diff options
Diffstat (limited to 'indra/llmath/v3dmath.h')
| -rw-r--r-- | indra/llmath/v3dmath.h | 409 |
1 files changed, 409 insertions, 0 deletions
diff --git a/indra/llmath/v3dmath.h b/indra/llmath/v3dmath.h new file mode 100644 index 0000000000..d8feb10757 --- /dev/null +++ b/indra/llmath/v3dmath.h @@ -0,0 +1,409 @@ +/** + * @file v3dmath.h + * @brief High precision 3 dimensional vector. + * + * Copyright (c) 2000-$CurrentYear$, Linden Research, Inc. + * $License$ + */ + +#ifndef LL_V3DMATH_H +#define LL_V3DMATH_H + +#include "llerror.h" +#include "v3math.h" + +class LLVector3d +{ + public: + F64 mdV[3]; + + const static LLVector3d zero; + const static LLVector3d x_axis; + const static LLVector3d y_axis; + const static LLVector3d z_axis; + const static LLVector3d x_axis_neg; + const static LLVector3d y_axis_neg; + const static LLVector3d z_axis_neg; + + inline LLVector3d(); // Initializes LLVector3d to (0, 0, 0) + inline LLVector3d(const F64 x, const F64 y, const F64 z); // Initializes LLVector3d to (x. y, z) + inline explicit LLVector3d(const F64 *vec); // Initializes LLVector3d to (vec[0]. vec[1], vec[2]) + inline explicit LLVector3d(const LLVector3 &vec); + LLVector3d(const LLSD& sd) + { + setValue(sd); + } + + void setValue(const LLSD& sd) + { + mdV[0] = sd[0].asReal(); + mdV[1] = sd[1].asReal(); + mdV[2] = sd[2].asReal(); + } + + const LLVector3d& operator=(const LLSD& sd) + { + setValue(sd); + return *this; + } + + LLSD getValue() const + { + LLSD ret; + ret[0] = mdV[0]; + ret[1] = mdV[1]; + ret[2] = mdV[2]; + return ret; + } + + inline BOOL isFinite() const; // checks to see if all values of LLVector3d are finite + BOOL clamp(const F64 min, const F64 max); // Clamps all values to (min,max), returns TRUE if data changed + BOOL abs(); // sets all values to absolute value of original value (first octant), returns TRUE if changed + + inline const LLVector3d& clearVec(); // Clears LLVector3d to (0, 0, 0, 1) + inline const LLVector3d& zeroVec(); // Zero LLVector3d to (0, 0, 0, 0) + inline const LLVector3d& setVec(const F64 x, const F64 y, const F64 z); // Sets LLVector3d to (x, y, z, 1) + inline const LLVector3d& setVec(const LLVector3d &vec); // Sets LLVector3d to vec + inline const LLVector3d& setVec(const F64 *vec); // Sets LLVector3d to vec + inline const LLVector3d& setVec(const LLVector3 &vec); + + F64 magVec() const; // Returns magnitude of LLVector3d + F64 magVecSquared() const; // Returns magnitude squared of LLVector3d + inline F64 normVec(); // Normalizes and returns the magnitude of LLVector3d + + const LLVector3d& rotVec(const F64 angle, const LLVector3d &vec); // Rotates about vec by angle radians + const LLVector3d& rotVec(const F64 angle, const F64 x, const F64 y, const F64 z); // Rotates about x,y,z by angle radians + const LLVector3d& rotVec(const LLMatrix3 &mat); // Rotates by LLMatrix4 mat + const LLVector3d& rotVec(const LLQuaternion &q); // Rotates by LLQuaternion q + + BOOL isNull() const; // Returns TRUE if vector has a _very_small_ length + BOOL isExactlyZero() const { return !mdV[VX] && !mdV[VY] && !mdV[VZ]; } + + const LLVector3d& operator=(const LLVector4 &a); + + F64 operator[](int idx) const { return mdV[idx]; } + F64 &operator[](int idx) { return mdV[idx]; } + + friend LLVector3d operator+(const LLVector3d &a, const LLVector3d &b); // Return vector a + b + friend LLVector3d operator-(const LLVector3d &a, const LLVector3d &b); // Return vector a minus b + friend F64 operator*(const LLVector3d &a, const LLVector3d &b); // Return a dot b + friend LLVector3d operator%(const LLVector3d &a, const LLVector3d &b); // Return a cross b + friend LLVector3d operator*(const LLVector3d &a, const F64 k); // Return a times scaler k + friend LLVector3d operator/(const LLVector3d &a, const F64 k); // Return a divided by scaler k + friend LLVector3d operator*(const F64 k, const LLVector3d &a); // Return a times scaler k + friend bool operator==(const LLVector3d &a, const LLVector3d &b); // Return a == b + friend bool operator!=(const LLVector3d &a, const LLVector3d &b); // Return a != b + + friend const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b); // Return vector a + b + friend const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b); // Return vector a minus b + friend const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b); // Return a cross b + friend const LLVector3d& operator*=(LLVector3d &a, const F64 k); // Return a times scaler k + friend const LLVector3d& operator/=(LLVector3d &a, const F64 k); // Return a divided by scaler k + + friend LLVector3d operator-(const LLVector3d &a); // Return vector -a + + friend std::ostream& operator<<(std::ostream& s, const LLVector3d &a); // Stream a + + static BOOL parseVector3d(const char* buf, LLVector3d* value); + +}; + +typedef LLVector3d LLGlobalVec; + +const LLVector3d &LLVector3d::setVec(const LLVector3 &vec) +{ + mdV[0] = vec.mV[0]; + mdV[1] = vec.mV[1]; + mdV[2] = vec.mV[2]; + return *this; +} + + +inline LLVector3d::LLVector3d(void) +{ + mdV[0] = 0.f; + mdV[1] = 0.f; + mdV[2] = 0.f; +} + +inline LLVector3d::LLVector3d(const F64 x, const F64 y, const F64 z) +{ + mdV[VX] = x; + mdV[VY] = y; + mdV[VZ] = z; +} + +inline LLVector3d::LLVector3d(const F64 *vec) +{ + mdV[VX] = vec[VX]; + mdV[VY] = vec[VY]; + mdV[VZ] = vec[VZ]; +} + +inline LLVector3d::LLVector3d(const LLVector3 &vec) +{ + mdV[VX] = vec.mV[VX]; + mdV[VY] = vec.mV[VY]; + mdV[VZ] = vec.mV[VZ]; +} + +/* +inline LLVector3d::LLVector3d(const LLVector3d ©) +{ + mdV[VX] = copy.mdV[VX]; + mdV[VY] = copy.mdV[VY]; + mdV[VZ] = copy.mdV[VZ]; +} +*/ + +// Destructors + +// checker +inline BOOL LLVector3d::isFinite() const +{ + return (llfinite(mdV[VX]) && llfinite(mdV[VY]) && llfinite(mdV[VZ])); +} + + +// Clear and Assignment Functions + +inline const LLVector3d& LLVector3d::clearVec(void) +{ + mdV[0] = 0.f; + mdV[1] = 0.f; + mdV[2]= 0.f; + return (*this); +} + +inline const LLVector3d& LLVector3d::zeroVec(void) +{ + mdV[0] = 0.f; + mdV[1] = 0.f; + mdV[2] = 0.f; + return (*this); +} + +inline const LLVector3d& LLVector3d::setVec(const F64 x, const F64 y, const F64 z) +{ + mdV[VX] = x; + mdV[VY] = y; + mdV[VZ] = z; + return (*this); +} + +inline const LLVector3d& LLVector3d::setVec(const LLVector3d &vec) +{ + mdV[0] = vec.mdV[0]; + mdV[1] = vec.mdV[1]; + mdV[2] = vec.mdV[2]; + return (*this); +} + +inline const LLVector3d& LLVector3d::setVec(const F64 *vec) +{ + mdV[0] = vec[0]; + mdV[1] = vec[1]; + mdV[2] = vec[2]; + return (*this); +} + +inline F64 LLVector3d::normVec(void) +{ + F64 mag = fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]); + F64 oomag; + + if (mag > FP_MAG_THRESHOLD) + { + oomag = 1.f/mag; + mdV[0] *= oomag; + mdV[1] *= oomag; + mdV[2] *= oomag; + } + else + { + mdV[0] = 0.f; + mdV[1] = 0.f; + mdV[2] = 0.f; + mag = 0; + } + return (mag); +} + +// LLVector3d Magnitude and Normalization Functions + +inline F64 LLVector3d::magVec(void) const +{ + return fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]); +} + +inline F64 LLVector3d::magVecSquared(void) const +{ + return mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]; +} + +inline LLVector3d operator+(const LLVector3d &a, const LLVector3d &b) +{ + LLVector3d c(a); + return c += b; +} + +inline LLVector3d operator-(const LLVector3d &a, const LLVector3d &b) +{ + LLVector3d c(a); + return c -= b; +} + +inline F64 operator*(const LLVector3d &a, const LLVector3d &b) +{ + return (a.mdV[0]*b.mdV[0] + a.mdV[1]*b.mdV[1] + a.mdV[2]*b.mdV[2]); +} + +inline LLVector3d operator%(const LLVector3d &a, const LLVector3d &b) +{ + return LLVector3d( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1] ); +} + +inline LLVector3d operator/(const LLVector3d &a, const F64 k) +{ + F64 t = 1.f / k; + return LLVector3d( a.mdV[0] * t, a.mdV[1] * t, a.mdV[2] * t ); +} + +inline LLVector3d operator*(const LLVector3d &a, const F64 k) +{ + return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k ); +} + +inline LLVector3d operator*(F64 k, const LLVector3d &a) +{ + return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k ); +} + +inline bool operator==(const LLVector3d &a, const LLVector3d &b) +{ + return ( (a.mdV[0] == b.mdV[0]) + &&(a.mdV[1] == b.mdV[1]) + &&(a.mdV[2] == b.mdV[2])); +} + +inline bool operator!=(const LLVector3d &a, const LLVector3d &b) +{ + return ( (a.mdV[0] != b.mdV[0]) + ||(a.mdV[1] != b.mdV[1]) + ||(a.mdV[2] != b.mdV[2])); +} + +inline const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b) +{ + a.mdV[0] += b.mdV[0]; + a.mdV[1] += b.mdV[1]; + a.mdV[2] += b.mdV[2]; + return a; +} + +inline const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b) +{ + a.mdV[0] -= b.mdV[0]; + a.mdV[1] -= b.mdV[1]; + a.mdV[2] -= b.mdV[2]; + return a; +} + +inline const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b) +{ + LLVector3d ret( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1]); + a = ret; + return a; +} + +inline const LLVector3d& operator*=(LLVector3d &a, const F64 k) +{ + a.mdV[0] *= k; + a.mdV[1] *= k; + a.mdV[2] *= k; + return a; +} + +inline const LLVector3d& operator/=(LLVector3d &a, const F64 k) +{ + F64 t = 1.f / k; + a.mdV[0] *= t; + a.mdV[1] *= t; + a.mdV[2] *= t; + return a; +} + +inline LLVector3d operator-(const LLVector3d &a) +{ + return LLVector3d( -a.mdV[0], -a.mdV[1], -a.mdV[2] ); +} + +inline F64 dist_vec(const LLVector3d &a, const LLVector3d &b) +{ + F64 x = a.mdV[0] - b.mdV[0]; + F64 y = a.mdV[1] - b.mdV[1]; + F64 z = a.mdV[2] - b.mdV[2]; + return fsqrtf( x*x + y*y + z*z ); +} + +inline F64 dist_vec_squared(const LLVector3d &a, const LLVector3d &b) +{ + F64 x = a.mdV[0] - b.mdV[0]; + F64 y = a.mdV[1] - b.mdV[1]; + F64 z = a.mdV[2] - b.mdV[2]; + return x*x + y*y + z*z; +} + +inline F64 dist_vec_squared2D(const LLVector3d &a, const LLVector3d &b) +{ + F64 x = a.mdV[0] - b.mdV[0]; + F64 y = a.mdV[1] - b.mdV[1]; + return x*x + y*y; +} + +inline LLVector3d lerp(const LLVector3d &a, const LLVector3d &b, const F64 u) +{ + return LLVector3d( + a.mdV[VX] + (b.mdV[VX] - a.mdV[VX]) * u, + a.mdV[VY] + (b.mdV[VY] - a.mdV[VY]) * u, + a.mdV[VZ] + (b.mdV[VZ] - a.mdV[VZ]) * u); +} + + +inline BOOL LLVector3d::isNull() const +{ + if ( F_APPROXIMATELY_ZERO > mdV[VX]*mdV[VX] + mdV[VY]*mdV[VY] + mdV[VZ]*mdV[VZ] ) + { + return TRUE; + } + return FALSE; +} + + +inline F64 angle_between(const LLVector3d& a, const LLVector3d& b) +{ + LLVector3d an = a; + LLVector3d bn = b; + an.normVec(); + bn.normVec(); + F64 cosine = an * bn; + F64 angle = (cosine >= 1.0f) ? 0.0f : + (cosine <= -1.0f) ? F_PI : + acos(cosine); + return angle; +} + +inline BOOL are_parallel(const LLVector3d &a, const LLVector3d &b, const F64 epsilon) +{ + LLVector3d an = a; + LLVector3d bn = b; + an.normVec(); + bn.normVec(); + F64 dot = an * bn; + if ( (1.0f - fabs(dot)) < epsilon) + { + return TRUE; + } + return FALSE; +} +#endif // LL_V3DMATH_H |