Vector3.h

Go to the documentation of this file.

/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __VECTOR3_H__
#define __VECTOR3_H__

#ifdef _MSC_VER
    // To export templated classes and functions, requires declaring specializations
    // extern.  This became standard in C++11, but prior to that it is considered a
    //  "microsoft extension".  This silences the warnings.
    #pragma warning( disable : 4231 )
#endif

#include "CoreConfig.h"
#include "Logger.h"
#include "Math/consts.h"
#include <cmath>
#include <ostream>
#include <cassert>

namespace Menge {

    namespace Math {

        // forward declaration
        template< class Type >
        class Vector3d;

        template< class Type >
        inline MENGE_API Type abs( const Vector3d<Type>& v );

        template <class Type> 
        class MENGE_API Vector3d {

        public:

            inline Vector3d() {}

            inline Vector3d( Type x, Type y, Type z ): _x(x), _y(y), _z(z) {}

            inline Vector3d( const Vector3d & v ): _x(v._x), _y(v._y), _z(v._z) {}


            inline Type x() const { return _x; }

            inline Type y() const { return _y; }

            inline Type z() const { return _z; }

            inline void set( Type x, Type y, Type z ) {
                _x = x;
                _y = y;
                _z = z;
            }

            inline void set( const Vector3d & v ) {
                _x = v._x;
                _y = v._y;
                _z = v._z;
            }

            inline void setX( Type x ) {
                _x = x;
            }

            inline void setY( Type y ) {
                _y = y;
            }

            inline void setZ( Type z ) {
                _z = z;
            }

            inline Type operator[]( const int i ) const {
                assert( i >= 0 && i <= 2 && "Invalid index for Vector3" );
                return  i == 0 ? _x : ( i == 1 ? _y : _z );
            }

            inline Type & operator[]( const int i ) {
                assert( i >= 0 && i <= 2 && "Invalid index for Vector3" );
                return  i == 0 ? _x : ( i == 1 ? _y : _z );
            }

            inline void zero() {
                _x = _y = _z = (Type)0;
            }


            inline Vector3d<Type> operator-() const {
                return Vector3d<Type>( -_x, -_y, -_z );
            }

            inline float operator*(const Vector3d& v) const {
                return _x * v._x + _y * v._y + _z * v._z;
            }

            inline Vector3d<Type> operator*( float s ) const {
                return Vector3d<Type>( _x * s, _y * s, _z * s );
            }

            inline Vector3d<Type> operator/( float s ) const {
                const float invS = 1.f / s;
                return Vector3d<Type>( _x * invS, _y * invS, _z * invS );
            }

            inline Vector3d operator+( const Vector3d & v ) const {
              return Vector3d<Type>( _x + v._x, _y + v._y, _z + v._z );
            }

            inline Vector3d operator-( const Vector3d & v ) const {
              return Vector3d<Type>( _x - v._x, _y - v._y, _z - v._z );
            }

            inline bool operator==( const Vector3d & v ) const {
              return _x == v._x && _y == v._y && _z == v._z;
            }

            inline bool operator!=( const Vector3d & v ) const {
              return _x != v._x || _y != v._y || _z != v._z;
            }


            inline Vector3d & operator*=( float s ) {
                _x *= s;
                _y *= s;
                _z *= s;
                return *this;
            }

            inline Vector3d & operator/=( float s ) {
                const float invS = 1.f / s;
                _x *= invS;
                _y *= invS;
                _z *= invS;
                return *this;
            }

            inline Vector3d & operator+=( const Vector3d & v ) {
                _x += v._x;
                _y += v._y;
                _z += v._z;
                return *this;
            }

            inline Vector3d & operator-=( const Vector3d & v ) {
                _x -= v._x;
                _y -= v._y;
                _z -= v._z;
                return *this;
            }

            inline void negate() {
                _x = -_x;
                _y = -_y;
                _z = -_z;
            }

            inline void normalize() {
                float len = sqrtf( _x * _x + _y * _y + _z * _z );
                if ( len > EPS ) {
                    _x /= len;
                    _y /= len;
                    _z /= len;
                } else {
                    _x = _y = _z = 0.f;
                }
            }

            inline void SumScale( Type s, const Vector3d & v ) {
                _x += v._x * s;
                _y += v._y * s;
                _z += v._z * s;
            }


            Vector3d rotateX( float angle ) const {
                float newY = _y, newZ = _z;
                rotatePair( angle, &newY, &newZ );
                return Vector3d( _x, newY, newZ );
            }

            Vector3d rotateY( float angle ) const {
                float newX = _x, newZ = _z;
                rotatePair( angle, &newX, &newZ );
                return Vector3d( newX, _y, newZ );
            }

            Vector3d rotateZ( float angle ) const {
                float newX = _x, newY = _y;
                rotatePair( -angle, &newX, &newY );
                return Vector3d( newX, newY, _z );
            }

            Vector3d rotateV( Type angle, const Vector3d & v ) const {
                assert ( abs( v ) > 0.999 && abs( v ) < 1.001 );
                Type c = cos( angle );
                Type s = sin( angle );
                Type omc = 1 - c;
                // This is a hack -- it should be done with a matrix.....
                Type vx = _x * (v._x * v._x * omc + c) + _y * (v._y * v._x * omc + v._z * s) + _z * (v._z * v._x * omc - v._y * s);
                Type vy = _x * (v._x * v._y * omc - v._z * s) + _y * (v._y * v._y * omc + c) + _z * (v._z * v._y * omc + v._x * s);
                Type vz = _x * (v._x * v._z * omc + v._y * s) + _y * (v._y * v._z * omc - v._x * s) + _z * (v._z * v._z * omc + c);
                return Vector3d( vx, vy, vz );
            }

            void rotateV_ip( Type angle, const Vector3d & v ) {
                assert ( abs( v ) > 0.999 && abs( v ) < 1.001 );
                Type c = cos( angle );
                Type s = sin(angle);
                Type omc = 1 - c;
                // This is a hack -- it should be done with a matrix.....
                Type vx = _x * (v._x * v._x * omc + c) + _y * (v._y * v._x * omc + v._z * s) + _z * (v._z * v._x * omc - v._y * s);
                Type vy = _x * (v._x * v._y * omc - v._z * s) + _y * (v._y * v._y * omc + c) + _z * (v._z * v._y * omc + v._x * s);
                Type vz = _x * (v._x * v._z * omc + v._y * s) + _y * (v._y * v._z * omc - v._x * s) + _z * (v._z * v._z * omc + c);
                _x = vx;
                _y = vy;
                _z = vz;
            }


            inline Type Length() const {
                return sqrt( _x * _x + _y * _y + _z * _z );
            }

            inline Vector3d cross( const Vector3d<Type> & v ) {
                return Vector3d<Type>( _y * v._z - v._y * _z,
                                      _z * v._x - _x * v._z,
                                      _x * v._y - _y * v._x);
            }

            inline float distance( const Vector3d & p ) const {
                float dx = _x - p._x;
                float dy = _y - p._y;
                float dz = _z - p._z;
                return sqrtf( dx * dx + dy * dy + dz * dz );
            }

            inline float distance( float x, float y, float z ) const {
                float dx = _x - x;
                float dy = _y - y;
                float dz = _z - z;
                return sqrtf( dx * dx + dy * dy + dz * dz );
            }

            inline float distanceSq( const Vector3d & p ) const {
                float dx = _x - p._x;
                float dy = _y - p._y;
                float dz = _z - p._z;
                return dx * dx + dy * dy + dz * dz ;
            }

            inline float distanceSq( float x, float y, float z ) const {
                float dx = _x - x;
                float dy = _y - y;
                float dz = _z - z;
                return dx * dx + dy * dy + dz * dz;
            }
            
            Type    _x;

            Type    _y;

            Type    _z;

        private:
            void rotatePair( float angle, float * x, float * y ) const {
                float c = cos( angle );
                float s = sin( angle );
                float newX = c * (*x) + s * (*y);
                float newY = c * (*y) - s * (*x);
                *x = newX;
                *y = newY;
            }
        };

        MATHEXTERN template class MENGE_API Vector3d<float>;

        typedef Vector3d<float>  Vector3;



        template< class Type >
        inline MENGE_API Vector3d<Type> operator*( Type s, const Vector3d<Type>& v) {
            return Vector3d<Type>( s * v._x, s * v._y, s * v._z );
        }

        MATHEXTERN template MENGE_API Vector3d<float> operator*( float s, const Vector3d<float>& v);

        template< class Type >
        inline MENGE_API Logger& operator<<(Logger& logger, const Vector3d<Type>& v ) {
            logger << "(" << v.x() << "," << v.y() << ", " << v.z() << ")";
            return logger;
        }

        template< class Type >
        inline MENGE_API std::ostream& operator<<(std::ostream& os, const Vector3d<Type>& v ) {
            os << "(" << v.x() << "," << v.y() << ", " << v.z() << ")";
            return os;
        }

        MATHEXTERN template MENGE_API Logger& operator<<(Logger& os, const Vector3d<float>& v );

        template< class Type >
        inline MENGE_API Type abs( const Vector3d<Type>& v ) {
            return std::sqrt( v * v );
        }

        MATHEXTERN template MENGE_API float abs( const Vector3d<float>& v );

        template< class Type >
        inline MENGE_API Type absSq( const Vector3d<Type>& v ) {
            return v * v;
        }

        MATHEXTERN template MENGE_API float absSq( const Vector3d<float>& v );

        template< class Type >
        inline MENGE_API Vector3d<Type> norm( const Vector3d<Type>& vector ) {
            Type mag = abs( vector );
            if ( mag < EPS ) {
                // This may not be the "right" behavior.  I do this because the "normalized" vector has unit
                //  length.  This guarantees that the result is always unit length.  Although it introduces other
                //  issues.
                return Vector3d<Type>( 1.f, 0.f, 0.f );
            } else {
                return vector / mag;
            }
        }

        MATHEXTERN template MENGE_API Vector3d<float> norm( const Vector3d<float>& vector );

        template< class Type >
        inline MENGE_API bool equivalent( const Vector3d<Type> & v1, const Vector3d<Type> & v2, float threshSqd=0.000001f ) {
            return absSq( v1 - v2 ) < threshSqd;
        }

        MATHEXTERN template MENGE_API bool equivalent( const Vector3d<float> & v1, const Vector3d<float> & v2, float threshSqd );

        // Possible operations 
        //  Normal to a trio of points (i.e. normal of triangle)
        // Optimized math operations
        //      add in scaled vector
        //      scale this add in scaled vector
        // Getter/setter from Type pointer
        // Linear interpolation
        // reflection of one vector around another
        // Compute plane from three points

    }   // namespace Math
}   // namespace Menge
#ifdef _MSC_VER
    // To export templated classes and functions, requires declaring specializations
    // extern.  This became standard in C++11, but prior to that it is considered a
    //  "microsoft extension".  This silences the warnings.
    #pragma warning( default : 4231 )
#endif

#endif