457 lines
12 KiB
C++
457 lines
12 KiB
C++
/*************************************************************************/
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/* vector3.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef VECTOR3_H
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#define VECTOR3_H
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#include "core/math/math_defs.h"
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#include "core/math/math_funcs.h"
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#include "core/typedefs.h"
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#include "core/ustring.h"
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class Basis;
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struct Vector3 {
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enum Axis {
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AXIS_X,
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AXIS_Y,
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AXIS_Z,
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};
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union {
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struct {
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real_t x;
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real_t y;
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real_t z;
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};
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real_t coord[3];
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};
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_FORCE_INLINE_ const real_t &operator[](int p_axis) const {
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return coord[p_axis];
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}
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_FORCE_INLINE_ real_t &operator[](int p_axis) {
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return coord[p_axis];
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}
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void set_axis(int p_axis, real_t p_value);
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real_t get_axis(int p_axis) const;
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int min_axis() const;
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int max_axis() const;
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_FORCE_INLINE_ real_t length() const;
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_FORCE_INLINE_ real_t length_squared() const;
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_FORCE_INLINE_ void normalize();
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_FORCE_INLINE_ Vector3 normalized() const;
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_FORCE_INLINE_ bool is_normalized() const;
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_FORCE_INLINE_ Vector3 inverse() const;
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_FORCE_INLINE_ void zero();
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void snap(Vector3 p_val);
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Vector3 snapped(Vector3 p_val) const;
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void rotate(const Vector3 &p_axis, real_t p_phi);
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Vector3 rotated(const Vector3 &p_axis, real_t p_phi) const;
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/* Static Methods between 2 vector3s */
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_FORCE_INLINE_ Vector3 linear_interpolate(const Vector3 &p_b, real_t p_t) const;
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_FORCE_INLINE_ Vector3 slerp(const Vector3 &p_b, real_t p_t) const;
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Vector3 cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const;
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Vector3 cubic_interpolaten(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const;
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_FORCE_INLINE_ Vector3 cross(const Vector3 &p_b) const;
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_FORCE_INLINE_ real_t dot(const Vector3 &p_b) const;
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_FORCE_INLINE_ Basis outer(const Vector3 &p_b) const;
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_FORCE_INLINE_ Basis to_diagonal_matrix() const;
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_FORCE_INLINE_ Vector3 abs() const;
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_FORCE_INLINE_ Vector3 floor() const;
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_FORCE_INLINE_ Vector3 sign() const;
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_FORCE_INLINE_ Vector3 ceil() const;
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_FORCE_INLINE_ Vector3 round() const;
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_FORCE_INLINE_ real_t distance_to(const Vector3 &p_b) const;
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_FORCE_INLINE_ real_t distance_squared_to(const Vector3 &p_b) const;
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_FORCE_INLINE_ Vector3 project(const Vector3 &p_b) const;
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_FORCE_INLINE_ real_t angle_to(const Vector3 &p_b) const;
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_FORCE_INLINE_ Vector3 direction_to(const Vector3 &p_b) const;
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_FORCE_INLINE_ Vector3 slide(const Vector3 &p_normal) const;
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_FORCE_INLINE_ Vector3 bounce(const Vector3 &p_normal) const;
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_FORCE_INLINE_ Vector3 reflect(const Vector3 &p_normal) const;
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/* Operators */
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_FORCE_INLINE_ Vector3 &operator+=(const Vector3 &p_v);
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_FORCE_INLINE_ Vector3 operator+(const Vector3 &p_v) const;
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_FORCE_INLINE_ Vector3 &operator-=(const Vector3 &p_v);
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_FORCE_INLINE_ Vector3 operator-(const Vector3 &p_v) const;
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_FORCE_INLINE_ Vector3 &operator*=(const Vector3 &p_v);
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_FORCE_INLINE_ Vector3 operator*(const Vector3 &p_v) const;
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_FORCE_INLINE_ Vector3 &operator/=(const Vector3 &p_v);
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_FORCE_INLINE_ Vector3 operator/(const Vector3 &p_v) const;
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_FORCE_INLINE_ Vector3 &operator*=(real_t p_scalar);
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_FORCE_INLINE_ Vector3 operator*(real_t p_scalar) const;
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_FORCE_INLINE_ Vector3 &operator/=(real_t p_scalar);
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_FORCE_INLINE_ Vector3 operator/(real_t p_scalar) const;
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_FORCE_INLINE_ Vector3 operator-() const;
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_FORCE_INLINE_ bool operator==(const Vector3 &p_v) const;
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_FORCE_INLINE_ bool operator!=(const Vector3 &p_v) const;
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_FORCE_INLINE_ bool operator<(const Vector3 &p_v) const;
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_FORCE_INLINE_ bool operator<=(const Vector3 &p_v) const;
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operator String() const;
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_FORCE_INLINE_ Vector3() { x = y = z = 0; }
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_FORCE_INLINE_ Vector3(real_t p_x, real_t p_y, real_t p_z) {
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x = p_x;
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y = p_y;
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z = p_z;
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}
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};
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// Should be included after class definition, otherwise we get circular refs
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#include "core/math/basis.h"
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Vector3 Vector3::cross(const Vector3 &p_b) const {
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Vector3 ret(
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(y * p_b.z) - (z * p_b.y),
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(z * p_b.x) - (x * p_b.z),
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(x * p_b.y) - (y * p_b.x));
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return ret;
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}
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real_t Vector3::dot(const Vector3 &p_b) const {
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return x * p_b.x + y * p_b.y + z * p_b.z;
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}
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Basis Vector3::outer(const Vector3 &p_b) const {
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Vector3 row0(x * p_b.x, x * p_b.y, x * p_b.z);
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Vector3 row1(y * p_b.x, y * p_b.y, y * p_b.z);
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Vector3 row2(z * p_b.x, z * p_b.y, z * p_b.z);
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return Basis(row0, row1, row2);
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}
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Basis Vector3::to_diagonal_matrix() const {
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return Basis(x, 0, 0,
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0, y, 0,
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0, 0, z);
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}
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Vector3 Vector3::abs() const {
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return Vector3(Math::abs(x), Math::abs(y), Math::abs(z));
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}
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Vector3 Vector3::sign() const {
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return Vector3(SGN(x), SGN(y), SGN(z));
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}
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Vector3 Vector3::floor() const {
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return Vector3(Math::floor(x), Math::floor(y), Math::floor(z));
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}
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Vector3 Vector3::ceil() const {
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return Vector3(Math::ceil(x), Math::ceil(y), Math::ceil(z));
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}
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Vector3 Vector3::round() const {
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return Vector3(Math::round(x), Math::round(y), Math::round(z));
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}
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Vector3 Vector3::linear_interpolate(const Vector3 &p_b, real_t p_t) const {
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return Vector3(
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x + (p_t * (p_b.x - x)),
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y + (p_t * (p_b.y - y)),
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z + (p_t * (p_b.z - z)));
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}
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Vector3 Vector3::slerp(const Vector3 &p_b, real_t p_t) const {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(!is_normalized(), Vector3());
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#endif
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real_t theta = angle_to(p_b);
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return rotated(cross(p_b), theta * p_t);
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}
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real_t Vector3::distance_to(const Vector3 &p_b) const {
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return (p_b - *this).length();
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}
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real_t Vector3::distance_squared_to(const Vector3 &p_b) const {
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return (p_b - *this).length_squared();
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}
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Vector3 Vector3::project(const Vector3 &p_b) const {
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return p_b * (dot(p_b) / p_b.length_squared());
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}
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real_t Vector3::angle_to(const Vector3 &p_b) const {
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return Math::atan2(cross(p_b).length(), dot(p_b));
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}
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Vector3 Vector3::direction_to(const Vector3 &p_b) const {
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Vector3 ret(p_b.x - x, p_b.y - y, p_b.z - z);
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ret.normalize();
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return ret;
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}
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/* Operators */
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Vector3 &Vector3::operator+=(const Vector3 &p_v) {
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x += p_v.x;
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y += p_v.y;
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z += p_v.z;
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return *this;
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}
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Vector3 Vector3::operator+(const Vector3 &p_v) const {
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return Vector3(x + p_v.x, y + p_v.y, z + p_v.z);
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}
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Vector3 &Vector3::operator-=(const Vector3 &p_v) {
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x -= p_v.x;
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y -= p_v.y;
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z -= p_v.z;
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return *this;
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}
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Vector3 Vector3::operator-(const Vector3 &p_v) const {
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return Vector3(x - p_v.x, y - p_v.y, z - p_v.z);
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}
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Vector3 &Vector3::operator*=(const Vector3 &p_v) {
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x *= p_v.x;
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y *= p_v.y;
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z *= p_v.z;
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return *this;
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}
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Vector3 Vector3::operator*(const Vector3 &p_v) const {
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return Vector3(x * p_v.x, y * p_v.y, z * p_v.z);
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}
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Vector3 &Vector3::operator/=(const Vector3 &p_v) {
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x /= p_v.x;
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y /= p_v.y;
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z /= p_v.z;
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return *this;
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}
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Vector3 Vector3::operator/(const Vector3 &p_v) const {
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return Vector3(x / p_v.x, y / p_v.y, z / p_v.z);
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}
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Vector3 &Vector3::operator*=(real_t p_scalar) {
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x *= p_scalar;
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y *= p_scalar;
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z *= p_scalar;
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return *this;
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}
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_FORCE_INLINE_ Vector3 operator*(real_t p_scalar, const Vector3 &p_vec) {
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return p_vec * p_scalar;
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}
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Vector3 Vector3::operator*(real_t p_scalar) const {
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return Vector3(x * p_scalar, y * p_scalar, z * p_scalar);
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}
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Vector3 &Vector3::operator/=(real_t p_scalar) {
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x /= p_scalar;
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y /= p_scalar;
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z /= p_scalar;
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return *this;
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}
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Vector3 Vector3::operator/(real_t p_scalar) const {
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return Vector3(x / p_scalar, y / p_scalar, z / p_scalar);
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}
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Vector3 Vector3::operator-() const {
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return Vector3(-x, -y, -z);
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}
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bool Vector3::operator==(const Vector3 &p_v) const {
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return (Math::is_equal_approx(x, p_v.x) && Math::is_equal_approx(y, p_v.y) && Math::is_equal_approx(z, p_v.z));
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}
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bool Vector3::operator!=(const Vector3 &p_v) const {
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return (!Math::is_equal_approx(x, p_v.x) || !Math::is_equal_approx(y, p_v.y) || !Math::is_equal_approx(z, p_v.z));
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}
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bool Vector3::operator<(const Vector3 &p_v) const {
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if (Math::is_equal_approx(x, p_v.x)) {
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if (Math::is_equal_approx(y, p_v.y))
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return z < p_v.z;
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else
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return y < p_v.y;
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} else {
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return x < p_v.x;
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}
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}
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bool Vector3::operator<=(const Vector3 &p_v) const {
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if (Math::is_equal_approx(x, p_v.x)) {
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if (Math::is_equal_approx(y, p_v.y))
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return z <= p_v.z;
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else
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return y < p_v.y;
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} else {
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return x < p_v.x;
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}
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}
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_FORCE_INLINE_ Vector3 vec3_cross(const Vector3 &p_a, const Vector3 &p_b) {
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return p_a.cross(p_b);
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}
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_FORCE_INLINE_ real_t vec3_dot(const Vector3 &p_a, const Vector3 &p_b) {
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return p_a.dot(p_b);
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}
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real_t Vector3::length() const {
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real_t x2 = x * x;
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real_t y2 = y * y;
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real_t z2 = z * z;
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return Math::sqrt(x2 + y2 + z2);
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}
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real_t Vector3::length_squared() const {
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real_t x2 = x * x;
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real_t y2 = y * y;
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real_t z2 = z * z;
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return x2 + y2 + z2;
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}
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void Vector3::normalize() {
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real_t lengthsq = length_squared();
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if (lengthsq == 0) {
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x = y = z = 0;
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} else {
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real_t length = Math::sqrt(lengthsq);
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x /= length;
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y /= length;
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z /= length;
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}
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}
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Vector3 Vector3::normalized() const {
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Vector3 v = *this;
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v.normalize();
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return v;
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}
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bool Vector3::is_normalized() const {
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// use length_squared() instead of length() to avoid sqrt(), makes it more stringent.
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return Math::is_equal_approx(length_squared(), 1.0, UNIT_EPSILON);
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}
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Vector3 Vector3::inverse() const {
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return Vector3(1.0 / x, 1.0 / y, 1.0 / z);
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}
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void Vector3::zero() {
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x = y = z = 0;
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}
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// slide returns the component of the vector along the given plane, specified by its normal vector.
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Vector3 Vector3::slide(const Vector3 &p_normal) const {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(!p_normal.is_normalized(), Vector3());
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#endif
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return *this - p_normal * this->dot(p_normal);
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}
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Vector3 Vector3::bounce(const Vector3 &p_normal) const {
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return -reflect(p_normal);
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}
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Vector3 Vector3::reflect(const Vector3 &p_normal) const {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V(!p_normal.is_normalized(), Vector3());
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#endif
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return 2.0 * p_normal * this->dot(p_normal) - *this;
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}
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#endif // VECTOR3_H
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