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00001 // Copyright (C) 2002-2012 Nikolaus Gebhardt +00002 // This file is part of the "Irrlicht Engine". +00003 // For conditions of distribution and use, see copyright notice in irrlicht.h +00004 +00005 #ifndef __IRR_POINT_3D_H_INCLUDED__ +00006 #define __IRR_POINT_3D_H_INCLUDED__ +00007 +00008 #include "irrMath.h" +00009 +00010 namespace irr +00011 { +00012 namespace core +00013 { +00014 +00016 +00021 template <class T> +00022 class vector3d +00023 { +00024 public: +00026 vector3d() : X(0), Y(0), Z(0) {} +00028 vector3d(T nx, T ny, T nz) : X(nx), Y(ny), Z(nz) {} +00030 explicit vector3d(T n) : X(n), Y(n), Z(n) {} +00032 vector3d(const vector3d<T>& other) : X(other.X), Y(other.Y), Z(other.Z) {} +00033 +00034 // operators +00035 +00036 vector3d<T> operator-() const { return vector3d<T>(-X, -Y, -Z); } +00037 +00038 vector3d<T>& operator=(const vector3d<T>& other) { X = other.X; Y = other.Y; Z = other.Z; return *this; } +00039 +00040 vector3d<T> operator+(const vector3d<T>& other) const { return vector3d<T>(X + other.X, Y + other.Y, Z + other.Z); } +00041 vector3d<T>& operator+=(const vector3d<T>& other) { X+=other.X; Y+=other.Y; Z+=other.Z; return *this; } +00042 vector3d<T> operator+(const T val) const { return vector3d<T>(X + val, Y + val, Z + val); } +00043 vector3d<T>& operator+=(const T val) { X+=val; Y+=val; Z+=val; return *this; } +00044 +00045 vector3d<T> operator-(const vector3d<T>& other) const { return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z); } +00046 vector3d<T>& operator-=(const vector3d<T>& other) { X-=other.X; Y-=other.Y; Z-=other.Z; return *this; } +00047 vector3d<T> operator-(const T val) const { return vector3d<T>(X - val, Y - val, Z - val); } +00048 vector3d<T>& operator-=(const T val) { X-=val; Y-=val; Z-=val; return *this; } +00049 +00050 vector3d<T> operator*(const vector3d<T>& other) const { return vector3d<T>(X * other.X, Y * other.Y, Z * other.Z); } +00051 vector3d<T>& operator*=(const vector3d<T>& other) { X*=other.X; Y*=other.Y; Z*=other.Z; return *this; } +00052 vector3d<T> operator*(const T v) const { return vector3d<T>(X * v, Y * v, Z * v); } +00053 vector3d<T>& operator*=(const T v) { X*=v; Y*=v; Z*=v; return *this; } +00054 +00055 vector3d<T> operator/(const vector3d<T>& other) const { return vector3d<T>(X / other.X, Y / other.Y, Z / other.Z); } +00056 vector3d<T>& operator/=(const vector3d<T>& other) { X/=other.X; Y/=other.Y; Z/=other.Z; return *this; } +00057 vector3d<T> operator/(const T v) const { T i=(T)1.0/v; return vector3d<T>(X * i, Y * i, Z * i); } +00058 vector3d<T>& operator/=(const T v) { T i=(T)1.0/v; X*=i; Y*=i; Z*=i; return *this; } +00059 +00061 bool operator<=(const vector3d<T>&other) const +00062 { +00063 return (X<other.X || core::equals(X, other.X)) || +00064 (core::equals(X, other.X) && (Y<other.Y || core::equals(Y, other.Y))) || +00065 (core::equals(X, other.X) && core::equals(Y, other.Y) && (Z<other.Z || core::equals(Z, other.Z))); +00066 } +00067 +00069 bool operator>=(const vector3d<T>&other) const +00070 { +00071 return (X>other.X || core::equals(X, other.X)) || +00072 (core::equals(X, other.X) && (Y>other.Y || core::equals(Y, other.Y))) || +00073 (core::equals(X, other.X) && core::equals(Y, other.Y) && (Z>other.Z || core::equals(Z, other.Z))); +00074 } +00075 +00077 bool operator<(const vector3d<T>&other) const +00078 { +00079 return (X<other.X && !core::equals(X, other.X)) || +00080 (core::equals(X, other.X) && Y<other.Y && !core::equals(Y, other.Y)) || +00081 (core::equals(X, other.X) && core::equals(Y, other.Y) && Z<other.Z && !core::equals(Z, other.Z)); +00082 } +00083 +00085 bool operator>(const vector3d<T>&other) const +00086 { +00087 return (X>other.X && !core::equals(X, other.X)) || +00088 (core::equals(X, other.X) && Y>other.Y && !core::equals(Y, other.Y)) || +00089 (core::equals(X, other.X) && core::equals(Y, other.Y) && Z>other.Z && !core::equals(Z, other.Z)); +00090 } +00091 +00093 bool operator==(const vector3d<T>& other) const +00094 { +00095 return this->equals(other); +00096 } +00097 +00098 bool operator!=(const vector3d<T>& other) const +00099 { +00100 return !this->equals(other); +00101 } +00102 +00103 // functions +00104 +00106 bool equals(const vector3d<T>& other, const T tolerance = (T)ROUNDING_ERROR_f32 ) const +00107 { +00108 return core::equals(X, other.X, tolerance) && +00109 core::equals(Y, other.Y, tolerance) && +00110 core::equals(Z, other.Z, tolerance); +00111 } +00112 +00113 vector3d<T>& set(const T nx, const T ny, const T nz) {X=nx; Y=ny; Z=nz; return *this;} +00114 vector3d<T>& set(const vector3d<T>& p) {X=p.X; Y=p.Y; Z=p.Z;return *this;} +00115 +00117 T getLength() const { return core::squareroot( X*X + Y*Y + Z*Z ); } +00118 +00120 +00122 T getLengthSQ() const { return X*X + Y*Y + Z*Z; } +00123 +00125 T dotProduct(const vector3d<T>& other) const +00126 { +00127 return X*other.X + Y*other.Y + Z*other.Z; +00128 } +00129 +00131 +00132 T getDistanceFrom(const vector3d<T>& other) const +00133 { +00134 return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLength(); +00135 } +00136 +00138 +00139 T getDistanceFromSQ(const vector3d<T>& other) const +00140 { +00141 return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLengthSQ(); +00142 } +00143 +00145 +00147 vector3d<T> crossProduct(const vector3d<T>& p) const +00148 { +00149 return vector3d<T>(Y * p.Z - Z * p.Y, Z * p.X - X * p.Z, X * p.Y - Y * p.X); +00150 } +00151 +00153 +00157 bool isBetweenPoints(const vector3d<T>& begin, const vector3d<T>& end) const +00158 { +00159 const T f = (end - begin).getLengthSQ(); +00160 return getDistanceFromSQ(begin) <= f && +00161 getDistanceFromSQ(end) <= f; +00162 } +00163 +00165 +00168 vector3d<T>& normalize() +00169 { +00170 f64 length = X*X + Y*Y + Z*Z; +00171 if (length == 0 ) // this check isn't an optimization but prevents getting NAN in the sqrt. +00172 return *this; +00173 length = core::reciprocal_squareroot(length); +00174 +00175 X = (T)(X * length); +00176 Y = (T)(Y * length); +00177 Z = (T)(Z * length); +00178 return *this; +00179 } +00180 +00182 vector3d<T>& setLength(T newlength) +00183 { +00184 normalize(); +00185 return (*this *= newlength); +00186 } +00187 +00189 vector3d<T>& invert() +00190 { +00191 X *= -1; +00192 Y *= -1; +00193 Z *= -1; +00194 return *this; +00195 } +00196 +00198 +00200 void rotateXZBy(f64 degrees, const vector3d<T>& center=vector3d<T>()) +00201 { +00202 degrees *= DEGTORAD64; +00203 f64 cs = cos(degrees); +00204 f64 sn = sin(degrees); +00205 X -= center.X; +00206 Z -= center.Z; +00207 set((T)(X*cs - Z*sn), Y, (T)(X*sn + Z*cs)); +00208 X += center.X; +00209 Z += center.Z; +00210 } +00211 +00213 +00215 void rotateXYBy(f64 degrees, const vector3d<T>& center=vector3d<T>()) +00216 { +00217 degrees *= DEGTORAD64; +00218 f64 cs = cos(degrees); +00219 f64 sn = sin(degrees); +00220 X -= center.X; +00221 Y -= center.Y; +00222 set((T)(X*cs - Y*sn), (T)(X*sn + Y*cs), Z); +00223 X += center.X; +00224 Y += center.Y; +00225 } +00226 +00228 +00230 void rotateYZBy(f64 degrees, const vector3d<T>& center=vector3d<T>()) +00231 { +00232 degrees *= DEGTORAD64; +00233 f64 cs = cos(degrees); +00234 f64 sn = sin(degrees); +00235 Z -= center.Z; +00236 Y -= center.Y; +00237 set(X, (T)(Y*cs - Z*sn), (T)(Y*sn + Z*cs)); +00238 Z += center.Z; +00239 Y += center.Y; +00240 } +00241 +00243 +00247 vector3d<T> getInterpolated(const vector3d<T>& other, f64 d) const +00248 { +00249 const f64 inv = 1.0 - d; +00250 return vector3d<T>((T)(other.X*inv + X*d), (T)(other.Y*inv + Y*d), (T)(other.Z*inv + Z*d)); +00251 } +00252 +00254 +00259 vector3d<T> getInterpolated_quadratic(const vector3d<T>& v2, const vector3d<T>& v3, f64 d) const +00260 { +00261 // this*(1-d)*(1-d) + 2 * v2 * (1-d) + v3 * d * d; +00262 const f64 inv = (T) 1.0 - d; +00263 const f64 mul0 = inv * inv; +00264 const f64 mul1 = (T) 2.0 * d * inv; +00265 const f64 mul2 = d * d; +00266 +00267 return vector3d<T> ((T)(X * mul0 + v2.X * mul1 + v3.X * mul2), +00268 (T)(Y * mul0 + v2.Y * mul1 + v3.Y * mul2), +00269 (T)(Z * mul0 + v2.Z * mul1 + v3.Z * mul2)); +00270 } +00271 +00273 +00278 vector3d<T>& interpolate(const vector3d<T>& a, const vector3d<T>& b, f64 d) +00279 { +00280 X = (T)((f64)b.X + ( ( a.X - b.X ) * d )); +00281 Y = (T)((f64)b.Y + ( ( a.Y - b.Y ) * d )); +00282 Z = (T)((f64)b.Z + ( ( a.Z - b.Z ) * d )); +00283 return *this; +00284 } +00285 +00286 +00288 +00301 vector3d<T> getHorizontalAngle() const +00302 { +00303 vector3d<T> angle; +00304 +00305 const f64 tmp = (atan2((f64)X, (f64)Z) * RADTODEG64); +00306 angle.Y = (T)tmp; +00307 +00308 if (angle.Y < 0) +00309 angle.Y += 360; +00310 if (angle.Y >= 360) +00311 angle.Y -= 360; +00312 +00313 const f64 z1 = core::squareroot(X*X + Z*Z); +00314 +00315 angle.X = (T)(atan2((f64)z1, (f64)Y) * RADTODEG64 - 90.0); +00316 +00317 if (angle.X < 0) +00318 angle.X += 360; +00319 if (angle.X >= 360) +00320 angle.X -= 360; +00321 +00322 return angle; +00323 } +00324 +00326 +00330 vector3d<T> getSphericalCoordinateAngles() const +00331 { +00332 vector3d<T> angle; +00333 const f64 length = X*X + Y*Y + Z*Z; +00334 +00335 if (length) +00336 { +00337 if (X!=0) +00338 { +00339 angle.Y = (T)(atan2((f64)Z,(f64)X) * RADTODEG64); +00340 } +00341 else if (Z<0) +00342 angle.Y=180; +00343 +00344 angle.X = (T)(acos(Y * core::reciprocal_squareroot(length)) * RADTODEG64); +00345 } +00346 return angle; +00347 } +00348 +00350 +00357 vector3d<T> rotationToDirection(const vector3d<T> & forwards = vector3d<T>(0, 0, 1)) const +00358 { +00359 const f64 cr = cos( core::DEGTORAD64 * X ); +00360 const f64 sr = sin( core::DEGTORAD64 * X ); +00361 const f64 cp = cos( core::DEGTORAD64 * Y ); +00362 const f64 sp = sin( core::DEGTORAD64 * Y ); +00363 const f64 cy = cos( core::DEGTORAD64 * Z ); +00364 const f64 sy = sin( core::DEGTORAD64 * Z ); +00365 +00366 const f64 srsp = sr*sp; +00367 const f64 crsp = cr*sp; +00368 +00369 const f64 pseudoMatrix[] = { +00370 ( cp*cy ), ( cp*sy ), ( -sp ), +00371 ( srsp*cy-cr*sy ), ( srsp*sy+cr*cy ), ( sr*cp ), +00372 ( crsp*cy+sr*sy ), ( crsp*sy-sr*cy ), ( cr*cp )}; +00373 +00374 return vector3d<T>( +00375 (T)(forwards.X * pseudoMatrix[0] + +00376 forwards.Y * pseudoMatrix[3] + +00377 forwards.Z * pseudoMatrix[6]), +00378 (T)(forwards.X * pseudoMatrix[1] + +00379 forwards.Y * pseudoMatrix[4] + +00380 forwards.Z * pseudoMatrix[7]), +00381 (T)(forwards.X * pseudoMatrix[2] + +00382 forwards.Y * pseudoMatrix[5] + +00383 forwards.Z * pseudoMatrix[8])); +00384 } +00385 +00387 +00389 void getAs4Values(T* array) const +00390 { +00391 array[0] = X; +00392 array[1] = Y; +00393 array[2] = Z; +00394 array[3] = 0; +00395 } +00396 +00398 +00399 void getAs3Values(T* array) const +00400 { +00401 array[0] = X; +00402 array[1] = Y; +00403 array[2] = Z; +00404 } +00405 +00406 +00408 T X; +00409 +00411 T Y; +00412 +00414 T Z; +00415 }; +00416 +00418 // Implementor note: inline keyword needed due to template specialization for s32. Otherwise put specialization into a .cpp +00419 template <> +00420 inline vector3d<s32> vector3d<s32>::operator /(s32 val) const {return core::vector3d<s32>(X/val,Y/val,Z/val);} +00421 template <> +00422 inline vector3d<s32>& vector3d<s32>::operator /=(s32 val) {X/=val;Y/=val;Z/=val; return *this;} +00423 +00424 template <> +00425 inline vector3d<s32> vector3d<s32>::getSphericalCoordinateAngles() const +00426 { +00427 vector3d<s32> angle; +00428 const f64 length = X*X + Y*Y + Z*Z; +00429 +00430 if (length) +00431 { +00432 if (X!=0) +00433 { +00434 angle.Y = round32((f32)(atan2((f64)Z,(f64)X) * RADTODEG64)); +00435 } +00436 else if (Z<0) +00437 angle.Y=180; +00438 +00439 angle.X = round32((f32)(acos(Y * core::reciprocal_squareroot(length)) * RADTODEG64)); +00440 } +00441 return angle; +00442 } +00443 +00445 typedef vector3d<f32> vector3df; +00446 +00448 typedef vector3d<s32> vector3di; +00449 +00451 template<class S, class T> +00452 vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; } +00453 +00454 } // end namespace core +00455 } // end namespace irr +00456 +00457 #endif +00458 +