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]; }
96 explicit SGVec4(const SGVec4<S>& d)
97 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
98 explicit SGVec4(const osg::Vec4f& d)
99 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
100 explicit SGVec4(const osg::Vec4d& d)
101 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
102 explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
103 { data()[0] = v3[0]; data()[1] = v3[1]; data()[2] = v3[2]; data()[3] = v4; }
106 /// Access by index, the index is unchecked
107 const T& operator()(unsigned i) const
108 { return data()[i]; }
109 /// Access by index, the index is unchecked
110 T& operator()(unsigned i)
111 { return data()[i]; }
113 /// Access raw data by index, the index is unchecked
114 const T& operator[](unsigned i) const
115 { return data()[i]; }
116 /// Access raw data by index, the index is unchecked
117 T& operator[](unsigned i)
118 { return data()[i]; }
120 /// Access the x component
121 const T& x(void) const
122 { return data()[0]; }
123 /// Access the x component
125 { return data()[0]; }
126 /// Access the y component
127 const T& y(void) const
128 { return data()[1]; }
129 /// Access the y component
131 { return data()[1]; }
132 /// Access the z component
133 const T& z(void) const
134 { return data()[2]; }
135 /// Access the z component
137 { return data()[2]; }
138 /// Access the x component
139 const T& w(void) const
140 { return data()[3]; }
141 /// Access the x component
143 { return data()[3]; }
145 /// Get the data pointer
146 using SGVec4Storage<T>::data;
148 /// Readonly interface function to ssg's sgVec4/sgdVec4
149 const T (&sg(void) const)[4]
151 /// Interface function to ssg's sgVec4/sgdVec4
155 /// Interface function to osg's Vec4*
156 using SGVec4Storage<T>::osg;
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 subtraction
162 SGVec4& operator-=(const SGVec4& v)
163 { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
164 /// Inplace scalar multiplication
166 SGVec4& operator*=(S s)
167 { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
168 /// Inplace scalar multiplication by 1/s
170 SGVec4& operator/=(S s)
171 { return operator*=(1/T(s)); }
173 /// Return an all zero vector
174 static SGVec4 zeros(void)
175 { return SGVec4(0, 0, 0, 0); }
176 /// Return unit vectors
177 static SGVec4 e1(void)
178 { return SGVec4(1, 0, 0, 0); }
179 static SGVec4 e2(void)
180 { return SGVec4(0, 1, 0, 0); }
181 static SGVec4 e3(void)
182 { return SGVec4(0, 0, 1, 0); }
183 static SGVec4 e4(void)
184 { return SGVec4(0, 0, 0, 1); }
187 /// Unary +, do nothing ...
191 operator+(const SGVec4<T>& v)
194 /// Unary -, do nearly nothing
198 operator-(const SGVec4<T>& v)
199 { return SGVec4<T>(-v(0), -v(1), -v(2), -v(3)); }
205 operator+(const SGVec4<T>& v1, const SGVec4<T>& v2)
206 { return SGVec4<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2), v1(3)+v2(3)); }
212 operator-(const SGVec4<T>& v1, const SGVec4<T>& v2)
213 { return SGVec4<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2), v1(3)-v2(3)); }
215 /// Scalar multiplication
216 template<typename S, typename T>
219 operator*(S s, const SGVec4<T>& v)
220 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
222 /// Scalar multiplication
223 template<typename S, typename T>
226 operator*(const SGVec4<T>& v, S s)
227 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
229 /// multiplication as a multiplicator, that is assume that the first vector
230 /// represents a 4x4 diagonal matrix with the diagonal elements in the vector.
231 /// Then the result is the product of that matrix times the second vector.
235 mult(const SGVec4<T>& v1, const SGVec4<T>& v2)
236 { return SGVec4<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2), v1(3)*v2(3)); }
238 /// component wise min
242 min(const SGVec4<T>& v1, const SGVec4<T>& v2)
244 return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
245 SGMisc<T>::min(v1(1), v2(1)),
246 SGMisc<T>::min(v1(2), v2(2)),
247 SGMisc<T>::min(v1(3), v2(3)));
249 template<typename S, typename T>
252 min(const SGVec4<T>& v, S s)
254 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
255 SGMisc<T>::min(s, v(1)),
256 SGMisc<T>::min(s, v(2)),
257 SGMisc<T>::min(s, v(3)));
259 template<typename S, typename T>
262 min(S s, const SGVec4<T>& v)
264 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
265 SGMisc<T>::min(s, v(1)),
266 SGMisc<T>::min(s, v(2)),
267 SGMisc<T>::min(s, v(3)));
270 /// component wise max
274 max(const SGVec4<T>& v1, const SGVec4<T>& v2)
276 return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
277 SGMisc<T>::max(v1(1), v2(1)),
278 SGMisc<T>::max(v1(2), v2(2)),
279 SGMisc<T>::max(v1(3), v2(3)));
281 template<typename S, typename T>
284 max(const SGVec4<T>& v, S s)
286 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
287 SGMisc<T>::max(s, v(1)),
288 SGMisc<T>::max(s, v(2)),
289 SGMisc<T>::max(s, v(3)));
291 template<typename S, typename T>
294 max(S s, const SGVec4<T>& v)
296 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
297 SGMisc<T>::max(s, v(1)),
298 SGMisc<T>::max(s, v(2)),
299 SGMisc<T>::max(s, v(3)));
302 /// Scalar dot product
306 dot(const SGVec4<T>& v1, const SGVec4<T>& v2)
307 { return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
309 /// The euclidean norm of the vector, that is what most people call length
313 norm(const SGVec4<T>& v)
314 { return sqrt(dot(v, v)); }
316 /// The euclidean norm of the vector, that is what most people call length
320 length(const SGVec4<T>& v)
321 { return sqrt(dot(v, v)); }
323 /// The 1-norm of the vector, this one is the fastest length function we
324 /// can implement on modern cpu's
328 norm1(const SGVec4<T>& v)
329 { return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
331 /// The inf-norm of the vector
335 normI(const SGVec4<T>& v)
336 { return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
338 /// The euclidean norm of the vector, that is what most people call length
342 normalize(const SGVec4<T>& v)
343 { return (1/norm(v))*v; }
345 /// Return true if exactly the same
349 operator==(const SGVec4<T>& v1, const SGVec4<T>& v2)
350 { return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
352 /// Return true if not exactly the same
356 operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
357 { return ! (v1 == v2); }
359 /// Return true if smaller, good for putting that into a std::map
363 operator<(const SGVec4<T>& v1, const SGVec4<T>& v2)
365 if (v1(0) < v2(0)) return true;
366 else if (v2(0) < v1(0)) return false;
367 else if (v1(1) < v2(1)) return true;
368 else if (v2(1) < v1(1)) return false;
369 else if (v1(2) < v2(2)) return true;
370 else if (v2(2) < v1(2)) return false;
371 else return (v1(3) < v2(3));
377 operator<=(const SGVec4<T>& v1, const SGVec4<T>& v2)
379 if (v1(0) < v2(0)) return true;
380 else if (v2(0) < v1(0)) return false;
381 else if (v1(1) < v2(1)) return true;
382 else if (v2(1) < v1(1)) return false;
383 else if (v1(2) < v2(2)) return true;
384 else if (v2(2) < v1(2)) return false;
385 else return (v1(3) <= v2(3));
391 operator>(const SGVec4<T>& v1, const SGVec4<T>& v2)
392 { return operator<(v2, v1); }
397 operator>=(const SGVec4<T>& v1, const SGVec4<T>& v2)
398 { return operator<=(v2, v1); }
400 /// Return true if equal to the relative tolerance tol
404 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol, T atol)
405 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
407 /// Return true if equal to the relative tolerance tol
411 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol)
412 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
414 /// Return true if about equal to roundoff of the underlying type
418 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2)
420 T tol = 100*SGLimits<T>::epsilon();
421 return equivalent(v1, v2, tol, tol);
424 /// The euclidean distance of the two vectors
428 dist(const SGVec4<T>& v1, const SGVec4<T>& v2)
429 { return norm(v1 - v2); }
431 /// The squared euclidean distance of the two vectors
435 distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
436 { SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
442 isNaN(const SGVec4<T>& v)
444 return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
445 || SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
449 /// Output to an ostream
450 template<typename char_type, typename traits_type, typename T>
452 std::basic_ostream<char_type, traits_type>&
453 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec4<T>& v)
454 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
458 toVec4f(const SGVec4d& v)
459 { return SGVec4f((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
463 toVec4d(const SGVec4f& v)
464 { return SGVec4d(v(0), v(1), v(2), v(3)); }