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IrrlichtEngine
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00001 // Copyright (C) 2002-2011 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() 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