vector3d.h

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// Copyright (C) 2002-2012 Nikolaus Gebhardt
// This file is part of the "Irrlicht Engine".
// For conditions of distribution and use, see copyright notice in irrlicht.h

#ifndef __IRR_POINT_3D_H_INCLUDED__
#define __IRR_POINT_3D_H_INCLUDED__

#include "irrMath.h"

namespace irr
{
namespace core
{


        template <class T>
        class vector3d
        {
        public:
                vector3d() : X(0), Y(0), Z(0) {}
                vector3d(T nx, T ny, T nz) : X(nx), Y(ny), Z(nz) {}
                explicit vector3d(T n) : X(n), Y(n), Z(n) {}
                vector3d(const vector3d<T>& other) : X(other.X), Y(other.Y), Z(other.Z) {}

                // operators

                vector3d<T> operator-() const { return vector3d<T>(-X, -Y, -Z); }

                vector3d<T>& operator=(const vector3d<T>& other) { X = other.X; Y = other.Y; Z = other.Z; return *this; }

                vector3d<T> operator+(const vector3d<T>& other) const { return vector3d<T>(X + other.X, Y + other.Y, Z + other.Z); }
                vector3d<T>& operator+=(const vector3d<T>& other) { X+=other.X; Y+=other.Y; Z+=other.Z; return *this; }
                vector3d<T> operator+(const T val) const { return vector3d<T>(X + val, Y + val, Z + val); }
                vector3d<T>& operator+=(const T val) { X+=val; Y+=val; Z+=val; return *this; }

                vector3d<T> operator-(const vector3d<T>& other) const { return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z); }
                vector3d<T>& operator-=(const vector3d<T>& other) { X-=other.X; Y-=other.Y; Z-=other.Z; return *this; }
                vector3d<T> operator-(const T val) const { return vector3d<T>(X - val, Y - val, Z - val); }
                vector3d<T>& operator-=(const T val) { X-=val; Y-=val; Z-=val; return *this; }

                vector3d<T> operator*(const vector3d<T>& other) const { return vector3d<T>(X * other.X, Y * other.Y, Z * other.Z); }
                vector3d<T>& operator*=(const vector3d<T>& other) { X*=other.X; Y*=other.Y; Z*=other.Z; return *this; }
                vector3d<T> operator*(const T v) const { return vector3d<T>(X * v, Y * v, Z * v); }
                vector3d<T>& operator*=(const T v) { X*=v; Y*=v; Z*=v; return *this; }

                vector3d<T> operator/(const vector3d<T>& other) const { return vector3d<T>(X / other.X, Y / other.Y, Z / other.Z); }
                vector3d<T>& operator/=(const vector3d<T>& other) { X/=other.X; Y/=other.Y; Z/=other.Z; return *this; }
                vector3d<T> operator/(const T v) const { T i=(T)1.0/v; return vector3d<T>(X * i, Y * i, Z * i); }
                vector3d<T>& operator/=(const T v) { T i=(T)1.0/v; X*=i; Y*=i; Z*=i; return *this; }

                T& operator [](u32 index)
                {
                        _IRR_DEBUG_BREAK_IF(index>2) // access violation

                        return *(&X+index);
                }

                const T& operator [](u32 index) const
                {
                        _IRR_DEBUG_BREAK_IF(index>2) // access violation

                        return *(&X+index);
                }

                bool operator<=(const vector3d<T>&other) const
                {
                        return (X<other.X || core::equals(X, other.X)) ||
                                        (core::equals(X, other.X) && (Y<other.Y || core::equals(Y, other.Y))) ||
                                        (core::equals(X, other.X) && core::equals(Y, other.Y) && (Z<other.Z || core::equals(Z, other.Z)));
                }

                bool operator>=(const vector3d<T>&other) const
                {
                        return (X>other.X || core::equals(X, other.X)) ||
                                        (core::equals(X, other.X) && (Y>other.Y || core::equals(Y, other.Y))) ||
                                        (core::equals(X, other.X) && core::equals(Y, other.Y) && (Z>other.Z || core::equals(Z, other.Z)));
                }

                bool operator<(const vector3d<T>&other) const
                {
                        return (X<other.X && !core::equals(X, other.X)) ||
                                        (core::equals(X, other.X) && Y<other.Y && !core::equals(Y, other.Y)) ||
                                        (core::equals(X, other.X) && core::equals(Y, other.Y) && Z<other.Z && !core::equals(Z, other.Z));
                }

                bool operator>(const vector3d<T>&other) const
                {
                        return (X>other.X && !core::equals(X, other.X)) ||
                                        (core::equals(X, other.X) && Y>other.Y && !core::equals(Y, other.Y)) ||
                                        (core::equals(X, other.X) && core::equals(Y, other.Y) && Z>other.Z && !core::equals(Z, other.Z));
                }

                bool operator==(const vector3d<T>& other) const
                {
                        return this->equals(other);
                }

                bool operator!=(const vector3d<T>& other) const
                {
                        return !this->equals(other);
                }

                // functions

                bool equals(const vector3d<T>& other, const T tolerance = (T)ROUNDING_ERROR_f32 ) const
                {
                        return core::equals(X, other.X, tolerance) &&
                                core::equals(Y, other.Y, tolerance) &&
                                core::equals(Z, other.Z, tolerance);
                }

                vector3d<T>& set(const T nx, const T ny, const T nz) {X=nx; Y=ny; Z=nz; return *this;}
                vector3d<T>& set(const vector3d<T>& p) {X=p.X; Y=p.Y; Z=p.Z;return *this;}

                T getLength() const { return core::squareroot( X*X + Y*Y + Z*Z ); }


                T getLengthSQ() const { return X*X + Y*Y + Z*Z; }

                T dotProduct(const vector3d<T>& other) const
                {
                        return X*other.X + Y*other.Y + Z*other.Z;
                }


                T getDistanceFrom(const vector3d<T>& other) const
                {
                        return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLength();
                }


                T getDistanceFromSQ(const vector3d<T>& other) const
                {
                        return vector3d<T>(X - other.X, Y - other.Y, Z - other.Z).getLengthSQ();
                }


                vector3d<T> crossProduct(const vector3d<T>& p) const
                {
                        return vector3d<T>(Y * p.Z - Z * p.Y, Z * p.X - X * p.Z, X * p.Y - Y * p.X);
                }


                bool isBetweenPoints(const vector3d<T>& begin, const vector3d<T>& end) const
                {
                        const T f = (end - begin).getLengthSQ();
                        return getDistanceFromSQ(begin) <= f &&
                                getDistanceFromSQ(end) <= f;
                }


                vector3d<T>& normalize()
                {
                        f64 length = X*X + Y*Y + Z*Z;
                        if (length == 0 ) // this check isn't an optimization but prevents getting NAN in the sqrt.
                                return *this;
                        length = core::reciprocal_squareroot(length);

                        X = (T)(X * length);
                        Y = (T)(Y * length);
                        Z = (T)(Z * length);
                        return *this;
                }

                vector3d<T>& setLength(T newlength)
                {
                        normalize();
                        return (*this *= newlength);
                }

                vector3d<T>& invert()
                {
                        X *= -1;
                        Y *= -1;
                        Z *= -1;
                        return *this;
                }


                void rotateXZBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
                {
                        degrees *= DEGTORAD64;
                        f64 cs = cos(degrees);
                        f64 sn = sin(degrees);
                        X -= center.X;
                        Z -= center.Z;
                        set((T)(X*cs - Z*sn), Y, (T)(X*sn + Z*cs));
                        X += center.X;
                        Z += center.Z;
                }


                void rotateXYBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
                {
                        degrees *= DEGTORAD64;
                        f64 cs = cos(degrees);
                        f64 sn = sin(degrees);
                        X -= center.X;
                        Y -= center.Y;
                        set((T)(X*cs - Y*sn), (T)(X*sn + Y*cs), Z);
                        X += center.X;
                        Y += center.Y;
                }


                void rotateYZBy(f64 degrees, const vector3d<T>& center=vector3d<T>())
                {
                        degrees *= DEGTORAD64;
                        f64 cs = cos(degrees);
                        f64 sn = sin(degrees);
                        Z -= center.Z;
                        Y -= center.Y;
                        set(X, (T)(Y*cs - Z*sn), (T)(Y*sn + Z*cs));
                        Z += center.Z;
                        Y += center.Y;
                }


                vector3d<T> getInterpolated(const vector3d<T>& other, f64 d) const
                {
                        const f64 inv = 1.0 - d;
                        return vector3d<T>((T)(other.X*inv + X*d), (T)(other.Y*inv + Y*d), (T)(other.Z*inv + Z*d));
                }


                vector3d<T> getInterpolated_quadratic(const vector3d<T>& v2, const vector3d<T>& v3, f64 d) const
                {
                        // this*(1-d)*(1-d) + 2 * v2 * (1-d) + v3 * d * d;
                        const f64 inv = (T) 1.0 - d;
                        const f64 mul0 = inv * inv;
                        const f64 mul1 = (T) 2.0 * d * inv;
                        const f64 mul2 = d * d;

                        return vector3d<T> ((T)(X * mul0 + v2.X * mul1 + v3.X * mul2),
                                        (T)(Y * mul0 + v2.Y * mul1 + v3.Y * mul2),
                                        (T)(Z * mul0 + v2.Z * mul1 + v3.Z * mul2));
                }


                vector3d<T>& interpolate(const vector3d<T>& a, const vector3d<T>& b, f64 d)
                {
                        X = (T)((f64)b.X + ( ( a.X - b.X ) * d ));
                        Y = (T)((f64)b.Y + ( ( a.Y - b.Y ) * d ));
                        Z = (T)((f64)b.Z + ( ( a.Z - b.Z ) * d ));
                        return *this;
                }



                vector3d<T> getHorizontalAngle() const
                {
                        vector3d<T> angle;

                        // tmp avoids some precision troubles on some compilers when working with T=s32
                        f64 tmp = (atan2((f64)X, (f64)Z) * RADTODEG64);
                        angle.Y = (T)tmp;

                        if (angle.Y < 0)
                                angle.Y += 360;
                        if (angle.Y >= 360)
                                angle.Y -= 360;

                        const f64 z1 = core::squareroot(X*X + Z*Z);

                        tmp = (atan2((f64)z1, (f64)Y) * RADTODEG64 - 90.0);
                        angle.X = (T)tmp;

                        if (angle.X < 0)
                                angle.X += 360;
                        if (angle.X >= 360)
                                angle.X -= 360;

                        return angle;
                }


                vector3d<T> getSphericalCoordinateAngles() const
                {
                        vector3d<T> angle;
                        const f64 length = X*X + Y*Y + Z*Z;

                        if (length)
                        {
                                if (X!=0)
                                {
                                        angle.Y = (T)(atan2((f64)Z,(f64)X) * RADTODEG64);
                                }
                                else if (Z<0)
                                        angle.Y=180;

                                angle.X = (T)(acos(Y * core::reciprocal_squareroot(length)) * RADTODEG64);
                        }
                        return angle;
                }


                vector3d<T> rotationToDirection(const vector3d<T> & forwards = vector3d<T>(0, 0, 1)) const
                {
                        const f64 cr = cos( core::DEGTORAD64 * X );
                        const f64 sr = sin( core::DEGTORAD64 * X );
                        const f64 cp = cos( core::DEGTORAD64 * Y );
                        const f64 sp = sin( core::DEGTORAD64 * Y );
                        const f64 cy = cos( core::DEGTORAD64 * Z );
                        const f64 sy = sin( core::DEGTORAD64 * Z );

                        const f64 srsp = sr*sp;
                        const f64 crsp = cr*sp;

                        const f64 pseudoMatrix[] = {
                                ( cp*cy ), ( cp*sy ), ( -sp ),
                                ( srsp*cy-cr*sy ), ( srsp*sy+cr*cy ), ( sr*cp ),
                                ( crsp*cy+sr*sy ), ( crsp*sy-sr*cy ), ( cr*cp )};

                        return vector3d<T>(
                                (T)(forwards.X * pseudoMatrix[0] +
                                        forwards.Y * pseudoMatrix[3] +
                                        forwards.Z * pseudoMatrix[6]),
                                (T)(forwards.X * pseudoMatrix[1] +
                                        forwards.Y * pseudoMatrix[4] +
                                        forwards.Z * pseudoMatrix[7]),
                                (T)(forwards.X * pseudoMatrix[2] +
                                        forwards.Y * pseudoMatrix[5] +
                                        forwards.Z * pseudoMatrix[8]));
                }


                void getAs4Values(T* array) const
                {
                        array[0] = X;
                        array[1] = Y;
                        array[2] = Z;
                        array[3] = 0;
                }


                void getAs3Values(T* array) const
                {
                        array[0] = X;
                        array[1] = Y;
                        array[2] = Z;
                }


                T X;

                T Y;

                T Z;
        };

        // Implementer note: inline keyword needed due to template specialization for s32. Otherwise put specialization into a .cpp
        template <>
        inline vector3d<s32> vector3d<s32>::operator /(s32 val) const {return core::vector3d<s32>(X/val,Y/val,Z/val);}
        template <>
        inline vector3d<s32>& vector3d<s32>::operator /=(s32 val) {X/=val;Y/=val;Z/=val; return *this;}

        template <>
        inline vector3d<s32> vector3d<s32>::getSphericalCoordinateAngles() const
        {
                vector3d<s32> angle;
                const f64 length = X*X + Y*Y + Z*Z;

                if (length)
                {
                        if (X!=0)
                        {
                                angle.Y = round32((f32)(atan2((f64)Z,(f64)X) * RADTODEG64));
                        }
                        else if (Z<0)
                                angle.Y=180;

                        angle.X = round32((f32)(acos(Y * core::reciprocal_squareroot(length)) * RADTODEG64));
                }
                return angle;
        }

        typedef vector3d<f32> vector3df;

        typedef vector3d<s32> vector3di;

        template<class S, class T>
        vector3d<T> operator*(const S scalar, const vector3d<T>& vector) { return vector*scalar; }

} // end namespace core
} // end namespace irr

#endif