git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@298 92aac97c-a6ce-11dd-a772-7fcde58d38e6

This commit is contained in:
chappuis.daniel 2010-03-28 21:55:15 +00:00
parent 4eaf404477
commit 53ef470c32
5 changed files with 52 additions and 2 deletions

View File

@ -37,6 +37,8 @@ Matrix3x3::Matrix3x3(double a1, double a2, double a3, double b1, double b2, doub
}
// Copy-constructor
// TODO : Test if this copy-constructor is correct (check if the the copy matrix use
// the same memory place for its array)
Matrix3x3::Matrix3x3(const Matrix3x3& matrix2) {
// Copy the values in the matrix
setAllValues(matrix2.array[0][0], matrix2.array[0][1], matrix2.array[0][2],

View File

@ -52,6 +52,7 @@ class Vector {
double scalarProduct(const Vector& vector) const throw(MathematicsException); // Scalar product of two vectors
Vector crossProduct(const Vector& vector) const throw(MathematicsException); // Cross product of two vectors (in 3D only)
void fillInSubVector(unsigned int index, const Vector& subVector); // Replace a part of the current vector with another sub-vector
bool isUnit() const; // Return true if the vector is unit and false otherwise
// --- Overloaded operators --- //
Vector operator+(const Vector& vector) const throw(MathematicsException); // Overloaded operator for addition
@ -119,6 +120,11 @@ inline void Vector::fillInSubVector(unsigned int rowIndex, const Vector& subVect
}
}
// Return true if the vector is unit and false otherwise
inline bool Vector::isUnit() const {
return (1.0 - EPSILON <= this->length() && this->length() <= 1.0 + EPSILON );
}
// Overloaded operator for multiplication between a number and a Vector (inline)
inline Vector operator*(double number, const Vector& vector) {
// Compute and return the result

View File

@ -20,6 +20,8 @@
// Libraries
#include "Vector3D.h"
#include <iostream>
#include <cassert>
#include <vector>
// Namespaces
using namespace reactphysics3d;
@ -63,6 +65,34 @@ Vector3D Vector3D::getUnit() const throw(MathematicsException) {
}
}
// Return two unit orthogonal vectors of the current vector
// TODO : Test this method
Vector3D Vector3D::getOneOrthogonalVector() const {
assert(!this->isZero());
Vector3D unitVector = this->getUnit();
// Compute a first orthogonal vector
Vector3D vector1;
if (!approxEqual(x, 0.0)) { // If x != 0
vector1.setY(x);
vector1.setZ((-2*x*y*z + 2*x*z)/(2*(z*z + x*x)));
vector1.setX((-x*y-z*vector1.getZ())/x);
}
else if (!approxEqual(y, 0.0)) { // If y != 0
vector1.setZ(y);
vector1.setX((-2*x*y*z + 2*x*y)/(2*(y*y + x*x)));
vector1.setY((-z*y-x*vector1.getX())/y);
}
else if (!approxEqual(z, 0.0)) { // If z != 0
vector1.setX(z);
vector1.setY((-2*x*y*z + 2*y*z)/(2*(z*z + y*y)));
vector1.setZ((-x*z-y*vector1.getY())/z);
}
assert(vector1.isUnit());
return vector1;
}
// Overloaded operator for addition
Vector3D Vector3D::operator+(const Vector3D& vector) const {
// Compute and return the sum of the two vectors

View File

@ -54,7 +54,10 @@ class Vector3D {
void setAllValues(double x, double y, double z); // Set all the values of the vector
double length() const; // Return the lenght of the vector
Vector3D getUnit() const throw(MathematicsException); // Return the corresponding unit vector
bool isUnit() const; // Return true if the vector is unit and false otherwise
bool isZero() const; // Return true if the current vector is the zero vector
Vector3D getOpposite() const; // Return the vector in the opposite direction
Vector3D getOneOrthogonalVector() const; // Return one unit orthogonal vectors of the current vector
double scalarProduct(const Vector3D& vector) const; // Scalar product of two vectors
Vector3D crossProduct(const Vector3D& vector) const; // Cross product of two vectors
bool isParallelWith(const Vector3D& vector) const; // Return true if two vectors are parallel
@ -67,7 +70,6 @@ class Vector3D {
bool operator==(const Vector3D& vector) const; // Overloaded operator for the equality condition
};
// Get the x component of the vector (inline)
inline double Vector3D::getX() const {
return x;
@ -134,6 +136,16 @@ inline bool Vector3D::isParallelWith(const Vector3D& vector) const {
return (approxEqual(abs(this->scalarProduct(vector)), length() * vector.length()));
}
// Return true if the vector is unit and false otherwise
inline bool Vector3D::isUnit() const {
return approxEqual(x*x+y*y+z*z, 1.0);
}
// Return true if the vector is the zero vector
inline bool Vector3D::isZero() const {
return approxEqual(x*x+y*y+z*z, 0.0);
}
// Overloaded operator for multiplication between a number and a Vector3D (inline)
inline Vector3D operator * (double number, const Vector3D& vector) {
// Compute and return the result vector

View File

@ -28,7 +28,7 @@ namespace reactphysics3d {
// ---------- Mathematics functions ---------- //
// function to test if two numbers are (almost) equal
// function to test if two real numbers are (almost) equal
// We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON]
inline bool approxEqual(double a, double b) {
double difference = a - b;