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source: orxonox.OLD/trunk/src/lib/math/vector.h @ 10583

Last change on this file since 10583 was 10376, checked in by patrick, 18 years ago

merged branche ai to trunk

File size: 7.4 KB
Line 
1/*
2   orxonox - the future of 3D-vertical-scrollers
3
4   Copyright (C) 2004 orx
5
6   This program is free software; you can redistribute it and/or modify
7   it under the terms of the GNU General Public License as published by
8   the Free Software Foundation; either version 2, or (at your option)
9   any later version.
10
11### File Specific:
12   main-programmer: Christian Meyer
13   co-programmer: ...
14*/
15
16/*!
17 * @file vector.h
18 * A basic 3D math framework
19 *
20 * Contains classes to handle vectors, lines, rotations and planes
21*/
22
23#ifndef __VECTOR_H_
24#define __VECTOR_H_
25
26#include <cmath>
27#include "compiler.h"
28//! PI the circle-constant
29#define PI 3.14159265359f
30
31
32//! this is a small and performant 3D vector
33typedef float sVec3D[3];
34
35
36//! 3D Vector
37/**
38        Class to handle 3D Vectors
39*/
40class Vector {
41 public:
42  Vector (float x, float y, float z) : x(x), y(y), z(z) {}  //!< assignment constructor
43  Vector () : x(0), y(0), z(0) {}
44
45  /** @param v: the Vecor to compare with this one @returns true, if the Vecors are the same, false otherwise */
46  inline bool operator== (const Vector& v) const { return (this->x==v.x&&this->y==v.y&&this->z==v.z)?true:false; };
47  /** @param v: the Vecor to compare with this one @returns true, if the Vecors are different, false otherwise */
48  inline bool operator!= (const Vector& v) const { return (this->x!=v.x||this->y!=v.y||this->z!=v.z)?true:false; };
49  inline bool operator> (const Vector& v) const  { return (this->len() > v.len()); }
50  inline bool operator< (const Vector& v) const  { return (this->len() < v.len()); }
51
52  /** @param index The index of the "array" @returns the x/y/z coordinate */
53  inline float operator[] (float index) const {if( index == 0) return this->x; if( index == 1) return this->y; if( index == 2) return this->z; }
54  /** @param v The vector to add @returns the addition between two vectors (this + v) */
55  inline Vector operator+ (const Vector& v) const { return Vector(x + v.x, y + v.y, z + v.z); };
56  /** @param v The vector to add @returns the addition between two vectors (this + v) */
57  inline Vector operator+ (const sVec3D& v) const { return Vector(x + v[0], y + v[1], z + v[2]); };
58  /** @param v The vector to add  @returns the addition between two vectors (this += v) */
59  inline const Vector& operator+= (const Vector& v) { this->x += v.x; this->y += v.y; this->z += v.z; return *this; };
60  /** @param v The vector to substract  @returns the substraction between two vectors (this - v) */
61  inline const Vector& operator+= (const sVec3D& v) { this->x += v[0]; this->y += v[1]; this->z += v[2]; return *this; };
62  /** @param v The vector to substract  @returns the substraction between two vectors (this - v) */
63  inline Vector operator- (const Vector& v) const { return Vector(x - v.x, y - v.y, z - v.z); }
64  /** @param v The vector to substract  @returns the substraction between two vectors (this - v) */
65  inline Vector operator- (const sVec3D& v) const { return Vector(x - v[0], y - v[1], z - v[2]); }
66  /** @param v The vector to substract  @returns the substraction between two vectors (this -= v) */
67  inline const Vector& operator-= (const Vector& v) { this->x -= v.x; this->y -= v.y; this->z -= v.z; return *this; };
68  /** @param v The vector to substract  @returns the substraction between two vectors (this -= v) */
69  inline const Vector& operator-= (const sVec3D& v) { this->x -= v[0]; this->y -= v[1]; this->z -= v[2]; return *this; };
70  /** @param v the second vector  @returns The dotProduct between two vector (this (dot) v) */
71  inline float operator* (const Vector& v) const { return x * v.x + y * v.y + z * v.z; };
72  /** @todo strange */
73  inline const Vector& operator*= (const Vector& v) { this->x *= v.x; this->y *= v.y; this->z *= v.z; return *this; };
74  /** @param f a factor to multiply the vector with @returns the vector multiplied by f (this * f) */
75  inline Vector operator* (float f) const { return Vector(x * f, y * f, z * f); };
76  /** @param f a factor to multiply the vector with @returns the vector multiplied by f (this *= f) */
77  inline const Vector& operator*= (float f) { this->x *= f; this->y *= f; this->z *= f; return *this; };
78  /** @param f a factor to divide the vector with @returns the vector divided by f (this / f) */
79  inline Vector operator/ (float f) const { return (unlikely(f == 0.0))?Vector(0,0,0):Vector(this->x / f, this->y / f, this->z / f); };
80  /** @param f a factor to divide the vector with @returns the vector divided by f (this /= f) */
81  inline const Vector& operator/= (float f) {if (unlikely(f == 0.0)) {this->x=0;this->y=0;this->z=0;} else {this->x /= f; this->y /= f; this->z /= f;} return *this; };
82  /**  copy constructor @todo (i do not know it this is faster) @param v the vector to assign to this vector. @returns the vector v */
83  inline const Vector& operator= (const Vector& v) { this->x = v.x; this->y = v.y; this->z = v.z; return *this; };
84  /** copy constructor* @param v the sVec3D to assign to this vector. @returns the vector v */
85  inline const Vector& operator= (const sVec3D& v) { this->x = v[0]; this->y = v[1]; this->z = v[2]; return *this; }
86  inline const Vector& operator= (const float* v) { this->x = v[0]; this->y = v[1]; this->z = v[2]; return *this; }
87
88  /** this operator can be used to assign values to the vector */
89  inline void operator() (float x, float y, float z) { this->x = x; this->y = y; this->z = z;}
90
91
92
93
94  /** @param v: the other vector \return the dot product of the vectors */
95  float dot (const Vector& v) const { return x*v.x+y*v.y+z*v.z; };
96  /** @param v: the corss-product partner @returns the cross-product between this and v (this (x) v) */
97  inline Vector cross (const Vector& v) const { return Vector(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x ); }
98  /** scales the this vector with v* @param v the vector to scale this with */
99  void scale(const Vector& v) {   x *= v.x;  y *= v.y; z *= v.z; };
100  /** @returns the length of the vector */
101  inline float len() const { return sqrt (x*x + y*y + z*z); }
102  /** normalizes the vector */
103  inline void normalize() { float l = len(); if( unlikely(l == 0.0))return; this->x=this->x/l; this->y=this->y/l; this->z=this->z/l; };
104  Vector getNormalized() const;
105  Vector abs();
106
107  /** @param toVec nears this Vector to... @param t how much to advance (0.0: not at all; 1.0: fully) */
108  inline void slerpTo(const Vector& toVec, float t) { *this + (toVec - *this) * t; };
109
110  /** @returns a Null Vector */
111  inline static const Vector& nullVector() { static Vector nullVector; return nullVector; }
112  void debug() const;
113
114 public:
115  float    x;     //!< The x Coordinate of the Vector.
116  float    y;     //!< The y Coordinate of the Vector.
117  float    z;     //!< The z Coordinate of the Vector.
118};
119
120/**
121 *  calculate the angle between two vectors in radiances
122 * @param v1: a vector
123 * @param v2: another vector
124 * @return the angle between the vectors in radians
125*/
126inline float angleRad (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())); };
127/**
128 *  calculate the angle between two vectors in degrees
129 * @param v1: a vector
130 * @param v2: another vector
131 * @return the angle between the vectors in degrees
132*/
133inline float angleDeg (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())) * 180/M_PI; };
134
135/** an easy way to create a Random Vector @param sideLength the length of the Vector (x not sqrt(x^2...)) */
136#define VECTOR_RAND(sideLength)  (Vector((float)rand()/RAND_MAX -.5, (float)rand()/RAND_MAX -.5, (float)rand()/RAND_MAX -.5) * sideLength)
137
138#endif /* __VECTOR_H_ */
139
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