1 // Copyright (C) 2006 Mathias Froehlich - Mathias.Froehlich@web.de
3 // This library is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU Library General Public
5 // License as published by the Free Software Foundation; either
6 // version 2 of the License, or (at your option) any later version.
8 // This library is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // Library General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
25 struct SGVec4Storage {
26 /// Readonly raw storage interface
27 const T (&data(void) const)[4]
29 /// Readonly raw storage interface
41 struct SGVec4Storage<float> : public osg::Vec4f {
42 /// Access raw data by index, the index is unchecked
43 const float (&data(void) const)[4]
44 { return osg::Vec4f::_v; }
45 /// Access raw data by index, the index is unchecked
46 float (&data(void))[4]
47 { return osg::Vec4f::_v; }
49 const osg::Vec4f& osg() const
56 struct SGVec4Storage<double> : public osg::Vec4d {
57 /// Access raw data by index, the index is unchecked
58 const double (&data(void) const)[4]
59 { return osg::Vec4d::_v; }
60 /// Access raw data by index, the index is unchecked
61 double (&data(void))[4]
62 { return osg::Vec4d::_v; }
64 const osg::Vec4d& osg() const
72 class SGVec4 : protected SGVec4Storage<T> {
76 /// Default constructor. Does not initialize at all.
77 /// If you need them zero initialized, use SGVec4::zeros()
80 /// Initialize with nans in the debug build, that will guarantee to have
81 /// a fast uninitialized default constructor in the release but shows up
82 /// uninitialized values in the debug build very fast ...
84 for (unsigned i = 0; i < 4; ++i)
85 data()[i] = SGLimits<T>::quiet_NaN();
88 /// Constructor. Initialize by the given values
89 SGVec4(T x, T y, T z, T w)
90 { data()[0] = x; data()[1] = y; data()[2] = z; data()[3] = w; }
91 /// Constructor. Initialize by the content of a plain array,
92 /// make sure it has at least 3 elements
93 explicit SGVec4(const T* d)
94 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
95 explicit SGVec4(const osg::Vec4f& d)
96 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
97 explicit SGVec4(const osg::Vec4d& d)
98 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
99 explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
100 { data()[0] = v3[0]; data()[1] = v3[1]; data()[2] = v3[2]; data()[3] = v4; }
103 /// Access by index, the index is unchecked
104 const T& operator()(unsigned i) const
105 { return data()[i]; }
106 /// Access by index, the index is unchecked
107 T& operator()(unsigned i)
108 { return data()[i]; }
110 /// Access raw data by index, the index is unchecked
111 const T& operator[](unsigned i) const
112 { return data()[i]; }
113 /// Access raw data by index, the index is unchecked
114 T& operator[](unsigned i)
115 { return data()[i]; }
117 /// Access the x component
118 const T& x(void) const
119 { return data()[0]; }
120 /// Access the x component
122 { return data()[0]; }
123 /// Access the y component
124 const T& y(void) const
125 { return data()[1]; }
126 /// Access the y component
128 { return data()[1]; }
129 /// Access the z component
130 const T& z(void) const
131 { return data()[2]; }
132 /// Access the z component
134 { return data()[2]; }
135 /// Access the x component
136 const T& w(void) const
137 { return data()[3]; }
138 /// Access the x component
140 { return data()[3]; }
142 /// Get the data pointer
143 using SGVec4Storage<T>::data;
145 /// Readonly interface function to ssg's sgVec4/sgdVec4
146 const T (&sg(void) const)[4]
148 /// Interface function to ssg's sgVec4/sgdVec4
152 /// Interface function to osg's Vec4*
153 using SGVec4Storage<T>::osg;
156 SGVec4& operator+=(const SGVec4& v)
157 { data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
158 /// Inplace subtraction
159 SGVec4& operator-=(const SGVec4& v)
160 { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
161 /// Inplace scalar multiplication
163 SGVec4& operator*=(S s)
164 { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
165 /// Inplace scalar multiplication by 1/s
167 SGVec4& operator/=(S s)
168 { return operator*=(1/T(s)); }
170 /// Return an all zero vector
171 static SGVec4 zeros(void)
172 { return SGVec4(0, 0, 0, 0); }
173 /// Return unit vectors
174 static SGVec4 e1(void)
175 { return SGVec4(1, 0, 0, 0); }
176 static SGVec4 e2(void)
177 { return SGVec4(0, 1, 0, 0); }
178 static SGVec4 e3(void)
179 { return SGVec4(0, 0, 1, 0); }
180 static SGVec4 e4(void)
181 { return SGVec4(0, 0, 0, 1); }
184 /// Unary +, do nothing ...
188 operator+(const SGVec4<T>& v)
191 /// Unary -, do nearly nothing
195 operator-(const SGVec4<T>& v)
196 { return SGVec4<T>(-v(0), -v(1), -v(2), -v(3)); }
202 operator+(const SGVec4<T>& v1, const SGVec4<T>& v2)
203 { return SGVec4<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2), v1(3)+v2(3)); }
209 operator-(const SGVec4<T>& v1, const SGVec4<T>& v2)
210 { return SGVec4<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2), v1(3)-v2(3)); }
212 /// Scalar multiplication
213 template<typename S, typename T>
216 operator*(S s, const SGVec4<T>& v)
217 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
219 /// Scalar multiplication
220 template<typename S, typename T>
223 operator*(const SGVec4<T>& v, S s)
224 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
226 /// multiplication as a multiplicator, that is assume that the first vector
227 /// represents a 4x4 diagonal matrix with the diagonal elements in the vector.
228 /// Then the result is the product of that matrix times the second vector.
232 mult(const SGVec4<T>& v1, const SGVec4<T>& v2)
233 { return SGVec4<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2), v1(3)*v2(3)); }
235 /// component wise min
239 min(const SGVec4<T>& v1, const SGVec4<T>& v2)
241 return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
242 SGMisc<T>::min(v1(1), v2(1)),
243 SGMisc<T>::min(v1(2), v2(2)),
244 SGMisc<T>::min(v1(3), v2(3)));
246 template<typename S, typename T>
249 min(const SGVec4<T>& v, S s)
251 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
252 SGMisc<T>::min(s, v(1)),
253 SGMisc<T>::min(s, v(2)),
254 SGMisc<T>::min(s, v(3)));
256 template<typename S, typename T>
259 min(S s, const SGVec4<T>& v)
261 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
262 SGMisc<T>::min(s, v(1)),
263 SGMisc<T>::min(s, v(2)),
264 SGMisc<T>::min(s, v(3)));
267 /// component wise max
271 max(const SGVec4<T>& v1, const SGVec4<T>& v2)
273 return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
274 SGMisc<T>::max(v1(1), v2(1)),
275 SGMisc<T>::max(v1(2), v2(2)),
276 SGMisc<T>::max(v1(3), v2(3)));
278 template<typename S, typename T>
281 max(const SGVec4<T>& v, S s)
283 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
284 SGMisc<T>::max(s, v(1)),
285 SGMisc<T>::max(s, v(2)),
286 SGMisc<T>::max(s, v(3)));
288 template<typename S, typename T>
291 max(S s, const SGVec4<T>& v)
293 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
294 SGMisc<T>::max(s, v(1)),
295 SGMisc<T>::max(s, v(2)),
296 SGMisc<T>::max(s, v(3)));
299 /// Scalar dot product
303 dot(const SGVec4<T>& v1, const SGVec4<T>& v2)
304 { return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
306 /// The euclidean norm of the vector, that is what most people call length
310 norm(const SGVec4<T>& v)
311 { return sqrt(dot(v, v)); }
313 /// The euclidean norm of the vector, that is what most people call length
317 length(const SGVec4<T>& v)
318 { return sqrt(dot(v, v)); }
320 /// The 1-norm of the vector, this one is the fastest length function we
321 /// can implement on modern cpu's
325 norm1(const SGVec4<T>& v)
326 { return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
328 /// The inf-norm of the vector
332 normI(const SGVec4<T>& v)
333 { return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
335 /// The euclidean norm of the vector, that is what most people call length
339 normalize(const SGVec4<T>& v)
340 { return (1/norm(v))*v; }
342 /// Return true if exactly the same
346 operator==(const SGVec4<T>& v1, const SGVec4<T>& v2)
347 { return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
349 /// Return true if not exactly the same
353 operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
354 { return ! (v1 == v2); }
356 /// Return true if smaller, good for putting that into a std::map
360 operator<(const SGVec4<T>& v1, const SGVec4<T>& v2)
362 if (v1(0) < v2(0)) return true;
363 else if (v2(0) < v1(0)) return false;
364 else if (v1(1) < v2(1)) return true;
365 else if (v2(1) < v1(1)) return false;
366 else if (v1(2) < v2(2)) return true;
367 else if (v2(2) < v1(2)) return false;
368 else return (v1(3) < v2(3));
374 operator<=(const SGVec4<T>& v1, const SGVec4<T>& v2)
376 if (v1(0) < v2(0)) return true;
377 else if (v2(0) < v1(0)) return false;
378 else if (v1(1) < v2(1)) return true;
379 else if (v2(1) < v1(1)) return false;
380 else if (v1(2) < v2(2)) return true;
381 else if (v2(2) < v1(2)) return false;
382 else return (v1(3) <= v2(3));
388 operator>(const SGVec4<T>& v1, const SGVec4<T>& v2)
389 { return operator<(v2, v1); }
394 operator>=(const SGVec4<T>& v1, const SGVec4<T>& v2)
395 { return operator<=(v2, v1); }
397 /// Return true if equal to the relative tolerance tol
401 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol, T atol)
402 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
404 /// Return true if equal to the relative tolerance tol
408 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol)
409 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
411 /// Return true if about equal to roundoff of the underlying type
415 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2)
417 T tol = 100*SGLimits<T>::epsilon();
418 return equivalent(v1, v2, tol, tol);
421 /// The euclidean distance of the two vectors
425 dist(const SGVec4<T>& v1, const SGVec4<T>& v2)
426 { return norm(v1 - v2); }
428 /// The squared euclidean distance of the two vectors
432 distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
433 { SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
439 isNaN(const SGVec4<T>& v)
441 return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
442 || SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
446 /// Output to an ostream
447 template<typename char_type, typename traits_type, typename T>
449 std::basic_ostream<char_type, traits_type>&
450 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec4<T>& v)
451 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
455 toVec4f(const SGVec4d& v)
456 { return SGVec4f((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
460 toVec4d(const SGVec4f& v)
461 { return SGVec4d(v(0), v(1), v(2), v(3)); }