v3dmath.h
上传用户:king477883
上传日期:2021-03-01
资源大小:9553k
文件大小:12k
- /**
- * @file v3dmath.h
- * @brief High precision 3 dimensional vector.
- *
- * $LicenseInfo:firstyear=2000&license=viewergpl$
- *
- * Copyright (c) 2000-2010, Linden Research, Inc.
- *
- * Second Life Viewer Source Code
- * The source code in this file ("Source Code") is provided by Linden Lab
- * to you under the terms of the GNU General Public License, version 2.0
- * ("GPL"), unless you have obtained a separate licensing agreement
- * ("Other License"), formally executed by you and Linden Lab. Terms of
- * the GPL can be found in doc/GPL-license.txt in this distribution, or
- * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
- *
- * There are special exceptions to the terms and conditions of the GPL as
- * it is applied to this Source Code. View the full text of the exception
- * in the file doc/FLOSS-exception.txt in this software distribution, or
- * online at
- * http://secondlifegrid.net/programs/open_source/licensing/flossexception
- *
- * By copying, modifying or distributing this software, you acknowledge
- * that you have read and understood your obligations described above,
- * and agree to abide by those obligations.
- *
- * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
- * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
- * COMPLETENESS OR PERFORMANCE.
- * $/LicenseInfo$
- */
- #ifndef LL_V3DMATH_H
- #define LL_V3DMATH_H
- #include "llerror.h"
- #include "v3math.h"
- class LLVector3d
- {
- public:
- F64 mdV[3];
- const static LLVector3d zero;
- const static LLVector3d x_axis;
- const static LLVector3d y_axis;
- const static LLVector3d z_axis;
- const static LLVector3d x_axis_neg;
- const static LLVector3d y_axis_neg;
- const static LLVector3d z_axis_neg;
- inline LLVector3d(); // Initializes LLVector3d to (0, 0, 0)
- inline LLVector3d(const F64 x, const F64 y, const F64 z); // Initializes LLVector3d to (x. y, z)
- inline explicit LLVector3d(const F64 *vec); // Initializes LLVector3d to (vec[0]. vec[1], vec[2])
- inline explicit LLVector3d(const LLVector3 &vec);
- explicit LLVector3d(const LLSD& sd)
- {
- setValue(sd);
- }
- void setValue(const LLSD& sd)
- {
- mdV[0] = sd[0].asReal();
- mdV[1] = sd[1].asReal();
- mdV[2] = sd[2].asReal();
- }
- LLSD getValue() const
- {
- LLSD ret;
- ret[0] = mdV[0];
- ret[1] = mdV[1];
- ret[2] = mdV[2];
- return ret;
- }
- inline BOOL isFinite() const; // checks to see if all values of LLVector3d are finite
- BOOL clamp(const F64 min, const F64 max); // Clamps all values to (min,max), returns TRUE if data changed
- BOOL abs(); // sets all values to absolute value of original value (first octant), returns TRUE if changed
- inline const LLVector3d& clearVec(); // Clears LLVector3d to (0, 0, 0, 1)
- inline const LLVector3d& setZero(); // Zero LLVector3d to (0, 0, 0, 0)
- inline const LLVector3d& zeroVec(); // deprecated
- inline const LLVector3d& setVec(const F64 x, const F64 y, const F64 z); // Sets LLVector3d to (x, y, z, 1)
- inline const LLVector3d& setVec(const LLVector3d &vec); // Sets LLVector3d to vec
- inline const LLVector3d& setVec(const F64 *vec); // Sets LLVector3d to vec
- inline const LLVector3d& setVec(const LLVector3 &vec);
- F64 magVec() const; // Returns magnitude of LLVector3d
- F64 magVecSquared() const; // Returns magnitude squared of LLVector3d
- inline F64 normVec(); // Normalizes and returns the magnitude of LLVector3d
- F64 length() const; // Returns magnitude of LLVector3d
- F64 lengthSquared() const; // Returns magnitude squared of LLVector3d
- inline F64 normalize(); // Normalizes and returns the magnitude of LLVector3d
- const LLVector3d& rotVec(const F64 angle, const LLVector3d &vec); // Rotates about vec by angle radians
- const LLVector3d& rotVec(const F64 angle, const F64 x, const F64 y, const F64 z); // Rotates about x,y,z by angle radians
- const LLVector3d& rotVec(const LLMatrix3 &mat); // Rotates by LLMatrix4 mat
- const LLVector3d& rotVec(const LLQuaternion &q); // Rotates by LLQuaternion q
- BOOL isNull() const; // Returns TRUE if vector has a _very_small_ length
- BOOL isExactlyZero() const { return !mdV[VX] && !mdV[VY] && !mdV[VZ]; }
- const LLVector3d& operator=(const LLVector4 &a);
- F64 operator[](int idx) const { return mdV[idx]; }
- F64 &operator[](int idx) { return mdV[idx]; }
- friend LLVector3d operator+(const LLVector3d &a, const LLVector3d &b); // Return vector a + b
- friend LLVector3d operator-(const LLVector3d &a, const LLVector3d &b); // Return vector a minus b
- friend F64 operator*(const LLVector3d &a, const LLVector3d &b); // Return a dot b
- friend LLVector3d operator%(const LLVector3d &a, const LLVector3d &b); // Return a cross b
- friend LLVector3d operator*(const LLVector3d &a, const F64 k); // Return a times scaler k
- friend LLVector3d operator/(const LLVector3d &a, const F64 k); // Return a divided by scaler k
- friend LLVector3d operator*(const F64 k, const LLVector3d &a); // Return a times scaler k
- friend bool operator==(const LLVector3d &a, const LLVector3d &b); // Return a == b
- friend bool operator!=(const LLVector3d &a, const LLVector3d &b); // Return a != b
- friend const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b); // Return vector a + b
- friend const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b); // Return vector a minus b
- friend const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b); // Return a cross b
- friend const LLVector3d& operator*=(LLVector3d &a, const F64 k); // Return a times scaler k
- friend const LLVector3d& operator/=(LLVector3d &a, const F64 k); // Return a divided by scaler k
- friend LLVector3d operator-(const LLVector3d &a); // Return vector -a
- friend std::ostream& operator<<(std::ostream& s, const LLVector3d &a); // Stream a
- static BOOL parseVector3d(const std::string& buf, LLVector3d* value);
- };
- typedef LLVector3d LLGlobalVec;
- const LLVector3d &LLVector3d::setVec(const LLVector3 &vec)
- {
- mdV[0] = vec.mV[0];
- mdV[1] = vec.mV[1];
- mdV[2] = vec.mV[2];
- return *this;
- }
- inline LLVector3d::LLVector3d(void)
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2] = 0.f;
- }
- inline LLVector3d::LLVector3d(const F64 x, const F64 y, const F64 z)
- {
- mdV[VX] = x;
- mdV[VY] = y;
- mdV[VZ] = z;
- }
- inline LLVector3d::LLVector3d(const F64 *vec)
- {
- mdV[VX] = vec[VX];
- mdV[VY] = vec[VY];
- mdV[VZ] = vec[VZ];
- }
- inline LLVector3d::LLVector3d(const LLVector3 &vec)
- {
- mdV[VX] = vec.mV[VX];
- mdV[VY] = vec.mV[VY];
- mdV[VZ] = vec.mV[VZ];
- }
- /*
- inline LLVector3d::LLVector3d(const LLVector3d ©)
- {
- mdV[VX] = copy.mdV[VX];
- mdV[VY] = copy.mdV[VY];
- mdV[VZ] = copy.mdV[VZ];
- }
- */
- // Destructors
- // checker
- inline BOOL LLVector3d::isFinite() const
- {
- return (llfinite(mdV[VX]) && llfinite(mdV[VY]) && llfinite(mdV[VZ]));
- }
- // Clear and Assignment Functions
- inline const LLVector3d& LLVector3d::clearVec(void)
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2]= 0.f;
- return (*this);
- }
- inline const LLVector3d& LLVector3d::setZero(void)
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2] = 0.f;
- return (*this);
- }
- inline const LLVector3d& LLVector3d::zeroVec(void)
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2] = 0.f;
- return (*this);
- }
- inline const LLVector3d& LLVector3d::setVec(const F64 x, const F64 y, const F64 z)
- {
- mdV[VX] = x;
- mdV[VY] = y;
- mdV[VZ] = z;
- return (*this);
- }
- inline const LLVector3d& LLVector3d::setVec(const LLVector3d &vec)
- {
- mdV[0] = vec.mdV[0];
- mdV[1] = vec.mdV[1];
- mdV[2] = vec.mdV[2];
- return (*this);
- }
- inline const LLVector3d& LLVector3d::setVec(const F64 *vec)
- {
- mdV[0] = vec[0];
- mdV[1] = vec[1];
- mdV[2] = vec[2];
- return (*this);
- }
- inline F64 LLVector3d::normVec(void)
- {
- F64 mag = fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
- F64 oomag;
- if (mag > FP_MAG_THRESHOLD)
- {
- oomag = 1.f/mag;
- mdV[0] *= oomag;
- mdV[1] *= oomag;
- mdV[2] *= oomag;
- }
- else
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2] = 0.f;
- mag = 0;
- }
- return (mag);
- }
- inline F64 LLVector3d::normalize(void)
- {
- F64 mag = fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
- F64 oomag;
- if (mag > FP_MAG_THRESHOLD)
- {
- oomag = 1.f/mag;
- mdV[0] *= oomag;
- mdV[1] *= oomag;
- mdV[2] *= oomag;
- }
- else
- {
- mdV[0] = 0.f;
- mdV[1] = 0.f;
- mdV[2] = 0.f;
- mag = 0;
- }
- return (mag);
- }
- // LLVector3d Magnitude and Normalization Functions
- inline F64 LLVector3d::magVec(void) const
- {
- return fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
- }
- inline F64 LLVector3d::magVecSquared(void) const
- {
- return mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2];
- }
- inline F64 LLVector3d::length(void) const
- {
- return fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
- }
- inline F64 LLVector3d::lengthSquared(void) const
- {
- return mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2];
- }
- inline LLVector3d operator+(const LLVector3d &a, const LLVector3d &b)
- {
- LLVector3d c(a);
- return c += b;
- }
- inline LLVector3d operator-(const LLVector3d &a, const LLVector3d &b)
- {
- LLVector3d c(a);
- return c -= b;
- }
- inline F64 operator*(const LLVector3d &a, const LLVector3d &b)
- {
- return (a.mdV[0]*b.mdV[0] + a.mdV[1]*b.mdV[1] + a.mdV[2]*b.mdV[2]);
- }
- inline LLVector3d operator%(const LLVector3d &a, const LLVector3d &b)
- {
- return LLVector3d( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1] );
- }
- inline LLVector3d operator/(const LLVector3d &a, const F64 k)
- {
- F64 t = 1.f / k;
- return LLVector3d( a.mdV[0] * t, a.mdV[1] * t, a.mdV[2] * t );
- }
- inline LLVector3d operator*(const LLVector3d &a, const F64 k)
- {
- return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k );
- }
- inline LLVector3d operator*(F64 k, const LLVector3d &a)
- {
- return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k );
- }
- inline bool operator==(const LLVector3d &a, const LLVector3d &b)
- {
- return ( (a.mdV[0] == b.mdV[0])
- &&(a.mdV[1] == b.mdV[1])
- &&(a.mdV[2] == b.mdV[2]));
- }
- inline bool operator!=(const LLVector3d &a, const LLVector3d &b)
- {
- return ( (a.mdV[0] != b.mdV[0])
- ||(a.mdV[1] != b.mdV[1])
- ||(a.mdV[2] != b.mdV[2]));
- }
- inline const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b)
- {
- a.mdV[0] += b.mdV[0];
- a.mdV[1] += b.mdV[1];
- a.mdV[2] += b.mdV[2];
- return a;
- }
- inline const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b)
- {
- a.mdV[0] -= b.mdV[0];
- a.mdV[1] -= b.mdV[1];
- a.mdV[2] -= b.mdV[2];
- return a;
- }
- inline const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b)
- {
- LLVector3d ret( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1]);
- a = ret;
- return a;
- }
- inline const LLVector3d& operator*=(LLVector3d &a, const F64 k)
- {
- a.mdV[0] *= k;
- a.mdV[1] *= k;
- a.mdV[2] *= k;
- return a;
- }
- inline const LLVector3d& operator/=(LLVector3d &a, const F64 k)
- {
- F64 t = 1.f / k;
- a.mdV[0] *= t;
- a.mdV[1] *= t;
- a.mdV[2] *= t;
- return a;
- }
- inline LLVector3d operator-(const LLVector3d &a)
- {
- return LLVector3d( -a.mdV[0], -a.mdV[1], -a.mdV[2] );
- }
- inline F64 dist_vec(const LLVector3d &a, const LLVector3d &b)
- {
- F64 x = a.mdV[0] - b.mdV[0];
- F64 y = a.mdV[1] - b.mdV[1];
- F64 z = a.mdV[2] - b.mdV[2];
- return fsqrtf( x*x + y*y + z*z );
- }
- inline F64 dist_vec_squared(const LLVector3d &a, const LLVector3d &b)
- {
- F64 x = a.mdV[0] - b.mdV[0];
- F64 y = a.mdV[1] - b.mdV[1];
- F64 z = a.mdV[2] - b.mdV[2];
- return x*x + y*y + z*z;
- }
- inline F64 dist_vec_squared2D(const LLVector3d &a, const LLVector3d &b)
- {
- F64 x = a.mdV[0] - b.mdV[0];
- F64 y = a.mdV[1] - b.mdV[1];
- return x*x + y*y;
- }
- inline LLVector3d lerp(const LLVector3d &a, const LLVector3d &b, const F64 u)
- {
- return LLVector3d(
- a.mdV[VX] + (b.mdV[VX] - a.mdV[VX]) * u,
- a.mdV[VY] + (b.mdV[VY] - a.mdV[VY]) * u,
- a.mdV[VZ] + (b.mdV[VZ] - a.mdV[VZ]) * u);
- }
- inline BOOL LLVector3d::isNull() const
- {
- if ( F_APPROXIMATELY_ZERO > mdV[VX]*mdV[VX] + mdV[VY]*mdV[VY] + mdV[VZ]*mdV[VZ] )
- {
- return TRUE;
- }
- return FALSE;
- }
- inline F64 angle_between(const LLVector3d& a, const LLVector3d& b)
- {
- LLVector3d an = a;
- LLVector3d bn = b;
- an.normalize();
- bn.normalize();
- F64 cosine = an * bn;
- F64 angle = (cosine >= 1.0f) ? 0.0f :
- (cosine <= -1.0f) ? F_PI :
- acos(cosine);
- return angle;
- }
- inline BOOL are_parallel(const LLVector3d &a, const LLVector3d &b, const F64 epsilon)
- {
- LLVector3d an = a;
- LLVector3d bn = b;
- an.normalize();
- bn.normalize();
- F64 dot = an * bn;
- if ( (1.0f - fabs(dot)) < epsilon)
- {
- return TRUE;
- }
- return FALSE;
- }
- inline LLVector3d projected_vec(const LLVector3d &a, const LLVector3d &b)
- {
- LLVector3d project_axis = b;
- project_axis.normalize();
- return project_axis * (a * project_axis);
- }
- #endif // LL_V3DMATH_H