321 lines
10 KiB
C++
321 lines
10 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_VECTOR3_H
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#define REACTPHYSICS3D_VECTOR3_H
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// Libraries
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#include <cmath>
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#include <cassert>
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#include "mathematics_functions.h"
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#include "../decimal.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class Vector3
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/**
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* This class represents a 3D vector.
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*/
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struct Vector3 {
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public:
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// -------------------- Attributes -------------------- //
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/// Component x
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decimal x;
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/// Component y
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decimal y;
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/// Component z
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decimal z;
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// -------------------- Methods -------------------- //
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/// Constructor of the class Vector3D
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Vector3();
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/// Constructor with arguments
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Vector3(decimal newX, decimal newY, decimal newZ);
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/// Copy-constructor
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Vector3(const Vector3& vector);
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/// Destructor
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~Vector3();
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/// Set all the values of the vector
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void setAllValues(decimal newX, decimal newY, decimal newZ);
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/// Set the vector to zero
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void setToZero();
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/// Return the length of the vector
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decimal length() const;
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/// Return the square of the length of the vector
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decimal lengthSquare() const;
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/// Return the corresponding unit vector
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Vector3 getUnit() const;
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/// Return one unit orthogonal vector of the current vector
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Vector3 getOneUnitOrthogonalVector() const;
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/// Return true if the vector is unit and false otherwise
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bool isUnit() const;
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/// Return true if the current vector is the zero vector
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bool isZero() const;
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/// Dot product of two vectors
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decimal dot(const Vector3& vector) const;
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/// Cross product of two vectors
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Vector3 cross(const Vector3& vector) const;
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/// Normalize the vector
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void normalize();
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/// Return the corresponding absolute value vector
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Vector3 getAbsoluteVector() const;
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/// Return the axis with the minimal value
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int getMinAxis() const;
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/// Return the axis with the maximal value
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int getMaxAxis() const;
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/// Return true if two vectors are parallel
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bool isParallelWith(const Vector3& vector) const;
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/// Overloaded operator for the equality condition
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bool operator== (const Vector3& vector) const;
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/// Overloaded operator for the is different condition
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bool operator!= (const Vector3& vector) const;
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/// Overloaded operator for addition with assignment
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Vector3& operator+=(const Vector3& vector);
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/// Overloaded operator for substraction with assignment
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Vector3& operator-=(const Vector3& vector);
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/// Overloaded operator for multiplication with a number with assignment
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Vector3& operator*=(decimal number);
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/// Overloaded operator for division by a number with assignment
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Vector3& operator/=(decimal number);
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/// Overloaded operator for value access
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decimal& operator[] (int index);
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/// Overloaded operator for value access
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const decimal& operator[] (int index) const;
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/// Overloaded operator
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Vector3& operator=(const Vector3& vector);
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// -------------------- Friends -------------------- //
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friend Vector3 operator+(const Vector3& vector1, const Vector3& vector2);
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friend Vector3 operator-(const Vector3& vector1, const Vector3& vector2);
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friend Vector3 operator-(const Vector3& vector);
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friend Vector3 operator*(const Vector3& vector, decimal number);
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friend Vector3 operator*(decimal number, const Vector3& vector);
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friend Vector3 operator/(const Vector3& vector, decimal number);
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};
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// Set the vector to zero
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inline void Vector3::setToZero() {
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x = 0;
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y = 0;
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z = 0;
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}
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// Set all the values of the vector
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inline void Vector3::setAllValues(decimal newX, decimal newY, decimal newZ) {
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x = newX;
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y = newY;
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z = newZ;
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}
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// Return the length of the vector
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inline decimal Vector3::length() const {
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return sqrt(x*x + y*y + z*z);
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}
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// Return the square of the length of the vector
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inline decimal Vector3::lengthSquare() const {
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return x*x + y*y + z*z;
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}
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// Scalar product of two vectors (inline)
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inline decimal Vector3::dot(const Vector3& vector) const {
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return (x*vector.x + y*vector.y + z*vector.z);
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}
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// Cross product of two vectors (inline)
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inline Vector3 Vector3::cross(const Vector3& vector) const {
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return Vector3(y * vector.z - z * vector.y,
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z * vector.x - x * vector.z,
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x * vector.y - y * vector.x);
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}
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// Normalize the vector
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inline void Vector3::normalize() {
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decimal l = length();
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assert(l > std::numeric_limits<decimal>::epsilon());
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x /= l;
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y /= l;
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z /= l;
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}
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// Return the corresponding absolute value vector
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inline Vector3 Vector3::getAbsoluteVector() const {
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return Vector3(std::abs(x), std::abs(y), std::abs(z));
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}
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// Return the axis with the minimal value
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inline int Vector3::getMinAxis() const {
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return (x < y ? (x < z ? 0 : 2) : (y < z ? 1 : 2));
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}
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// Return the axis with the maximal value
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inline int Vector3::getMaxAxis() const {
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return (x < y ? (y < z ? 2 : 1) : (x < z ? 2 : 0));
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}
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// Return true if the vector is unit and false otherwise
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inline bool Vector3::isUnit() const {
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return approxEqual(lengthSquare(), 1.0);
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}
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// Return true if the vector is the zero vector
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inline bool Vector3::isZero() const {
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return approxEqual(lengthSquare(), 0.0);
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}
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// Overloaded operator for the equality condition
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inline bool Vector3::operator== (const Vector3& vector) const {
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return (x == vector.x && y == vector.y && z == vector.z);
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}
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// Overloaded operator for the is different condition
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inline bool Vector3::operator!= (const Vector3& vector) const {
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return !(*this == vector);
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}
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// Overloaded operator for addition with assignment
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inline Vector3& Vector3::operator+=(const Vector3& vector) {
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x += vector.x;
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y += vector.y;
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z += vector.z;
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return *this;
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}
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// Overloaded operator for substraction with assignment
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inline Vector3& Vector3::operator-=(const Vector3& vector) {
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x -= vector.x;
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y -= vector.y;
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z -= vector.z;
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return *this;
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}
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// Overloaded operator for multiplication with a number with assignment
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inline Vector3& Vector3::operator*=(decimal number) {
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x *= number;
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y *= number;
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z *= number;
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return *this;
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}
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// Overloaded operator for division by a number with assignment
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inline Vector3& Vector3::operator/=(decimal number) {
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assert(number > std::numeric_limits<decimal>::epsilon());
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x /= number;
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y /= number;
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z /= number;
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return *this;
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}
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// Overloaded operator for value access
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inline decimal& Vector3::operator[] (int index) {
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return (&x)[index];
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}
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// Overloaded operator for value access
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inline const decimal& Vector3::operator[] (int index) const {
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return (&x)[index];
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}
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// Overloaded operator for addition
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inline Vector3 operator+(const Vector3& vector1, const Vector3& vector2) {
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return Vector3(vector1.x + vector2.x, vector1.y + vector2.y, vector1.z + vector2.z);
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}
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// Overloaded operator for substraction
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inline Vector3 operator-(const Vector3& vector1, const Vector3& vector2) {
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return Vector3(vector1.x - vector2.x, vector1.y - vector2.y, vector1.z - vector2.z);
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}
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// Overloaded operator for the negative of a vector
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inline Vector3 operator-(const Vector3& vector) {
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return Vector3(-vector.x, -vector.y, -vector.z);
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}
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// Overloaded operator for multiplication with a number
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inline Vector3 operator*(const Vector3& vector, decimal number) {
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return Vector3(number * vector.x, number * vector.y, number * vector.z);
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}
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// Overloaded operator for division by a number
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inline Vector3 operator/(const Vector3& vector, decimal number) {
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assert(number > MACHINE_EPSILON);
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return Vector3(vector.x / number, vector.y / number, vector.z / number);
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}
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// Overloaded operator for multiplication with a number
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inline Vector3 operator*(decimal number, const Vector3& vector) {
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return vector * number;
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}
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// Assignment operator
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inline Vector3& Vector3::operator=(const Vector3& vector) {
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if (&vector != this) {
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x = vector.x;
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y = vector.y;
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z = vector.z;
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}
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return *this;
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}
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}
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#endif
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