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source: orxonox.OLD/orxonox/branches/levelloader/src/lib/math/vector.h @ 3791

Last change on this file since 3791 was 3605, checked in by bensch, 20 years ago

orxonox/trunk: merged trunk back to levelloader
merged with command:
svn merge -r 3499:HEAD trunk branches/levelloader

Conflicts in
C track_manager.h
C world_entities/player.cc
C world_entities/player.h
C world_entities/environment.h
C lib/coord/p_node.cc
C defs/debug.h
C track_manager.cc
C story_entities/campaign.h

solved in merge-favouring. It was quite easy because Chris only worked on the headers, and he didi it quite clean. Thats the spirit :)

Conflits in world.cc are a MESS: fix it

File size: 3.7 KB
Line 
1/*!
2    \file vector.h
3    \brief A basic 3D math framework
4   
5    Contains classes to handle vectors, lines, rotations and planes
6*/ 
7
8#ifndef _VECTOR_H
9#define _VECTOR_H
10
11#include <math.h>
12//! PI the circle-constant
13#define PI 3.14159265359f
14
15//! 3D Vector
16/**
17        Class to handle 3D Vectors
18*/
19class Vector {
20
21  public:
22 
23  float x; //!< The x Coordinate of the Vector.
24  float y; //!< The y Coordinate of the Vector.
25  float z; //!< The z Coordinate of the Vector.
26
27  Vector (float x, float y, float z) : x(x), y(y), z(z) {}  //!< assignment constructor
28  Vector () : x(0), y(0), z(0) {}
29  ~Vector () {}
30
31  Vector operator+ (const Vector& v) const;
32  Vector operator- (const Vector& v) const;
33  float operator* (const Vector& v) const;
34  Vector operator* (float f) const;
35  Vector operator/ (float f) const;
36  float dot (const Vector& v) const;
37  Vector cross (const Vector& v) const;
38  void scale(const Vector& v);
39  float len() const;
40  void normalize();
41  Vector* getNormalized();
42  Vector abs();
43
44  void debug();
45};
46
47float angleDeg (const Vector& v1, const Vector& v2);
48float angleRad (const Vector& v1, const Vector& v2);
49
50//! Quaternion
51/**
52        Class to handle 3-dimensional rotation efficiently
53*/
54class Quaternion
55{
56 public:
57  Vector v;     //!< Imaginary Vector
58  float w;        //!< Real part of the number
59 
60  Quaternion ();
61  Quaternion (float m[4][4]);
62  Quaternion (float angle, const Vector& axis);
63  Quaternion (const Vector& dir, const Vector& up);
64  Quaternion (float roll, float pitch, float yaw);
65 
66  Quaternion operator/ (const float& f) const;
67  Quaternion operator* (const float& f) const;
68  Quaternion operator* (const Quaternion& q) const;
69  Quaternion operator+ (const Quaternion& q) const;
70  Quaternion operator- (const Quaternion& q) const;
71  Quaternion conjugate () const;
72  Quaternion inverse () const;
73  Vector apply (Vector& f) const;
74  float norm () const;
75  void matrix (float m[4][4]) const;
76  void quatSlerp(const Quaternion* from, const Quaternion* to, const float t, Quaternion* res);
77 
78  void debug();
79 private:
80  float DELTA;      //!< resolution of calculation
81
82};
83
84//! 3D rotation (OBSOLETE)
85/**
86  Class to handle 3-dimensional rotations.
87  Can create a rotation from several inputs, currently stores rotation using a 3x3 Matrix
88*/
89class Rotation {
90  public:
91 
92  float m[9]; //!< 3x3 Rotation Matrix
93 
94  Rotation ( const Vector& v);
95  Rotation ( const Vector& axis, float angle);
96  Rotation ( float pitch, float yaw, float roll);
97  Rotation ();
98  ~Rotation () {}
99 
100  Rotation operator* (const Rotation& r);
101 
102  void glmatrix (float* buffer);
103};
104
105//!< Apply a rotation to a vector
106Vector rotateVector( const Vector& v, const Rotation& r);
107
108//! 3D line
109/**
110  Class to store Lines in 3-dimensional space
111
112  Supports line-to-line distance measurements and rotation
113*/
114class Line
115{
116  public:
117 
118  Vector r;   //!< Offset
119  Vector a;   //!< Direction
120 
121  Line ( Vector r, Vector a) : r(r), a(a) {}  //!< assignment constructor
122  Line () : r(Vector(0,0,0)), a(Vector (1,1,1)) {}
123  ~Line () {}
124 
125  float distance (const Line& l) const;
126  float distancePoint (const Vector& v) const;
127  Vector* footpoints (const Line& l) const;
128  float len () const;
129 
130  void rotate(const Rotation& rot);
131};
132
133//! 3D plane
134/**
135  Class to handle planes in 3-dimensional space
136 
137  Critical for polygon-based collision detection
138*/
139class Plane
140{
141  public:
142 
143  Vector n;   //!< Normal vector
144  float k;    //!< Offset constant
145 
146  Plane (Vector a, Vector b, Vector c);
147  Plane (Vector norm, Vector p);
148  Plane (Vector n, float k) : n(n), k(k) {} //!< assignment constructor
149  Plane () : n(Vector(1,1,1)), k(0) {}
150  ~Plane () {}
151 
152  Vector intersectLine (const Line& l) const;
153  float distancePoint (const Vector& p) const;
154  float locatePoint (const Vector& p) const;
155};
156
157#endif /* _VECTOR_H */
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