virtualx-engine/core/math/vector3.h

/*************************************************************************/
/*  vector3.h                                                            */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/
#ifndef VECTOR3_H
#define VECTOR3_H

#include "typedefs.h"
#include "math_defs.h"
#include "math_funcs.h"
#include "ustring.h"

class Basis;

struct Vector3 {

	enum Axis {
		AXIS_X,
		AXIS_Y,
		AXIS_Z,
	};

	union {
		struct {
			real_t x;
			real_t y;
			real_t z;
		};

		real_t coord[3];
	};

	_FORCE_INLINE_ const real_t& operator[](int p_axis) const {

		return coord[p_axis];
	}

	_FORCE_INLINE_ real_t& operator[](int p_axis) {

		return coord[p_axis];
	}

	void set_axis(int p_axis,real_t p_value);
	real_t get_axis(int p_axis) const;

	int min_axis() const;
	int max_axis() const;

	_FORCE_INLINE_ real_t length() const;
	_FORCE_INLINE_ real_t length_squared() const;

	_FORCE_INLINE_ void normalize();
	_FORCE_INLINE_ Vector3 normalized() const;
	_FORCE_INLINE_ Vector3 inverse() const;

	_FORCE_INLINE_ void zero();

	void snap(float p_val);
	Vector3 snapped(float p_val) const;

	void rotate(const Vector3& p_axis,float p_phi);
	Vector3 rotated(const Vector3& p_axis,float p_phi) const;

	/* Static Methods between 2 vector3s */

	_FORCE_INLINE_ Vector3 linear_interpolate(const Vector3& p_b,float p_t) const;
	Vector3 cubic_interpolate(const Vector3& p_b,const Vector3& p_pre_a, const Vector3& p_post_b,float p_t) const;
	Vector3 cubic_interpolaten(const Vector3& p_b,const Vector3& p_pre_a, const Vector3& p_post_b,float p_t) const;

	_FORCE_INLINE_ Vector3 cross(const Vector3& p_b) const;
	_FORCE_INLINE_ real_t dot(const Vector3& p_b) const;
	_FORCE_INLINE_ Basis outer(const Vector3& p_b) const;
	_FORCE_INLINE_ Basis to_diagonal_matrix() const;

	_FORCE_INLINE_ Vector3 abs() const;
	_FORCE_INLINE_ Vector3 floor() const;
	_FORCE_INLINE_ Vector3 ceil() const;

	_FORCE_INLINE_ real_t distance_to(const Vector3& p_b) const;
	_FORCE_INLINE_ real_t distance_squared_to(const Vector3& p_b) const;

	_FORCE_INLINE_ real_t angle_to(const Vector3& p_b) const;


	_FORCE_INLINE_ Vector3 slide(const Vector3& p_vec) const;
	_FORCE_INLINE_ Vector3 reflect(const Vector3& p_vec) const;


	/* Operators */

	_FORCE_INLINE_ Vector3& operator+=(const Vector3& p_v);
	_FORCE_INLINE_ Vector3 operator+(const Vector3& p_v) const;
	_FORCE_INLINE_ Vector3& operator-=(const Vector3& p_v);
	_FORCE_INLINE_ Vector3 operator-(const Vector3& p_v) const;
	_FORCE_INLINE_ Vector3& operator*=(const Vector3& p_v);
	_FORCE_INLINE_ Vector3 operator*(const Vector3& p_v) const;
	_FORCE_INLINE_ Vector3& operator/=(const Vector3& p_v);
	_FORCE_INLINE_ Vector3 operator/(const Vector3& p_v) const;


	_FORCE_INLINE_ Vector3& operator*=(real_t p_scalar);
	_FORCE_INLINE_ Vector3 operator*(real_t p_scalar) const;
	_FORCE_INLINE_ Vector3& operator/=(real_t p_scalar);
	_FORCE_INLINE_ Vector3 operator/(real_t p_scalar) const;

	_FORCE_INLINE_ Vector3 operator-() const;

	_FORCE_INLINE_ bool operator==(const Vector3& p_v) const;
	_FORCE_INLINE_ bool operator!=(const Vector3& p_v) const;
	_FORCE_INLINE_ bool operator<(const Vector3& p_v) const;
	_FORCE_INLINE_ bool operator<=(const Vector3& p_v) const;

	operator String() const;

	_FORCE_INLINE_ Vector3() { x=y=z=0; }
	_FORCE_INLINE_ Vector3(real_t p_x,real_t p_y,real_t p_z) { x=p_x; y=p_y; z=p_z; }

};

#ifdef VECTOR3_IMPL_OVERRIDE

#include "vector3_inline.h"

#else

#include "matrix3.h"

Vector3 Vector3::cross(const Vector3& p_b) const {

	Vector3 ret (
		(y * p_b.z) - (z * p_b.y),
		(z * p_b.x) - (x * p_b.z),
		(x * p_b.y) - (y * p_b.x)
	);

	return ret;
}

real_t Vector3::dot(const Vector3& p_b) const {

	return x*p_b.x + y*p_b.y + z*p_b.z;
}

Basis Vector3::outer(const Vector3& p_b) const {
	
	Vector3 row0(x*p_b.x, x*p_b.y, x*p_b.z);
	Vector3 row1(y*p_b.x, y*p_b.y, y*p_b.z);
	Vector3 row2(z*p_b.x, z*p_b.y, z*p_b.z);

	return Basis(row0, row1, row2);
}

Basis Vector3::to_diagonal_matrix() const {
	return Basis(x, 0, 0,
				   0, y, 0,
				   0, 0, z);
}

Vector3 Vector3::abs() const {

	return Vector3( Math::abs(x), Math::abs(y), Math::abs(z) );
}

Vector3 Vector3::floor() const {

	return Vector3( Math::floor(x), Math::floor(y), Math::floor(z) );
}

Vector3 Vector3::ceil() const {

	return Vector3( Math::ceil(x), Math::ceil(y), Math::ceil(z) );
}

Vector3 Vector3::linear_interpolate(const Vector3& p_b,float p_t) const {

	return Vector3(
		x+(p_t * (p_b.x-x)),
		y+(p_t * (p_b.y-y)),
		z+(p_t * (p_b.z-z))
	);
}

real_t Vector3::distance_to(const Vector3& p_b) const {

	return (p_b-*this).length();
}

real_t Vector3::distance_squared_to(const Vector3& p_b) const {

	return (p_b-*this).length_squared();
}

real_t Vector3::angle_to(const Vector3& p_b) const {

	return Math::acos(this->dot(p_b) / Math::sqrt(this->length_squared() * p_b.length_squared()));
}

/* Operators */

Vector3& Vector3::operator+=(const Vector3& p_v) {

	x+=p_v.x;
	y+=p_v.y;
	z+=p_v.z;
	return *this;
}

Vector3 Vector3::operator+(const Vector3& p_v) const {

	return Vector3(x+p_v.x, y+p_v.y, z+ p_v.z);
}

Vector3& Vector3::operator-=(const Vector3& p_v) {

	x-=p_v.x;
	y-=p_v.y;
	z-=p_v.z;
	return *this;
}
Vector3 Vector3::operator-(const Vector3& p_v) const {

	return Vector3(x-p_v.x, y-p_v.y, z- p_v.z);
}

Vector3& Vector3::operator*=(const Vector3& p_v) {

	x*=p_v.x;
	y*=p_v.y;
	z*=p_v.z;
	return *this;
}
Vector3 Vector3::operator*(const Vector3& p_v) const {

	return Vector3(x*p_v.x, y*p_v.y, z* p_v.z);
}

Vector3& Vector3::operator/=(const Vector3& p_v) {

	x/=p_v.x;
	y/=p_v.y;
	z/=p_v.z;
	return *this;
}

Vector3 Vector3::operator/(const Vector3& p_v) const {

	return Vector3(x/p_v.x, y/p_v.y, z/ p_v.z);
}

Vector3& Vector3::operator*=(real_t p_scalar) {

	x*=p_scalar;
	y*=p_scalar;
	z*=p_scalar;
	return *this;
}

_FORCE_INLINE_ Vector3 operator*(real_t p_scalar, const Vector3& p_vec) {

	return p_vec * p_scalar;
}

Vector3 Vector3::operator*(real_t p_scalar) const {

	return Vector3( x*p_scalar, y*p_scalar, z*p_scalar);
}

Vector3& Vector3::operator/=(real_t p_scalar) {

	x/=p_scalar;
	y/=p_scalar;
	z/=p_scalar;
	return *this;
}

Vector3 Vector3::operator/(real_t p_scalar) const {

	return Vector3( x/p_scalar, y/p_scalar, z/p_scalar);
}

Vector3 Vector3::operator-() const {

	return Vector3( -x, -y, -z );
}

bool Vector3::operator==(const Vector3& p_v) const {

	return (x==p_v.x && y==p_v.y && z==p_v.z);
}

bool Vector3::operator!=(const Vector3& p_v) const {
	return (x!=p_v.x || y!=p_v.y || z!=p_v.z);
}

bool Vector3::operator<(const Vector3& p_v) const {

	if (x==p_v.x) {
		if (y==p_v.y)
			return z<p_v.z;
		else
			return y<p_v.y;
	} else {
		return x<p_v.x;
	}
}

bool Vector3::operator<=(const Vector3& p_v) const {

	if (x==p_v.x) {
		if (y==p_v.y)
			return z<=p_v.z;
		else
			return y<p_v.y;
	} else {
		return x<p_v.x;
	}
}

_FORCE_INLINE_ Vector3 vec3_cross(const Vector3& p_a, const Vector3& p_b) {

	return p_a.cross(p_b);
}

_FORCE_INLINE_ real_t vec3_dot(const Vector3& p_a, const Vector3& p_b) {

	return p_a.dot(p_b);
}

real_t Vector3::length() const {

	real_t x2=x*x;
	real_t y2=y*y;
	real_t z2=z*z;

	return Math::sqrt(x2+y2+z2);
}

real_t Vector3::length_squared() const {

	real_t x2=x*x;
	real_t y2=y*y;
	real_t z2=z*z;

	return x2+y2+z2;
}

void Vector3::normalize() {

	real_t l=length();
	if (l==0) {
		x=y=z=0;
	} else {
		x/=l;
		y/=l;
		z/=l;
	}
}

Vector3 Vector3::normalized() const {

	Vector3 v=*this;
	v.normalize();
	return v;
}

Vector3 Vector3::inverse() const {

	return Vector3( 1.0/x, 1.0/y, 1.0/z );
}

void Vector3::zero() {

	x=y=z=0;
}

Vector3 Vector3::slide(const Vector3& p_vec) const {

	return p_vec - *this * this->dot(p_vec);
}

Vector3 Vector3::reflect(const Vector3& p_vec) const {

	return p_vec - *this * this->dot(p_vec) * 2.0;
}

#endif

#endif // VECTOR3_H