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source: code/branches/ode/ode-0.9/OPCODE/Ice/IcePoint.h @ 216

Last change on this file since 216 was 216, checked in by mathiask, 17 years ago
[Physik] add ode-0.9
File size: 19.1 KB

Line
1	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2	/**
3	* Contains code for 3D vectors.
4	* \file IcePoint.h
5	* \author Pierre Terdiman
6	* \date April, 4, 2000
7	*/
8	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
9
10	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11	// Include Guard
12	#ifndef __ICEPOINT_H__
13	#define __ICEPOINT_H__
14
15	// Forward declarations
16	class HPoint;
17	class Plane;
18	class Matrix3x3;
19	class Matrix4x4;
20
21	#define CROSS2D(a, b) (a.xb.y - b.xa.y)
22
23	const float EPSILON2 = 1.0e-20f;
24
25	class ICEMATHS_API Point
26	{
27	public:
28
29	//! Empty constructor
30	inline_ Point() {}
31	//! Constructor from a single float
32	// inline_ Point(float val) : x(val), y(val), z(val) {}
33	// Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug.......
34	//! Constructor from floats
35	inline_ Point(float xx, float yy, float zz) : x(xx), y(yy), z(zz) {}
36	//! Constructor from array
37	inline_ Point(const float f[3]) : x(f[X]), y(f[Y]), z(f[Z]) {}
38	//! Copy constructor
39	inline_ Point(const Point& p) : x(p.x), y(p.y), z(p.z) {}
40	//! Destructor
41	inline_ ~Point() {}
42
43	//! Clears the vector
44	inline_ Point& Zero() { x = y = z = 0.0f; return *this; }
45
46	//! + infinity
47	inline_ Point& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; }
48	//! - infinity
49	inline_ Point& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; }
50
51	//! Sets positive unit random vector
52	Point& PositiveUnitRandomVector();
53	//! Sets unit random vector
54	Point& UnitRandomVector();
55
56	//! Assignment from values
57	inline_ Point& Set(float xx, float yy, float zz) { x = xx; y = yy; z = zz; return *this; }
58	//! Assignment from array
59	inline_ Point& Set(const float f[3]) { x = f[X]; y = f[Y]; z = f[Z]; return *this; }
60	//! Assignment from another point
61	inline_ Point& Set(const Point& src) { x = src.x; y = src.y; z = src.z; return *this; }
62
63	//! Adds a vector
64	inline_ Point& Add(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; }
65	//! Adds a vector
66	inline_ Point& Add(float xx, float yy, float zz) { x += xx; y += yy; z += zz; return *this; }
67	//! Adds a vector
68	inline_ Point& Add(const float f[3]) { x += f[X]; y += f[Y]; z += f[Z]; return *this; }
69	//! Adds vectors
70	inline_ Point& Add(const Point& p, const Point& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; }
71
72	//! Subtracts a vector
73	inline_ Point& Sub(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; }
74	//! Subtracts a vector
75	inline_ Point& Sub(float xx, float yy, float zz) { x -= xx; y -= yy; z -= zz; return *this; }
76	//! Subtracts a vector
77	inline_ Point& Sub(const float f[3]) { x -= f[X]; y -= f[Y]; z -= f[Z]; return *this; }
78	//! Subtracts vectors
79	inline_ Point& Sub(const Point& p, const Point& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; }
80
81	//! this = -this
82	inline_ Point& Neg() { x = -x; y = -y; z = -z; return *this; }
83	//! this = -a
84	inline_ Point& Neg(const Point& a) { x = -a.x; y = -a.y; z = -a.z; return *this; }
85
86	//! Multiplies by a scalar
87	inline_ Point& Mult(float s) { x = s; y = s; z = s; return this; }
88
89	//! this = a * scalar
90	inline_ Point& Mult(const Point& a, float scalar)
91	{
92	x = a.x * scalar;
93	y = a.y * scalar;
94	z = a.z * scalar;
95	return *this;
96	}
97
98	//! this = a + b * scalar
99	inline_ Point& Mac(const Point& a, const Point& b, float scalar)
100	{
101	x = a.x + b.x * scalar;
102	y = a.y + b.y * scalar;
103	z = a.z + b.z * scalar;
104	return *this;
105	}
106
107	//! this = this + a * scalar
108	inline_ Point& Mac(const Point& a, float scalar)
109	{
110	x += a.x * scalar;
111	y += a.y * scalar;
112	z += a.z * scalar;
113	return *this;
114	}
115
116	//! this = a - b * scalar
117	inline_ Point& Msc(const Point& a, const Point& b, float scalar)
118	{
119	x = a.x - b.x * scalar;
120	y = a.y - b.y * scalar;
121	z = a.z - b.z * scalar;
122	return *this;
123	}
124
125	//! this = this - a * scalar
126	inline_ Point& Msc(const Point& a, float scalar)
127	{
128	x -= a.x * scalar;
129	y -= a.y * scalar;
130	z -= a.z * scalar;
131	return *this;
132	}
133
134	//! this = a + b * scalarb + c * scalarc
135	inline_ Point& Mac2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc)
136	{
137	x = a.x + b.x * scalarb + c.x * scalarc;
138	y = a.y + b.y * scalarb + c.y * scalarc;
139	z = a.z + b.z * scalarb + c.z * scalarc;
140	return *this;
141	}
142
143	//! this = a - b * scalarb - c * scalarc
144	inline_ Point& Msc2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc)
145	{
146	x = a.x - b.x * scalarb - c.x * scalarc;
147	y = a.y - b.y * scalarb - c.y * scalarc;
148	z = a.z - b.z * scalarb - c.z * scalarc;
149	return *this;
150	}
151
152	//! this = mat * a
153	inline_ Point& Mult(const Matrix3x3& mat, const Point& a);
154
155	//! this = mat1 * a1 + mat2 * a2
156	inline_ Point& Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2);
157
158	//! this = this + mat * a
159	inline_ Point& Mac(const Matrix3x3& mat, const Point& a);
160
161	//! this = transpose(mat) * a
162	inline_ Point& TransMult(const Matrix3x3& mat, const Point& a);
163
164	//! Linear interpolate between two vectors: this = a + t * (b - a)
165	inline_ Point& Lerp(const Point& a, const Point& b, float t)
166	{
167	x = a.x + t * (b.x - a.x);
168	y = a.y + t * (b.y - a.y);
169	z = a.z + t * (b.z - a.z);
170	return *this;
171	}
172
173	//! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2.
174	//! this = p0 * (2t^2 - t^3 - t)/2
175	//! + p1 * (3t^3 - 5t^2 + 2)/2
176	//! + p2 * (4t^2 - 3t^3 + t)/2
177	//! + p3 * (t^3 - t^2)/2
178	inline_ Point& Herp(const Point& p0, const Point& p1, const Point& p2, const Point& p3, float t)
179	{
180	float t2 = t * t;
181	float t3 = t2 * t;
182	float kp0 = (2.0f * t2 - t3 - t) * 0.5f;
183	float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f;
184	float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f;
185	float kp3 = (t3 - t2) * 0.5f;
186	x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3;
187	y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3;
188	z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3;
189	return *this;
190	}
191
192	//! this = rotpos * r + linpos
193	inline_ Point& Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos);
194
195	//! this = trans(rotpos) * (r - linpos)
196	inline_ Point& InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos);
197
198	//! Returns MIN(x, y, z);
199	inline_ float Min() const { return MIN(x, MIN(y, z)); }
200	//! Returns MAX(x, y, z);
201	inline_ float Max() const { return MAX(x, MAX(y, z)); }
202	//! Sets each element to be componentwise minimum
203	inline_ Point& Min(const Point& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; }
204	//! Sets each element to be componentwise maximum
205	inline_ Point& Max(const Point& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; }
206
207	//! Clamps each element
208	inline_ Point& Clamp(float min, float max)
209	{
210	if(x<min) x=min; if(x>max) x=max;
211	if(y<min) y=min; if(y>max) y=max;
212	if(z<min) z=min; if(z>max) z=max;
213	return *this;
214	}
215
216	//! Computes square magnitude
217	inline_ float SquareMagnitude() const { return xx + yy + z*z; }
218	//! Computes magnitude
219	inline_ float Magnitude() const { return sqrtf(xx + yy + z*z); }
220	//! Computes volume
221	inline_ float Volume() const { return x * y * z; }
222
223	//! Checks the point is near zero
224	inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; }
225
226	//! Tests for exact zero vector
227	inline_ BOOL IsZero() const
228	{
229	if(IR(x) \|\| IR(y) \|\| IR(z)) return FALSE;
230	return TRUE;
231	}
232
233	//! Checks point validity
234	inline_ BOOL IsValid() const
235	{
236	if(!IsValidFloat(x)) return FALSE;
237	if(!IsValidFloat(y)) return FALSE;
238	if(!IsValidFloat(z)) return FALSE;
239	return TRUE;
240	}
241
242	//! Slighty moves the point
243	void Tweak(udword coord_mask, udword tweak_mask)
244	{
245	if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); }
246	if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); }
247	if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); }
248	}
249
250	#define TWEAKMASK 0x3fffff
251	#define TWEAKNOTMASK ~TWEAKMASK
252	//! Slighty moves the point out
253	inline_ void TweakBigger()
254	{
255	udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy);
256	Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy);
257	Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy);
258	}
259
260	//! Slighty moves the point in
261	inline_ void TweakSmaller()
262	{
263	udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy);
264	Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy);
265	Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy);
266	}
267
268	//! Normalizes the vector
269	inline_ Point& Normalize()
270	{
271	float M = xx + yy + z*z;
272	if(M)
273	{
274	M = 1.0f / sqrtf(M);
275	x *= M;
276	y *= M;
277	z *= M;
278	}
279	return *this;
280	}
281
282	//! Sets vector length
283	inline_ Point& SetLength(float length)
284	{
285	float NewLength = length / Magnitude();
286	x *= NewLength;
287	y *= NewLength;
288	z *= NewLength;
289	return *this;
290	}
291
292	//! Clamps vector length
293	inline_ Point& ClampLength(float limit_length)
294	{
295	if(limit_length>=0.0f) // Magnitude must be positive
296	{
297	float CurrentSquareLength = SquareMagnitude();
298
299	if(CurrentSquareLength > limit_length * limit_length)
300	{
301	float Coeff = limit_length / sqrtf(CurrentSquareLength);
302	x *= Coeff;
303	y *= Coeff;
304	z *= Coeff;
305	}
306	}
307	return *this;
308	}
309
310	//! Computes distance to another point
311	inline_ float Distance(const Point& b) const
312	{
313	return sqrtf((x - b.x)(x - b.x) + (y - b.y)(y - b.y) + (z - b.z)*(z - b.z));
314	}
315
316	//! Computes square distance to another point
317	inline_ float SquareDistance(const Point& b) const
318	{
319	return ((x - b.x)(x - b.x) + (y - b.y)(y - b.y) + (z - b.z)*(z - b.z));
320	}
321
322	//! Dot product dp = this\|a
323	inline_ float Dot(const Point& p) const { return p.x * x + p.y * y + p.z * z; }
324
325	//! Cross product this = a x b
326	inline_ Point& Cross(const Point& a, const Point& b)
327	{
328	x = a.y * b.z - a.z * b.y;
329	y = a.z * b.x - a.x * b.z;
330	z = a.x * b.y - a.y * b.x;
331	return *this;
332	}
333
334	//! Vector code ( bitmask = sign(z) \| sign(y) \| sign(x) )
335	inline_ udword VectorCode() const
336	{
337	return (IR(x)>>31) \| ((IR(y)&SIGN_BITMASK)>>30) \| ((IR(z)&SIGN_BITMASK)>>29);
338	}
339
340	//! Returns largest axis
341	inline_ PointComponent LargestAxis() const
342	{
343	const float* Vals = &x;
344	PointComponent m = X;
345	if(Vals[Y] > Vals[m]) m = Y;
346	if(Vals[Z] > Vals[m]) m = Z;
347	return m;
348	}
349
350	//! Returns closest axis
351	inline_ PointComponent ClosestAxis() const
352	{
353	const float* Vals = &x;
354	PointComponent m = X;
355	if(AIR(Vals[Y]) > AIR(Vals[m])) m = Y;
356	if(AIR(Vals[Z]) > AIR(Vals[m])) m = Z;
357	return m;
358	}
359
360	//! Returns smallest axis
361	inline_ PointComponent SmallestAxis() const
362	{
363	const float* Vals = &x;
364	PointComponent m = X;
365	if(Vals[Y] < Vals[m]) m = Y;
366	if(Vals[Z] < Vals[m]) m = Z;
367	return m;
368	}
369
370	//! Refracts the point
371	Point& Refract(const Point& eye, const Point& n, float refractindex, Point& refracted);
372
373	//! Projects the point onto a plane
374	Point& ProjectToPlane(const Plane& p);
375
376	//! Projects the point onto the screen
377	void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const;
378
379	//! Unfolds the point onto a plane according to edge(a,b)
380	Point& Unfold(Plane& p, Point& a, Point& b);
381
382	//! Hash function from Ville Miettinen
383	inline_ udword GetHashValue() const
384	{
385	const udword* h = (const udword*)(this);
386	udword f = (h[0]+h[1]11-(h[2]17)) & 0x7fffffff; // avoid problems with +-0
387	return (f>>22)^(f>>12)^(f);
388	}
389
390	//! Stuff magic values in the point, marking it as explicitely not used.
391	void SetNotUsed();
392	//! Checks the point is marked as not used
393	BOOL IsNotUsed() const;
394
395	// Arithmetic operators
396
397	//! Unary operator for Point Negate = - Point
398	inline_ Point operator-() const { return Point(-x, -y, -z); }
399
400	//! Operator for Point Plus = Point + Point.
401	inline_ Point operator+(const Point& p) const { return Point(x + p.x, y + p.y, z + p.z); }
402	//! Operator for Point Minus = Point - Point.
403	inline_ Point operator-(const Point& p) const { return Point(x - p.x, y - p.y, z - p.z); }
404
405	//! Operator for Point Mul = Point * Point.
406	inline_ Point operator(const Point& p) const { return Point(x p.x, y * p.y, z * p.z); }
407	//! Operator for Point Scale = Point * float.
408	inline_ Point operator(float s) const { return Point(x s, y * s, z * s ); }
409	//! Operator for Point Scale = float * Point.
410	inline_ friend Point operator(float s, const Point& p) { return Point(s p.x, s * p.y, s * p.z); }
411
412	//! Operator for Point Div = Point / Point.
413	inline_ Point operator/(const Point& p) const { return Point(x / p.x, y / p.y, z / p.z); }
414	//! Operator for Point Scale = Point / float.
415	inline_ Point operator/(float s) const { s = 1.0f / s; return Point(x * s, y * s, z * s); }
416	//! Operator for Point Scale = float / Point.
417	inline_ friend Point operator/(float s, const Point& p) { return Point(s / p.x, s / p.y, s / p.z); }
418
419	//! Operator for float DotProd = Point \| Point.
420	inline_ float operator\|(const Point& p) const { return xp.x + yp.y + z*p.z; }
421	//! Operator for Point VecProd = Point ^ Point.
422	inline_ Point operator^(const Point& p) const
423	{
424	return Point(
425	y * p.z - z * p.y,
426	z * p.x - x * p.z,
427	x * p.y - y * p.x );
428	}
429
430	//! Operator for Point += Point.
431	inline_ Point& operator+=(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; }
432	//! Operator for Point += float.
433	inline_ Point& operator+=(float s) { x += s; y += s; z += s; return *this; }
434
435	//! Operator for Point -= Point.
436	inline_ Point& operator-=(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; }
437	//! Operator for Point -= float.
438	inline_ Point& operator-=(float s) { x -= s; y -= s; z -= s; return *this; }
439
440	//! Operator for Point *= Point.
441	inline_ Point& operator=(const Point& p) { x = p.x; y = p.y; z = p.z; return *this; }
442	//! Operator for Point *= float.
443	inline_ Point& operator=(float s) { x = s; y = s; z = s; return *this; }
444
445	//! Operator for Point /= Point.
446	inline_ Point& operator/=(const Point& p) { x /= p.x; y /= p.y; z /= p.z; return *this; }
447	//! Operator for Point /= float.
448	inline_ Point& operator/=(float s) { s = 1.0f/s; x = s; y = s; z = s; return this; }
449
450	// Logical operators
451
452	//! Operator for "if(Point==Point)"
453	inline_ bool operator==(const Point& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); }
454	//! Operator for "if(Point!=Point)"
455	inline_ bool operator!=(const Point& p) const { return ( (IR(x)!=IR(p.x))\|\|(IR(y)!=IR(p.y))\|\|(IR(z)!=IR(p.z))); }
456
457	// Arithmetic operators
458
459	//! Operator for Point Mul = Point * Matrix3x3.
460	inline_ Point operator*(const Matrix3x3& mat) const
461	{
462	class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining
463	const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat;
464
465	return Point(
466	x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0],
467	x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1],
468	x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] );
469	}
470
471	//! Operator for Point Mul = Point * Matrix4x4.
472	inline_ Point operator*(const Matrix4x4& mat) const
473	{
474	class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining
475	const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat;
476
477	return Point(
478	x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0],
479	x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1],
480	x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]);
481	}
482
483	//! Operator for Point *= Matrix3x3.
484	inline_ Point& operator*=(const Matrix3x3& mat)
485	{
486	class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining
487	const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat;
488
489	float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0];
490	float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1];
491	float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2];
492
493	x = xp; y = yp; z = zp;
494
495	return *this;
496	}
497
498	//! Operator for Point *= Matrix4x4.
499	inline_ Point& operator*=(const Matrix4x4& mat)
500	{
501	class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining
502	const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat;
503
504	float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0];
505	float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1];
506	float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2];
507
508	x = xp; y = yp; z = zp;
509
510	return *this;
511	}
512
513	// Cast operators
514
515	//! Cast a Point to a HPoint. w is set to zero.
516	operator HPoint() const;
517
518	inline_ operator const float*() const { return &x; }
519	inline_ operator float*() { return &x; }
520
521	public:
522	float x, y, z;
523	};
524
525	FUNCTION ICEMATHS_API void Normalize1(Point& a);
526	FUNCTION ICEMATHS_API void Normalize2(Point& a);
527
528	#endif //__ICEPOINT_H__

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