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# vector3d.h

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    00001 // Copyright (C) 2002-2010 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 (core::equals(length, 0.0)) // 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()
    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                 T X;
    00399
    00401                 T Y;
    00402
    00404                 T Z;
    00405         };
    00406
    00408         // Implementor note: inline keyword needed due to template specialization for s32. Otherwise put specialization into a .cpp
    00409         template <>
    00410         inline vector3d<s32> vector3d<s32>::operator /(s32 val) const {return core::vector3d<s32>(X/val,Y/val,Z/val);}
    00411         template <>
    00412         inline vector3d<s32>& vector3d<s32>::operator /=(s32 val) {X/=val;Y/=val;Z/=val; return *this;}
    00413
    00415         typedef vector3d<f32> vector3df;
    00416
    00418         typedef vector3d<s32> vector3di;
    00419
    00421         template<class S, class T>
    00422         vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; }
    00423
    00424 } // end namespace core
    00425 } // end namespace irr
    00426
    00427 #endif
    00428

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