d<T> angle;
 238
 239                         angle.Y = (T)atan2(X, Z);
 240                         angle.Y *= (f32)RADTODEG64;
 241
 242                         if (angle.Y < 0.0f) angle.Y += 360.0f;
 243                         if (angle.Y >= 360.0f) angle.Y -= 360.0f;
 244
 245                         f32 z1 = sqrtf(X*X + Z*Z);
 246
 247                         angle.X = (T)atan2(z1, Y);
 248                         angle.X *= (f32)RADTODEG64;
 249                         angle.X -= 90.0f;
 250
 251                         if (angle.X < 0.0f) angle.X += 360.0f;
 252                         if (angle.X >= 360.0f) angle.X -= 360.0f;
 253
 254                         return angle;
 255                 }
 256
 257                 //! Fills an array of 4 values with the vector data (usually floats).
 258                 /** Useful for setting in shader constants for example. The fourth value
 259                 will always be 0. */
 260                 void getAs4Values(T* array) const
 261                 {
 262                         array[0] = X;
 263                         array[1] = Y;
 264                         array[2] = Z;
 265                         array[3] = 0;
 266                 }
 267
 268
 269                 // member variables
 270
 271                 T X, Y, Z;
 272         };
 273
 274
 275         //! Typedef for a f32 3d vector.
 276         typedef vector3d<f32> vector3df;
 277         //! Typedef for an integer 3d vector.
 278         typedef vector3d<s32> vector3di;
 279
 280         template<class S, class T> vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; }
 281
 282 } // end namespace core
 283 } // end namespace irr
 284
 285 #endif
 286