#ifndef RVO_VECTOR3_H_ #define RVO_VECTOR3_H_ /* * Vector3.h * RVO2-3D Library * * Copyright 2008 University of North Carolina at Chapel Hill * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * * Please send all bug reports to <geom@cs.unc.edu>. * * The authors may be contacted via: * * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha * Dept. of Computer Science * 201 S. Columbia St. * Frederick P. Brooks, Jr. Computer Science Bldg. * Chapel Hill, N.C. 27599-3175 * United States of America * * <http://gamma.cs.unc.edu/RVO2/> */ /** * \file Vector3.h * \brief Contains the Vector3 class. */ #include "API.h" #include <cmath> #include <cstddef> #include <ostream> namespace RVO { /** * \brief Defines a three-dimensional vector. */ class Vector3 { public: /** * \brief Constructs and initializes a three-dimensional vector instance to zero. */ RVO_API inline Vector3() { val_[0] = 0.0f; val_[1] = 0.0f; val_[2] = 0.0f; } /** * \brief Constructs and initializes a three-dimensional vector from the specified three-element array. * \param val The three-element array containing the xyz-coordinates. */ RVO_API inline explicit Vector3(const float val[3]) { val_[0] = val[0]; val_[1] = val[1]; val_[2] = val[2]; } /** * \brief Constructs and initializes a three-dimensional vector from the specified xyz-coordinates. * \param x The x-coordinate of the three-dimensional vector. * \param y The y-coordinate of the three-dimensional vector. * \param z The z-coordinate of the three-dimensional vector. */ RVO_API inline Vector3(float x, float y, float z) { val_[0] = x; val_[1] = y; val_[2] = z; } /** * \brief Returns the x-coordinate of this three-dimensional vector. * \return The x-coordinate of the three-dimensional vector. */ RVO_API inline float x() const { return val_[0]; } /** * \brief Returns the y-coordinate of this three-dimensional vector. * \return The y-coordinate of the three-dimensional vector. */ RVO_API inline float y() const { return val_[1]; } /** * \brief Returns the z-coordinate of this three-dimensional vector. * \return The z-coordinate of the three-dimensional vector. */ RVO_API inline float z() const { return val_[2]; } /** * \brief Returns the specified coordinate of this three-dimensional vector. * \param i The coordinate that should be returned (0 <= i < 3). * \return The specified coordinate of the three-dimensional vector. */ RVO_API inline float operator[](size_t i) const { return val_[i]; } /** * \brief Returns a reference to the specified coordinate of this three-dimensional vector. * \param i The coordinate to which a reference should be returned (0 <= i < 3). * \return A reference to the specified coordinate of the three-dimensional vector. */ RVO_API inline float &operator[](size_t i) { return val_[i]; } /** * \brief Computes the negation of this three-dimensional vector. * \return The negation of this three-dimensional vector. */ RVO_API inline Vector3 operator-() const { return Vector3(-val_[0], -val_[1], -val_[2]); } /** * \brief Computes the dot product of this three-dimensional vector with the specified three-dimensional vector. * \param vector The three-dimensional vector with which the dot product should be computed. * \return The dot product of this three-dimensional vector with a specified three-dimensional vector. */ RVO_API inline float operator*(const Vector3 &vector) const { return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2]; } /** * \brief Computes the scalar multiplication of this three-dimensional vector with the specified scalar value. * \param scalar The scalar value with which the scalar multiplication should be computed. * \return The scalar multiplication of this three-dimensional vector with a specified scalar value. */ RVO_API inline Vector3 operator*(float scalar) const { return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar); } /** * \brief Computes the scalar division of this three-dimensional vector with the specified scalar value. * \param scalar The scalar value with which the scalar division should be computed. * \return The scalar division of this three-dimensional vector with a specified scalar value. */ RVO_API inline Vector3 operator/(float scalar) const { const float invScalar = 1.0f / scalar; return Vector3(val_[0] * invScalar, val_[1] * invScalar, val_[2] * invScalar); } /** * \brief Computes the vector sum of this three-dimensional vector with the specified three-dimensional vector. * \param vector The three-dimensional vector with which the vector sum should be computed. * \return The vector sum of this three-dimensional vector with a specified three-dimensional vector. */ RVO_API inline Vector3 operator+(const Vector3 &vector) const { return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]); } /** * \brief Computes the vector difference of this three-dimensional vector with the specified three-dimensional vector. * \param vector The three-dimensional vector with which the vector difference should be computed. * \return The vector difference of this three-dimensional vector with a specified three-dimensional vector. */ RVO_API inline Vector3 operator-(const Vector3 &vector) const { return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]); } /** * \brief Tests this three-dimensional vector for equality with the specified three-dimensional vector. * \param vector The three-dimensional vector with which to test for equality. * \return True if the three-dimensional vectors are equal. */ RVO_API inline bool operator==(const Vector3 &vector) const { return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2]; } /** * \brief Tests this three-dimensional vector for inequality with the specified three-dimensional vector. * \param vector The three-dimensional vector with which to test for inequality. * \return True if the three-dimensional vectors are not equal. */ RVO_API inline bool operator!=(const Vector3 &vector) const { return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2]; } /** * \brief Sets the value of this three-dimensional vector to the scalar multiplication of itself with the specified scalar value. * \param scalar The scalar value with which the scalar multiplication should be computed. * \return A reference to this three-dimensional vector. */ RVO_API inline Vector3 &operator*=(float scalar) { val_[0] *= scalar; val_[1] *= scalar; val_[2] *= scalar; return *this; } /** * \brief Sets the value of this three-dimensional vector to the scalar division of itself with the specified scalar value. * \param scalar The scalar value with which the scalar division should be computed. * \return A reference to this three-dimensional vector. */ RVO_API inline Vector3 &operator/=(float scalar) { const float invScalar = 1.0f / scalar; val_[0] *= invScalar; val_[1] *= invScalar; val_[2] *= invScalar; return *this; } /** * \brief Sets the value of this three-dimensional vector to the vector * sum of itself with the specified three-dimensional vector. * \param vector The three-dimensional vector with which the vector sum should be computed. * \return A reference to this three-dimensional vector. */ RVO_API inline Vector3 &operator+=(const Vector3 &vector) { val_[0] += vector[0]; val_[1] += vector[1]; val_[2] += vector[2]; return *this; } /** * \brief Sets the value of this three-dimensional vector to the vector difference of itself with the specified three-dimensional vector. * \param vector The three-dimensional vector with which the vector difference should be computed. * \return A reference to this three-dimensional vector. */ RVO_API inline Vector3 &operator-=(const Vector3 &vector) { val_[0] -= vector[0]; val_[1] -= vector[1]; val_[2] -= vector[2]; return *this; } private: float val_[3]; }; /** * \relates Vector3 * \brief Computes the scalar multiplication of the specified three-dimensional vector with the specified scalar value. * \param scalar The scalar value with which the scalar multiplication should be computed. * \param vector The three-dimensional vector with which the scalar multiplication should be computed. * \return The scalar multiplication of the three-dimensional vector with the scalar value. */ inline Vector3 operator*(float scalar, const Vector3 &vector) { return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]); } /** * \relates Vector3 * \brief Computes the cross product of the specified three-dimensional vectors. * \param vector1 The first vector with which the cross product should be computed. * \param vector2 The second vector with which the cross product should be computed. * \return The cross product of the two specified vectors. */ inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) { return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]); } /** * \relates Vector3 * \brief Inserts the specified three-dimensional vector into the specified output stream. * \param os The output stream into which the three-dimensional vector should be inserted. * \param vector The three-dimensional vector which to insert into the output stream. * \return A reference to the output stream. */ inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector) { os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")"; return os; } /** * \relates Vector3 * \brief Computes the length of a specified three-dimensional vector. * \param vector The three-dimensional vector whose length is to be computed. * \return The length of the three-dimensional vector. */ inline float abs(const Vector3 &vector) { return std::sqrt(vector * vector); } /** * \relates Vector3 * \brief Computes the squared length of a specified three-dimensional vector. * \param vector The three-dimensional vector whose squared length is to be computed. * \return The squared length of the three-dimensional vector. */ inline float absSq(const Vector3 &vector) { return vector * vector; } /** * \relates Vector3 * \brief Computes the normalization of the specified three-dimensional vector. * \param vector The three-dimensional vector whose normalization is to be computed. * \return The normalization of the three-dimensional vector. */ inline Vector3 normalize(const Vector3 &vector) { return vector / abs(vector); } } #endif