590 lines
16 KiB
C++
590 lines
16 KiB
C++
/**
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* @file v3math.h
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* @brief LLVector3 class header file.
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*
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* $LicenseInfo:firstyear=2000&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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* $/LicenseInfo$
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*/
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#ifndef LL_V3MATH_H
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#define LL_V3MATH_H
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#include "llerror.h"
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#include "llmath.h"
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#include "llsd.h"
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class LLVector2;
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class LLVector4;
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class LLMatrix3;
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class LLMatrix4;
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class LLVector3d;
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class LLQuaternion;
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// LLvector3 = |x y z w|
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static const U32 LENGTHOFVECTOR3 = 3;
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class LLVector3
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{
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public:
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F32 mV[LENGTHOFVECTOR3];
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static const LLVector3 zero;
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static const LLVector3 x_axis;
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static const LLVector3 y_axis;
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static const LLVector3 z_axis;
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static const LLVector3 x_axis_neg;
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static const LLVector3 y_axis_neg;
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static const LLVector3 z_axis_neg;
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static const LLVector3 all_one;
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inline LLVector3(); // Initializes LLVector3 to (0, 0, 0)
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inline LLVector3(const F32 x, const F32 y, const F32 z); // Initializes LLVector3 to (x. y, z)
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inline explicit LLVector3(const F32 *vec); // Initializes LLVector3 to (vec[0]. vec[1], vec[2])
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explicit LLVector3(const LLVector2 &vec); // Initializes LLVector3 to (vec[0]. vec[1], 0)
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explicit LLVector3(const LLVector3d &vec); // Initializes LLVector3 to (vec[0]. vec[1], vec[2])
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explicit LLVector3(const LLVector4 &vec); // Initializes LLVector4 to (vec[0]. vec[1], vec[2])
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/*explicit */LLVector3(const LLSD& sd);
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LLSD getValue() const;
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void setValue(const LLSD& sd);
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inline BOOL isFinite() const; // checks to see if all values of LLVector3 are finite
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BOOL clamp(F32 min, F32 max); // Clamps all values to (min,max), returns TRUE if data changed
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BOOL clamp(const LLVector3 &min_vec, const LLVector3 &max_vec); // Scales vector by another vector
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BOOL clampLength( F32 length_limit ); // Scales vector to limit length to a value
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void quantize16(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz); // changes the vector to reflect quatization
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void quantize8(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz); // changes the vector to reflect quatization
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void snap(S32 sig_digits); // snaps x,y,z to sig_digits decimal places
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BOOL abs(); // sets all values to absolute value of original value (first octant), returns TRUE if changed
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inline void clear(); // Clears LLVector3 to (0, 0, 0)
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inline void setZero(); // Clears LLVector3 to (0, 0, 0)
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inline void clearVec(); // deprecated
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inline void zeroVec(); // deprecated
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inline void set(F32 x, F32 y, F32 z); // Sets LLVector3 to (x, y, z, 1)
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inline void set(const LLVector3 &vec); // Sets LLVector3 to vec
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inline void set(const F32 *vec); // Sets LLVector3 to vec
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const LLVector3& set(const LLVector4 &vec);
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const LLVector3& set(const LLVector3d &vec);// Sets LLVector3 to vec
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inline void setVec(F32 x, F32 y, F32 z); // deprecated
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inline void setVec(const LLVector3 &vec); // deprecated
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inline void setVec(const F32 *vec); // deprecated
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const LLVector3& setVec(const LLVector4 &vec); // deprecated
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const LLVector3& setVec(const LLVector3d &vec); // deprecated
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F32 length() const; // Returns magnitude of LLVector3
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F32 lengthSquared() const; // Returns magnitude squared of LLVector3
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F32 magVec() const; // deprecated
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F32 magVecSquared() const; // deprecated
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inline F32 normalize(); // Normalizes and returns the magnitude of LLVector3
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inline F32 normVec(); // deprecated
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inline BOOL inRange( F32 min, F32 max ) const; // Returns true if all values of the vector are between min and max
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const LLVector3& rotVec(F32 angle, const LLVector3 &vec); // Rotates about vec by angle radians
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const LLVector3& rotVec(F32 angle, F32 x, F32 y, F32 z); // Rotates about x,y,z by angle radians
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const LLVector3& rotVec(const LLMatrix3 &mat); // Rotates by LLMatrix4 mat
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const LLVector3& rotVec(const LLQuaternion &q); // Rotates by LLQuaternion q
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const LLVector3& transVec(const LLMatrix4& mat); // Transforms by LLMatrix4 mat (mat * v)
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const LLVector3& scaleVec(const LLVector3& vec); // scales per component by vec
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LLVector3 scaledVec(const LLVector3& vec) const; // get a copy of this vector scaled by vec
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BOOL isNull() const; // Returns TRUE if vector has a _very_small_ length
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BOOL isExactlyZero() const { return !mV[VX] && !mV[VY] && !mV[VZ]; }
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F32 operator[](int idx) const { return mV[idx]; }
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F32 &operator[](int idx) { return mV[idx]; }
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friend LLVector3 operator+(const LLVector3 &a, const LLVector3 &b); // Return vector a + b
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friend LLVector3 operator-(const LLVector3 &a, const LLVector3 &b); // Return vector a minus b
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friend F32 operator*(const LLVector3 &a, const LLVector3 &b); // Return a dot b
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friend LLVector3 operator%(const LLVector3 &a, const LLVector3 &b); // Return a cross b
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friend LLVector3 operator*(const LLVector3 &a, F32 k); // Return a times scaler k
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friend LLVector3 operator/(const LLVector3 &a, F32 k); // Return a divided by scaler k
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friend LLVector3 operator*(F32 k, const LLVector3 &a); // Return a times scaler k
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friend bool operator==(const LLVector3 &a, const LLVector3 &b); // Return a == b
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friend bool operator!=(const LLVector3 &a, const LLVector3 &b); // Return a != b
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// less than operator useful for using vectors as std::map keys
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friend bool operator<(const LLVector3 &a, const LLVector3 &b); // Return a < b
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friend const LLVector3& operator+=(LLVector3 &a, const LLVector3 &b); // Return vector a + b
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friend const LLVector3& operator-=(LLVector3 &a, const LLVector3 &b); // Return vector a minus b
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friend const LLVector3& operator%=(LLVector3 &a, const LLVector3 &b); // Return a cross b
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friend const LLVector3& operator*=(LLVector3 &a, const LLVector3 &b); // Returns a * b;
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friend const LLVector3& operator*=(LLVector3 &a, F32 k); // Return a times scaler k
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friend const LLVector3& operator/=(LLVector3 &a, F32 k); // Return a divided by scaler k
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friend const LLVector3& operator*=(LLVector3 &a, const LLQuaternion &b); // Returns a * b;
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friend LLVector3 operator-(const LLVector3 &a); // Return vector -a
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friend std::ostream& operator<<(std::ostream& s, const LLVector3 &a); // Stream a
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static BOOL parseVector3(const std::string& buf, LLVector3* value);
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};
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typedef LLVector3 LLSimLocalVec;
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// Non-member functions
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F32 angle_between(const LLVector3 &a, const LLVector3 &b); // Returns angle (radians) between a and b
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BOOL are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon=F_APPROXIMATELY_ZERO); // Returns TRUE if a and b are very close to parallel
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F32 dist_vec(const LLVector3 &a, const LLVector3 &b); // Returns distance between a and b
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F32 dist_vec_squared(const LLVector3 &a, const LLVector3 &b);// Returns distance squared between a and b
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F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b);// Returns distance squared between a and b ignoring Z component
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LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b
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LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b (same as projected_vec)
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LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b); // Returns component of vector a not parallel to vector b (same as projected_vec)
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LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u); // Returns a vector that is a linear interpolation between a and b
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inline LLVector3::LLVector3(void)
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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}
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inline LLVector3::LLVector3(const F32 x, const F32 y, const F32 z)
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{
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mV[VX] = x;
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mV[VY] = y;
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mV[VZ] = z;
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}
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inline LLVector3::LLVector3(const F32 *vec)
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{
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mV[VX] = vec[VX];
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mV[VY] = vec[VY];
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mV[VZ] = vec[VZ];
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}
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/*
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inline LLVector3::LLVector3(const LLVector3 ©)
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{
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mV[VX] = copy.mV[VX];
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mV[VY] = copy.mV[VY];
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mV[VZ] = copy.mV[VZ];
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}
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*/
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// Destructors
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// checker
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inline BOOL LLVector3::isFinite() const
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{
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return (llfinite(mV[VX]) && llfinite(mV[VY]) && llfinite(mV[VZ]));
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}
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// Clear and Assignment Functions
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inline void LLVector3::clear(void)
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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}
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inline void LLVector3::setZero(void)
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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}
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inline void LLVector3::clearVec(void)
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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}
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inline void LLVector3::zeroVec(void)
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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}
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inline void LLVector3::set(F32 x, F32 y, F32 z)
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{
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mV[VX] = x;
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mV[VY] = y;
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mV[VZ] = z;
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}
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inline void LLVector3::set(const LLVector3 &vec)
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{
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mV[0] = vec.mV[0];
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mV[1] = vec.mV[1];
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mV[2] = vec.mV[2];
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}
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inline void LLVector3::set(const F32 *vec)
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{
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mV[0] = vec[0];
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mV[1] = vec[1];
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mV[2] = vec[2];
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}
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// deprecated
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inline void LLVector3::setVec(F32 x, F32 y, F32 z)
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{
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mV[VX] = x;
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mV[VY] = y;
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mV[VZ] = z;
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}
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// deprecated
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inline void LLVector3::setVec(const LLVector3 &vec)
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{
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mV[0] = vec.mV[0];
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mV[1] = vec.mV[1];
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mV[2] = vec.mV[2];
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}
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// deprecated
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inline void LLVector3::setVec(const F32 *vec)
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{
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mV[0] = vec[0];
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mV[1] = vec[1];
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mV[2] = vec[2];
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}
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inline F32 LLVector3::normalize(void)
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{
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F32 mag = (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
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F32 oomag;
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if (mag > FP_MAG_THRESHOLD)
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{
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oomag = 1.f/mag;
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mV[0] *= oomag;
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mV[1] *= oomag;
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mV[2] *= oomag;
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}
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else
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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mag = 0;
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}
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return (mag);
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}
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// deprecated
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inline F32 LLVector3::normVec(void)
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{
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F32 mag = (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
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F32 oomag;
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if (mag > FP_MAG_THRESHOLD)
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{
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oomag = 1.f/mag;
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mV[0] *= oomag;
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mV[1] *= oomag;
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mV[2] *= oomag;
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}
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else
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{
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mV[0] = 0.f;
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mV[1] = 0.f;
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mV[2] = 0.f;
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mag = 0;
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}
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return (mag);
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}
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// LLVector3 Magnitude and Normalization Functions
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inline F32 LLVector3::length(void) const
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{
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return (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
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}
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inline F32 LLVector3::lengthSquared(void) const
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{
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return mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2];
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}
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inline F32 LLVector3::magVec(void) const
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{
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return (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
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}
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inline F32 LLVector3::magVecSquared(void) const
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{
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return mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2];
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}
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inline BOOL LLVector3::inRange( F32 min, F32 max ) const
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{
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return mV[0] >= min && mV[0] <= max &&
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mV[1] >= min && mV[1] <= max &&
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mV[2] >= min && mV[2] <= max;
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}
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inline LLVector3 operator+(const LLVector3 &a, const LLVector3 &b)
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{
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LLVector3 c(a);
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return c += b;
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}
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inline LLVector3 operator-(const LLVector3 &a, const LLVector3 &b)
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{
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LLVector3 c(a);
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return c -= b;
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}
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inline F32 operator*(const LLVector3 &a, const LLVector3 &b)
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{
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return (a.mV[0]*b.mV[0] + a.mV[1]*b.mV[1] + a.mV[2]*b.mV[2]);
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}
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inline LLVector3 operator%(const LLVector3 &a, const LLVector3 &b)
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{
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return LLVector3( a.mV[1]*b.mV[2] - b.mV[1]*a.mV[2], a.mV[2]*b.mV[0] - b.mV[2]*a.mV[0], a.mV[0]*b.mV[1] - b.mV[0]*a.mV[1] );
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}
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inline LLVector3 operator/(const LLVector3 &a, F32 k)
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{
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F32 t = 1.f / k;
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return LLVector3( a.mV[0] * t, a.mV[1] * t, a.mV[2] * t );
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}
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inline LLVector3 operator*(const LLVector3 &a, F32 k)
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{
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return LLVector3( a.mV[0] * k, a.mV[1] * k, a.mV[2] * k );
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}
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inline LLVector3 operator*(F32 k, const LLVector3 &a)
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{
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return LLVector3( a.mV[0] * k, a.mV[1] * k, a.mV[2] * k );
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}
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inline bool operator==(const LLVector3 &a, const LLVector3 &b)
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{
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return ( (a.mV[0] == b.mV[0])
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&&(a.mV[1] == b.mV[1])
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&&(a.mV[2] == b.mV[2]));
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}
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inline bool operator!=(const LLVector3 &a, const LLVector3 &b)
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{
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return ( (a.mV[0] != b.mV[0])
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||(a.mV[1] != b.mV[1])
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||(a.mV[2] != b.mV[2]));
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}
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inline bool operator<(const LLVector3 &a, const LLVector3 &b)
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{
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return (a.mV[0] < b.mV[0]
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|| (a.mV[0] == b.mV[0]
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&& (a.mV[1] < b.mV[1]
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|| ((a.mV[1] == b.mV[1])
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&& a.mV[2] < b.mV[2]))));
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}
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inline const LLVector3& operator+=(LLVector3 &a, const LLVector3 &b)
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{
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a.mV[0] += b.mV[0];
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a.mV[1] += b.mV[1];
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a.mV[2] += b.mV[2];
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return a;
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}
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inline const LLVector3& operator-=(LLVector3 &a, const LLVector3 &b)
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{
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a.mV[0] -= b.mV[0];
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a.mV[1] -= b.mV[1];
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a.mV[2] -= b.mV[2];
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return a;
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}
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inline const LLVector3& operator%=(LLVector3 &a, const LLVector3 &b)
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{
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LLVector3 ret( a.mV[1]*b.mV[2] - b.mV[1]*a.mV[2], a.mV[2]*b.mV[0] - b.mV[2]*a.mV[0], a.mV[0]*b.mV[1] - b.mV[0]*a.mV[1]);
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a = ret;
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return a;
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}
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inline const LLVector3& operator*=(LLVector3 &a, F32 k)
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{
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a.mV[0] *= k;
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a.mV[1] *= k;
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a.mV[2] *= k;
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return a;
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}
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inline const LLVector3& operator*=(LLVector3 &a, const LLVector3 &b)
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{
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a.mV[0] *= b.mV[0];
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a.mV[1] *= b.mV[1];
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a.mV[2] *= b.mV[2];
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return a;
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}
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inline const LLVector3& operator/=(LLVector3 &a, F32 k)
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{
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F32 t = 1.f / k;
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a.mV[0] *= t;
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a.mV[1] *= t;
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a.mV[2] *= t;
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return a;
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}
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inline LLVector3 operator-(const LLVector3 &a)
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{
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return LLVector3( -a.mV[0], -a.mV[1], -a.mV[2] );
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}
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|
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inline F32 dist_vec(const LLVector3 &a, const LLVector3 &b)
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{
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F32 x = a.mV[0] - b.mV[0];
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F32 y = a.mV[1] - b.mV[1];
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F32 z = a.mV[2] - b.mV[2];
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return (F32) sqrt( x*x + y*y + z*z );
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}
|
|
|
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inline F32 dist_vec_squared(const LLVector3 &a, const LLVector3 &b)
|
|
{
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F32 x = a.mV[0] - b.mV[0];
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F32 y = a.mV[1] - b.mV[1];
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F32 z = a.mV[2] - b.mV[2];
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return x*x + y*y + z*z;
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}
|
|
|
|
inline F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b)
|
|
{
|
|
F32 x = a.mV[0] - b.mV[0];
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F32 y = a.mV[1] - b.mV[1];
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return x*x + y*y;
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|
}
|
|
|
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inline LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b)
|
|
{
|
|
LLVector3 project_axis = b;
|
|
project_axis.normalize();
|
|
return project_axis * (a * project_axis);
|
|
}
|
|
|
|
inline LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b)
|
|
{
|
|
return projected_vec(a, b);
|
|
}
|
|
|
|
inline LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b)
|
|
{
|
|
return a - projected_vec(a, b);
|
|
}
|
|
|
|
|
|
inline LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u)
|
|
{
|
|
return LLVector3(
|
|
a.mV[VX] + (b.mV[VX] - a.mV[VX]) * u,
|
|
a.mV[VY] + (b.mV[VY] - a.mV[VY]) * u,
|
|
a.mV[VZ] + (b.mV[VZ] - a.mV[VZ]) * u);
|
|
}
|
|
|
|
|
|
inline BOOL LLVector3::isNull() const
|
|
{
|
|
if ( F_APPROXIMATELY_ZERO > mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ] )
|
|
{
|
|
return TRUE;
|
|
}
|
|
return FALSE;
|
|
}
|
|
|
|
inline void update_min_max(LLVector3& min, LLVector3& max, const LLVector3& pos)
|
|
{
|
|
for (U32 i = 0; i < 3; i++)
|
|
{
|
|
if (min.mV[i] > pos.mV[i])
|
|
{
|
|
min.mV[i] = pos.mV[i];
|
|
}
|
|
if (max.mV[i] < pos.mV[i])
|
|
{
|
|
max.mV[i] = pos.mV[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
inline void update_min_max(LLVector3& min, LLVector3& max, const F32* pos)
|
|
{
|
|
for (U32 i = 0; i < 3; i++)
|
|
{
|
|
if (min.mV[i] > pos[i])
|
|
{
|
|
min.mV[i] = pos[i];
|
|
}
|
|
if (max.mV[i] < pos[i])
|
|
{
|
|
max.mV[i] = pos[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
inline F32 angle_between(const LLVector3& a, const LLVector3& b)
|
|
{
|
|
LLVector3 an = a;
|
|
LLVector3 bn = b;
|
|
an.normalize();
|
|
bn.normalize();
|
|
F32 cosine = an * bn;
|
|
F32 angle = (cosine >= 1.0f) ? 0.0f :
|
|
(cosine <= -1.0f) ? F_PI :
|
|
(F32)acos(cosine);
|
|
return angle;
|
|
}
|
|
|
|
inline BOOL are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon)
|
|
{
|
|
LLVector3 an = a;
|
|
LLVector3 bn = b;
|
|
an.normalize();
|
|
bn.normalize();
|
|
F32 dot = an * bn;
|
|
if ( (1.0f - fabs(dot)) < epsilon)
|
|
{
|
|
return TRUE;
|
|
}
|
|
return FALSE;
|
|
}
|
|
|
|
inline std::ostream& operator<<(std::ostream& s, const LLVector3 &a)
|
|
{
|
|
s << "{ " << a.mV[VX] << ", " << a.mV[VY] << ", " << a.mV[VZ] << " }";
|
|
return s;
|
|
}
|
|
#endif
|