Added Kraken Math files, extracted from Kraken Engine
This commit is contained in:
456
src/vector3.cpp
Normal file
456
src/vector3.cpp
Normal file
@@ -0,0 +1,456 @@
|
||||
//
|
||||
// Vector3.cpp
|
||||
// Kraken
|
||||
//
|
||||
// Copyright 2018 Kearwood Gilbert. All rights reserved.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification, are
|
||||
// permitted provided that the following conditions are met:
|
||||
//
|
||||
// 1. Redistributions of source code must retain the above copyright notice, this list of
|
||||
// conditions and the following disclaimer.
|
||||
//
|
||||
// 2. Redistributions in binary form must reproduce the above copyright notice, this list
|
||||
// of conditions and the following disclaimer in the documentation and/or other materials
|
||||
// provided with the distribution.
|
||||
//
|
||||
// THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
|
||||
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
|
||||
// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
|
||||
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
// ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
||||
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
//
|
||||
// The views and conclusions contained in the software and documentation are those of the
|
||||
// authors and should not be interpreted as representing official policies, either expressed
|
||||
// or implied, of Kearwood Gilbert.
|
||||
//
|
||||
|
||||
#include "../include/kraken-math.h"
|
||||
|
||||
namespace kraken {
|
||||
|
||||
//default constructor
|
||||
void Vector3::init()
|
||||
{
|
||||
x = 0.0f;
|
||||
y = 0.0f;
|
||||
z = 0.0f;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create()
|
||||
{
|
||||
Vector3 r;
|
||||
r.init();
|
||||
return r;
|
||||
}
|
||||
|
||||
void Vector3::init(const Vector3 &v) {
|
||||
x = v.x;
|
||||
y = v.y;
|
||||
z = v.z;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(const Vector3 &v)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(v);
|
||||
return r;
|
||||
}
|
||||
|
||||
void Vector3::init(const Vector4 &v) {
|
||||
x = v.x;
|
||||
y = v.y;
|
||||
z = v.z;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(const Vector4 &v)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(v);
|
||||
return r;
|
||||
}
|
||||
|
||||
void Vector3::init(float *v) {
|
||||
x = v[0];
|
||||
y = v[1];
|
||||
z = v[2];
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(float *v)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(v);
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
void Vector3::init(double *v) {
|
||||
x = (float)v[0];
|
||||
y = (float)v[1];
|
||||
z = (float)v[2];
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(double *v)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(v);
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
void Vector3::init(float v) {
|
||||
x = v;
|
||||
y = v;
|
||||
z = v;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(float v)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(v);
|
||||
return r;
|
||||
}
|
||||
|
||||
void Vector3::init(float X, float Y, float Z)
|
||||
{
|
||||
x = X;
|
||||
y = Y;
|
||||
z = Z;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Create(float X, float Y, float Z)
|
||||
{
|
||||
Vector3 r;
|
||||
r.init(X,Y,Z);
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector2 Vector3::xx() const
|
||||
{
|
||||
return Vector2::Create(x,x);
|
||||
}
|
||||
|
||||
Vector2 Vector3::xy() const
|
||||
{
|
||||
return Vector2::Create(x,y);
|
||||
}
|
||||
|
||||
Vector2 Vector3::xz() const
|
||||
{
|
||||
return Vector2::Create(x,z);
|
||||
}
|
||||
|
||||
Vector2 Vector3::yx() const
|
||||
{
|
||||
return Vector2::Create(y,x);
|
||||
}
|
||||
|
||||
Vector2 Vector3::yy() const
|
||||
{
|
||||
return Vector2::Create(y,y);
|
||||
}
|
||||
|
||||
Vector2 Vector3::yz() const
|
||||
{
|
||||
return Vector2::Create(y,z);
|
||||
}
|
||||
|
||||
Vector2 Vector3::zx() const
|
||||
{
|
||||
return Vector2::Create(z,x);
|
||||
}
|
||||
|
||||
Vector2 Vector3::zy() const
|
||||
{
|
||||
return Vector2::Create(z,y);
|
||||
}
|
||||
|
||||
Vector2 Vector3::zz() const
|
||||
{
|
||||
return Vector2::Create(z,z);
|
||||
}
|
||||
|
||||
void Vector3::xy(const Vector2 &v)
|
||||
{
|
||||
x = v.x;
|
||||
y = v.y;
|
||||
}
|
||||
|
||||
void Vector3::xz(const Vector2 &v)
|
||||
{
|
||||
x = v.x;
|
||||
z = v.y;
|
||||
}
|
||||
|
||||
void Vector3::yx(const Vector2 &v)
|
||||
{
|
||||
y = v.x;
|
||||
x = v.y;
|
||||
}
|
||||
|
||||
void Vector3::yz(const Vector2 &v)
|
||||
{
|
||||
y = v.x;
|
||||
z = v.y;
|
||||
}
|
||||
|
||||
void Vector3::zx(const Vector2 &v)
|
||||
{
|
||||
z = v.x;
|
||||
x = v.y;
|
||||
}
|
||||
|
||||
void Vector3::zy(const Vector2 &v)
|
||||
{
|
||||
z = v.x;
|
||||
y = v.y;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Min() {
|
||||
return Vector3::Create(-std::numeric_limits<float>::max());
|
||||
}
|
||||
|
||||
Vector3 Vector3::Max() {
|
||||
return Vector3::Create(std::numeric_limits<float>::max());
|
||||
}
|
||||
|
||||
Vector3 Vector3::Zero() {
|
||||
return Vector3::Create();
|
||||
}
|
||||
|
||||
Vector3 Vector3::One() {
|
||||
return Vector3::Create(1.0f, 1.0f, 1.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Forward() {
|
||||
return Vector3::Create(0.0f, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Backward() {
|
||||
return Vector3::Create(0.0f, 0.0f, -1.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Up() {
|
||||
return Vector3::Create(0.0f, 1.0f, 0.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Down() {
|
||||
return Vector3::Create(0.0f, -1.0f, 0.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Left() {
|
||||
return Vector3::Create(-1.0f, 0.0f, 0.0f);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Right() {
|
||||
return Vector3::Create(1.0f, 0.0f, 0.0f);
|
||||
}
|
||||
|
||||
|
||||
void Vector3::scale(const Vector3 &v)
|
||||
{
|
||||
x *= v.x;
|
||||
y *= v.y;
|
||||
z *= v.z;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Scale(const Vector3 &v1, const Vector3 &v2)
|
||||
{
|
||||
return Vector3::Create(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Lerp(const Vector3 &v1, const Vector3 &v2, float d) {
|
||||
return v1 + (v2 - v1) * d;
|
||||
}
|
||||
|
||||
Vector3 Vector3::Slerp(const Vector3 &v1, const Vector3 &v2, float d) {
|
||||
// From: http://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/
|
||||
// Dot product - the cosine of the angle between 2 vectors.
|
||||
float dot = Vector3::Dot(v1, v2);
|
||||
// Clamp it to be in the range of Acos()
|
||||
if(dot < -1.0f) dot = -1.0f;
|
||||
if(dot > 1.0f) dot = 1.0f;
|
||||
// Acos(dot) returns the angle between start and end,
|
||||
// And multiplying that by percent returns the angle between
|
||||
// start and the final result.
|
||||
float theta = acos(dot)*d;
|
||||
Vector3 RelativeVec = v2 - v1*dot;
|
||||
RelativeVec.normalize(); // Orthonormal basis
|
||||
// The final result.
|
||||
return ((v1*cos(theta)) + (RelativeVec*sin(theta)));
|
||||
}
|
||||
|
||||
void Vector3::OrthoNormalize(Vector3 &normal, Vector3 &tangent) {
|
||||
// Gram-Schmidt Orthonormalization
|
||||
normal.normalize();
|
||||
Vector3 proj = normal * Dot(tangent, normal);
|
||||
tangent = tangent - proj;
|
||||
tangent.normalize();
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator =(const Vector4 &b) {
|
||||
x = b.x;
|
||||
y = b.y;
|
||||
z = b.z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator +(const Vector3& b) const {
|
||||
return Vector3::Create(x + b.x, y + b.y, z + b.z);
|
||||
}
|
||||
Vector3 Vector3::operator -(const Vector3& b) const {
|
||||
return Vector3::Create(x - b.x, y - b.y, z - b.z);
|
||||
}
|
||||
Vector3 Vector3::operator +() const {
|
||||
return *this;
|
||||
}
|
||||
Vector3 Vector3::operator -() const {
|
||||
return Vector3::Create(-x, -y, -z);
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator *(const float v) const {
|
||||
return Vector3::Create(x * v, y * v, z * v);
|
||||
}
|
||||
|
||||
Vector3 Vector3::operator /(const float v) const {
|
||||
float inv_v = 1.0f / v;
|
||||
return Vector3::Create(x * inv_v, y * inv_v, z * inv_v);
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator +=(const Vector3& b) {
|
||||
x += b.x;
|
||||
y += b.y;
|
||||
z += b.z;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator -=(const Vector3& b) {
|
||||
x -= b.x;
|
||||
y -= b.y;
|
||||
z -= b.z;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator *=(const float v) {
|
||||
x *= v;
|
||||
y *= v;
|
||||
z *= v;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator /=(const float v) {
|
||||
float inv_v = 1.0f / v;
|
||||
x *= inv_v;
|
||||
y *= inv_v;
|
||||
z *= inv_v;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
bool Vector3::operator ==(const Vector3& b) const {
|
||||
return x == b.x && y == b.y && z == b.z;
|
||||
|
||||
}
|
||||
bool Vector3::operator !=(const Vector3& b) const {
|
||||
return x != b.x || y != b.y || z != b.z;
|
||||
}
|
||||
|
||||
float& Vector3::operator[](unsigned i) {
|
||||
switch(i) {
|
||||
case 0:
|
||||
return x;
|
||||
case 1:
|
||||
return y;
|
||||
default:
|
||||
case 2:
|
||||
return z;
|
||||
}
|
||||
}
|
||||
|
||||
float Vector3::operator[](unsigned i) const {
|
||||
switch(i) {
|
||||
case 0:
|
||||
return x;
|
||||
case 1:
|
||||
return y;
|
||||
case 2:
|
||||
default:
|
||||
return z;
|
||||
}
|
||||
}
|
||||
|
||||
float Vector3::sqrMagnitude() const {
|
||||
// calculate the square of the magnitude (useful for comparison of magnitudes without the cost of a sqrt() function)
|
||||
return x * x + y * y + z * z;
|
||||
}
|
||||
|
||||
float Vector3::magnitude() const {
|
||||
return sqrtf(x * x + y * y + z * z);
|
||||
}
|
||||
|
||||
void Vector3::normalize() {
|
||||
float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z);
|
||||
x *= inv_magnitude;
|
||||
y *= inv_magnitude;
|
||||
z *= inv_magnitude;
|
||||
}
|
||||
Vector3 Vector3::Normalize(const Vector3 &v) {
|
||||
float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
|
||||
return Vector3::Create(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude);
|
||||
}
|
||||
|
||||
Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
|
||||
return Vector3::Create(v1.y * v2.z - v1.z * v2.y,
|
||||
v1.z * v2.x - v1.x * v2.z,
|
||||
v1.x * v2.y - v1.y * v2.x);
|
||||
}
|
||||
|
||||
float Vector3::Dot(const Vector3 &v1, const Vector3 &v2) {
|
||||
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
|
||||
}
|
||||
|
||||
bool Vector3::operator >(const Vector3& b) const
|
||||
{
|
||||
// Comparison operators are implemented to allow insertion into sorted containers such as std::set
|
||||
if(x > b.x) {
|
||||
return true;
|
||||
} else if(x < b.x) {
|
||||
return false;
|
||||
} else if(y > b.y) {
|
||||
return true;
|
||||
} else if(y < b.y) {
|
||||
return false;
|
||||
} else if(z > b.z) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Vector3::operator <(const Vector3& b) const
|
||||
{
|
||||
// Comparison operators are implemented to allow insertion into sorted containers such as std::set
|
||||
if(x < b.x) {
|
||||
return true;
|
||||
} else if(x > b.x) {
|
||||
return false;
|
||||
} else if(y < b.y) {
|
||||
return true;
|
||||
} else if(y > b.y) {
|
||||
return false;
|
||||
} else if(z < b.z) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace kraken
|
||||
|
||||
Reference in New Issue
Block a user