mirror of
https://github.com/ptitSeb/Serious-Engine
synced 2024-11-22 18:30:27 +01:00
562 lines
17 KiB
C++
562 lines
17 KiB
C++
/* Copyright (c) 2002-2012 Croteam Ltd. All rights reserved. */
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#ifndef SE_INCL_VECTOR_H
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#define SE_INCL_VECTOR_H
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#ifdef PRAGMA_ONCE
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#pragma once
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#endif
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#include <Engine/Base/Assert.h>
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#include <Engine/Math/Matrix.h>
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/*
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* Template class for vector of arbitrary dimensions and arbitrary type of members
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*/
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template<class Type, int iDimensions>
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class Vector {
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public:
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Type vector[iDimensions]; // array that holds the members
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public:
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/* Default constructor. */
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__forceinline Vector(void);
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/* Constructor from coordinates. */
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__forceinline Vector(Type x1);
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__forceinline Vector(Type x1, Type x2);
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__forceinline Vector(Type x1, Type x2, Type x3);
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__forceinline Vector(Type x1, Type x2, Type x3, Type x4);
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/* Clear function */
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__forceinline void Clear(void) {};
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/* Conversion into scalar -- length of vector (Euclidian norm). */
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__forceinline Type Length(void) const;
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/* Conversion into scalar -- Manhattan norm of vector. */
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__forceinline Type ManhattanNorm(void) const;
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/* Conversion into scalar -- Max norm of vector. */
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__forceinline Type MaxNorm(void) const;
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/* Reference vector member by it's index (1-based indices!). */
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__forceinline Type &operator()(int i);
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__forceinline const Type &operator()(int i) const;
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/* Normalize vector, i.e. make it a unit vector. */
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__forceinline Vector<Type, iDimensions> &Normalize(void);
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__forceinline Vector<Type, iDimensions> &SafeNormalize(void); // gives vector with (0,0,0) orientation if input is too small
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/* Mathematical operators. */
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// unary minus
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__forceinline Vector<Type, iDimensions> &Flip(void);
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__forceinline Vector<Type, iDimensions> operator-(void) const;
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// between two vectors
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__forceinline Vector<Type, iDimensions> operator+(const Vector<Type, iDimensions> &vector2) const;
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__forceinline Vector<Type, iDimensions> &operator+=(const Vector<Type, iDimensions> &vector2);
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__forceinline Vector<Type, iDimensions> operator-(const Vector<Type, iDimensions> &vector2) const;
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__forceinline Vector<Type, iDimensions> &operator-=(const Vector<Type, iDimensions> &vector2);
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// multiplication with scalar
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__forceinline Vector<Type, iDimensions> &operator*=(const Type scalar);
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__forceinline Vector<Type, iDimensions> operator*(const Type scalar) const;
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// division with scalar
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__forceinline Vector<Type, iDimensions> &operator/=(const Type scalar);
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__forceinline Vector<Type, iDimensions> operator/(const Type scalar) const;
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// multiplication by a square matrix (sides swapped -- see implementation for notes)
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__forceinline Vector<Type, iDimensions> &operator*=(const Matrix<Type, iDimensions, iDimensions> &matrix2);
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__forceinline Vector<Type, iDimensions> operator*(const Matrix<Type, iDimensions, iDimensions> &matrix2) const;
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// scalar product - dot product, inner product
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__forceinline Type operator%(const Vector<Type, iDimensions> &vector2) const;
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// vector product - cross product, outer product
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__forceinline Vector<Type, iDimensions> &operator*=(const Vector<Type, iDimensions> &vector2);
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__forceinline Vector<Type, iDimensions> operator*(const Vector<Type, iDimensions> &vector2) const;
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// comparing vectors
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__forceinline BOOL operator==(const Vector<Type, iDimensions> &vector2) const;
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__forceinline BOOL operator!=(const Vector<Type, iDimensions> &vector2) const;
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/* Stream operations */
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friend __forceinline CTStream &operator>>(CTStream &strm, Vector<Type, iDimensions> &vector) {
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strm.Read_t(&vector, sizeof(vector));
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return strm;
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}
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friend __forceinline CTStream &operator<<(CTStream &strm, Vector<Type, iDimensions> &vector) {
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strm.Write_t(&vector, sizeof(vector));
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return strm;
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}
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};
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// inline functions implementation
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/*
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* Default constructor.
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*/
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions>::Vector(void) {}
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/*
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* Constructor from coordinates.
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*/
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions>::Vector(Type x1)
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{
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ASSERT(iDimensions==1);
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(*this)(1)=x1;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions>::Vector(Type x1, Type x2)
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{
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ASSERT(iDimensions==2);
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(*this)(1)=x1;
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(*this)(2)=x2;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions>::Vector(Type x1, Type x2, Type x3)
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{
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ASSERT(iDimensions==3);
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(*this)(1)=x1;
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(*this)(2)=x2;
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(*this)(3)=x3;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions>::Vector(Type x1, Type x2, Type x3, Type x4)
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{
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ASSERT(iDimensions==4);
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(*this)(1)=x1;
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(*this)(2)=x2;
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(*this)(3)=x3;
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(*this)(4)=x4;
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}
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/*
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* Conversion into scalar -- length of vector.
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*/
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__forceinline FLOAT Vector<FLOAT,3>::Length(void) const
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{
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return (FLOAT)sqrt( (DOUBLE)((*this)(1)*(*this)(1) + (*this)(2)*(*this)(2) + (*this)(3)*(*this)(3)));
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}
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__forceinline DOUBLE Vector<DOUBLE,3>::Length(void) const
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{
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return (DOUBLE)sqrt( (DOUBLE)((*this)(1)*(*this)(1) + (*this)(2)*(*this)(2) + (*this)(3)*(*this)(3)));
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}
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template<class Type, int iDimensions>
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__forceinline Type Vector<Type, iDimensions>::Length(void) const
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{
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Type result=(Type)0;
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for(int i=1; i<=iDimensions; i++) {
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result += (*this)(i) * (*this)(i);
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}
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return (Type)sqrt((DOUBLE)result);
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}
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/*
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* Conversion into scalar -- Manhattan norm of vector.
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*/
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template<class Type, int iDimensions>
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__forceinline Type Vector<Type, iDimensions>::ManhattanNorm(void) const
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{
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Type result=(Type)0;
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for(int i=1; i<=iDimensions; i++) {
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result += Abs((*this)(i));
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}
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return result;
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}
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/*
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* Conversion into scalar -- Max norm of vector.
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*/
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template<class Type, int iDimensions>
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__forceinline Type Vector<Type, iDimensions>::MaxNorm(void) const
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{
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Type result=(Type)0;
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for(int i=1; i<=iDimensions; i++) {
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result = Max(result, Abs((*this)(i)));
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}
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return result;
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}
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/*
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* Reference vector member by it's index (1-based indices!).
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*/
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template<class Type, int iDimensions>
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__forceinline Type &Vector<Type, iDimensions>::operator()(int i)
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{
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// check boundaries (indices start at 1, not at 0)
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ASSERT(i>=1 && i<=iDimensions);
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// return vector member reference
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return vector[i-1];
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}
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template<class Type, int iDimensions>
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__forceinline const Type &Vector<Type, iDimensions>::operator()(int i) const
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{
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// check boundaries (indices start at 1, not at 0)
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ASSERT(i>=1 && i<=iDimensions);
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// return vector member reference
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return vector[i-1];
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}
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/*
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* Normalize vector, i.e. make it a unit vector.
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*/
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::Normalize(void)
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{
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// Normalizing a vector of a very small length can be very unprecise!
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// ASSERT(((Type)*this) > 0.001);
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*this/=Length();
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return *this;
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}
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// gives vector with (0,0,0) orientation if input is too small
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::SafeNormalize(void)
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{
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Type tLen = Length();
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if (tLen<1E-6) {
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if (iDimensions==2) {
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*this = Vector(1,0);
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} else {
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*this = Vector(0,0,-1);
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}
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} else {
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*this/=tLen;
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}
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return *this;
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}
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// unary minus FLOAT3D
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__forceinline Vector<FLOAT,3> &Vector<FLOAT,3>::Flip(void)
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{
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(*this)(1) = -(*this)(1);
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(*this)(2) = -(*this)(2);
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(*this)(3) = -(*this)(3);
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return *this;
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}
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// unary minus DOUBLE3D
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__forceinline Vector<DOUBLE,3> &Vector<DOUBLE,3>::Flip(void)
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{
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(*this)(1) = -(*this)(1);
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(*this)(2) = -(*this)(2);
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(*this)(3) = -(*this)(3);
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return *this;
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}
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// unary minus
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::Flip(void)
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{
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// flip member by member
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ASSERT( iDimensions!=3); // 3 is optimized special case
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for(int iDimension=1; iDimension<=iDimensions; iDimension++) {
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(*this)(iDimension) = -(*this)(iDimension);
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}
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator-(void) const
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{
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return Vector<Type, iDimensions>(*this).Flip();
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}
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// sum of two vectors FLOAT3D
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__forceinline Vector<FLOAT,3> &Vector<FLOAT,3>::operator+=(const Vector<FLOAT,3> &vector2)
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{
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// add member by member
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(*this)(1) += vector2(1);
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(*this)(2) += vector2(2);
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(*this)(3) += vector2(3);
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return *this;
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}
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// sum of two vectors DOUBLE3D
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__forceinline Vector<DOUBLE,3> &Vector<DOUBLE,3>::operator+=(const Vector<DOUBLE,3> &vector2)
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{
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// add member by member
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(*this)(1) += vector2(1);
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(*this)(2) += vector2(2);
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(*this)(3) += vector2(3);
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return *this;
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}
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// sum of two vectors
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator+=(const Vector<Type, iDimensions> &vector2)
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{
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// add member by member
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ASSERT( iDimensions!=3); // 3 is optimized special case
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for(int iDimension=1; iDimension<=iDimensions; iDimension++) {
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(*this)(iDimension) += vector2(iDimension);
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}
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator+(const Vector<Type, iDimensions> &vector2) const
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{
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return Vector<Type, iDimensions>(*this)+=vector2;
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}
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// difference of two vectors FLOAT3D
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__forceinline Vector<FLOAT,3> &Vector<FLOAT,3>::operator-=(const Vector<FLOAT,3> &vector2)
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{
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// add member by member
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(*this)(1) -= vector2(1);
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(*this)(2) -= vector2(2);
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(*this)(3) -= vector2(3);
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return *this;
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}
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// difference of two vectors DOUBLE3D
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__forceinline Vector<DOUBLE,3> &Vector<DOUBLE,3>::operator-=(const Vector<DOUBLE,3> &vector2)
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{
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// add member by member
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(*this)(1) -= vector2(1);
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(*this)(2) -= vector2(2);
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(*this)(3) -= vector2(3);
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return *this;
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}
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// difference of two vectors
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator-=(const Vector<Type, iDimensions> &vector2)
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{
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// sub member by member
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ASSERT( iDimensions!=3); // 3 is optimized special case
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for(int iDimension=1; iDimension<=iDimensions; iDimension++) {
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(*this)(iDimension) -= vector2(iDimension);
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}
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator-(const Vector<Type, iDimensions> &vector2) const
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{
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return Vector<Type, iDimensions>(*this)-=vector2;
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}
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// multiplication with scalar FLOAT3D
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__forceinline Vector<FLOAT,3> &Vector<FLOAT,3>::operator*=(const FLOAT scalar)
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{
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(*this)(1) *= scalar;
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(*this)(2) *= scalar;
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(*this)(3) *= scalar;
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return *this;
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}
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// multiplication with scalar DOUBLE3D
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__forceinline Vector<DOUBLE,3> &Vector<DOUBLE,3>::operator*=(const DOUBLE scalar)
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{
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(*this)(1) *= scalar;
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(*this)(2) *= scalar;
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(*this)(3) *= scalar;
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return *this;
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}
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// multiplication with scalar
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator*=(const Type scalar)
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{
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ASSERT( iDimensions!=3); // 3 is optimized special case
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for( int i=1; i<=iDimensions; i++) (*this)(i) *= scalar;
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator*(const Type scalar) const
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{
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return Vector<Type, iDimensions>(*this) *= scalar;
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}
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// division with scalar FLOAT3D
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__forceinline Vector<FLOAT,3> &Vector<FLOAT,3>::operator/=(const FLOAT scalar)
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{
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const FLOAT rcp = 1.0f/scalar;
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(*this)(1) *= rcp;
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(*this)(2) *= rcp;
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(*this)(3) *= rcp;
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return *this;
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}
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// division with scalar DOUBLE3D
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__forceinline Vector<DOUBLE,3> &Vector<DOUBLE,3>::operator/=(const DOUBLE scalar)
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{
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const DOUBLE rcp = 1.0/scalar;
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(*this)(1) *= rcp;
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(*this)(2) *= rcp;
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(*this)(3) *= rcp;
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return *this;
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}
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// division with scalar
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator/=(const Type scalar)
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{
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ASSERT( iDimensions!=3); // 3 is optimized special case
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for( int i=1; i<=iDimensions; i++) (*this)(i) /= scalar;
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator/(const Type scalar) const
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{
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return Vector<Type, iDimensions>(*this) /= scalar;
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}
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/*
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* Multiplication of a vector by a square matrix.
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*/
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// NOTE: The matrix should have been on the left side of the vector, but the template syntax wouldn't allow that.
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__forceinline Vector<DOUBLE,3> Vector<DOUBLE,3>::operator*(const Matrix<DOUBLE,3,3> &matrix2) const
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{
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Vector<DOUBLE,3> result;
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result(1) = matrix2(1,1) * (*this)(1) + matrix2(1,2) * (*this)(2) + matrix2(1,3) * (*this)(3);
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result(2) = matrix2(2,1) * (*this)(1) + matrix2(2,2) * (*this)(2) + matrix2(2,3) * (*this)(3);
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result(3) = matrix2(3,1) * (*this)(1) + matrix2(3,2) * (*this)(2) + matrix2(3,3) * (*this)(3);
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return result;
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}
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__forceinline Vector<FLOAT,3> Vector<FLOAT,3>::operator*(const Matrix<FLOAT,3,3> &matrix2) const
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{
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Vector<FLOAT,3> result;
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result(1) = matrix2(1,1) * (*this)(1) + matrix2(1,2) * (*this)(2) + matrix2(1,3) * (*this)(3);
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result(2) = matrix2(2,1) * (*this)(1) + matrix2(2,2) * (*this)(2) + matrix2(2,3) * (*this)(3);
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result(3) = matrix2(3,1) * (*this)(1) + matrix2(3,2) * (*this)(2) + matrix2(3,3) * (*this)(3);
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return result;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator*=(const Matrix<Type, iDimensions, iDimensions> &matrix2)
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{
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(*this) = (*this) * matrix2;
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return *this;
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}
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template<class Type, int iDimensions>
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__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator*(const Matrix<Type, iDimensions, iDimensions> &matrix2) const
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{
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ASSERT( iDimensions!=3); // 3 is optimized special case
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Vector<Type, iDimensions> result;
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for(int iRow=1; iRow<=iDimensions; iRow++) {
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result(iRow) = (Type)0;
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for(int s=1; s<=iDimensions; s++) {
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result(iRow) += matrix2(iRow, s) * (*this)(s);
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}
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}
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return result;
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}
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// scalar product - dot product, inner product for FLOAT3D
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__forceinline FLOAT Vector<FLOAT,3>::operator%(const Vector<FLOAT,3> &vector2) const
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{
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return (FLOAT)((*this)(1)*vector2(1) + (*this)(2)*vector2(2) + (*this)(3)*vector2(3));
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}
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// scalar product - dot product, inner product for DOUBLE3D
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__forceinline DOUBLE Vector<DOUBLE,3>::operator%(const Vector<DOUBLE,3> &vector2) const
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{
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return (DOUBLE)((*this)(1)*vector2(1) + (*this)(2)*vector2(2) + (*this)(3)*vector2(3));
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}
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// scalar product - dot product, inner product
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template<class Type, int iDimensions>
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__forceinline Type Vector<Type, iDimensions>::operator%(const Vector<Type, iDimensions> &vector2) const
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{
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ASSERT( iDimensions!=3); // 3 is optimized special case
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Type result=(Type)0;
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for(int i=1; i<=iDimensions; i++) {
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|
result += (*this)(i) * vector2(i);
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|
}
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|
return result;
|
|
}
|
|
|
|
|
|
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|
// vector product - cross product, outer product
|
|
/* Formula: C=A*B
|
|
Cx = Ay*Bz - Az*By
|
|
Cy = Az*Bx - Ax*Bz
|
|
Cz = Ax*By - Ay*Bx
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|
*/
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|
template<class Type, int iDimensions>
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|
__forceinline Vector<Type, iDimensions> &Vector<Type, iDimensions>::operator*=(const Vector<Type, iDimensions> &vector2)
|
|
{
|
|
(*this) = (*this) * vector2;
|
|
return *this;
|
|
}
|
|
|
|
template<class Type, int iDimensions>
|
|
__forceinline Vector<Type, iDimensions> Vector<Type, iDimensions>::operator*(const Vector<Type, iDimensions> &vector2) const
|
|
{
|
|
Vector<Type, iDimensions> result;
|
|
ASSERT(iDimensions==3); // cross product is defined only for 3D vectors
|
|
result(1) = (*this)(2)*vector2(3) - (*this)(3)*vector2(2);
|
|
result(2) = (*this)(3)*vector2(1) - (*this)(1)*vector2(3);
|
|
result(3) = (*this)(1)*vector2(2) - (*this)(2)*vector2(1);
|
|
return result;
|
|
}
|
|
|
|
|
|
// comparation FLOAT3D
|
|
__forceinline BOOL Vector<FLOAT,3>::operator==(const Vector<FLOAT,3> &vector2) const
|
|
{
|
|
return( (*this)(1)==vector2(1) && (*this)(2)==vector2(2) && (*this)(3)==vector2(3));
|
|
}
|
|
|
|
// comparation DOUBLE3D
|
|
__forceinline BOOL Vector<DOUBLE,3>::operator==(const Vector<DOUBLE,3> &vector2) const
|
|
{
|
|
return( (*this)(1)==vector2(1) && (*this)(2)==vector2(2) && (*this)(3)==vector2(3));
|
|
}
|
|
|
|
// comparation
|
|
template<class Type, int iDimensions>
|
|
__forceinline BOOL Vector<Type, iDimensions>::operator==(const Vector<Type, iDimensions> &vector2) const
|
|
{
|
|
ASSERT( iDimensions!=3); // 3 is optimized special case
|
|
for(int i=1; i<=iDimensions; i++) {
|
|
if( (*this)(i) != vector2(i))
|
|
return FALSE;
|
|
}
|
|
return TRUE;
|
|
}
|
|
|
|
|
|
template<class Type, int iDimensions>
|
|
__forceinline BOOL Vector<Type, iDimensions>::operator!=(const Vector<Type, iDimensions> &vector2) const
|
|
{
|
|
return !(*this == vector2);
|
|
}
|
|
|
|
|
|
// helper functions for converting between FLOAT and DOUBLE vectors
|
|
__forceinline DOUBLE3D FLOATtoDOUBLE(const FLOAT3D &vf)
|
|
{
|
|
return DOUBLE3D(FLOATtoDOUBLE(vf(1)), FLOATtoDOUBLE(vf(2)), FLOATtoDOUBLE(vf(3)));
|
|
}
|
|
|
|
__forceinline FLOAT3D DOUBLEtoFLOAT(const DOUBLE3D &vd)
|
|
{
|
|
return FLOAT3D(DOUBLEtoFLOAT(vd(1)), DOUBLEtoFLOAT(vd(2)), DOUBLEtoFLOAT(vd(3)));
|
|
}
|
|
|
|
|
|
|
|
#endif /* include-once check. */
|
|
|