/// make sure it has at least 3 elements
explicit SGVec3(const T* d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+ template<typename S>
+ explicit SGVec3(const SGVec3<S>& d)
+ { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
explicit SGVec3(const osg::Vec3f& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
explicit SGVec3(const osg::Vec3d& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+ explicit SGVec3(const SGVec2<T>& v2, const T& v3 = 0)
+ { data()[0] = v2[0]; data()[1] = v2[1]; data()[2] = v3; }
/// Access by index, the index is unchecked
const T& operator()(unsigned i) const
operator*(const SGVec3<T>& v, S s)
{ return SGVec3<T>(s*v(0), s*v(1), s*v(2)); }
+/// multiplication as a multiplicator, that is assume that the first vector
+/// represents a 3x3 diagonal matrix with the diagonal elements in the vector.
+/// Then the result is the product of that matrix times the second vector.
+template<typename T>
+inline
+SGVec3<T>
+mult(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return SGVec3<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2)); }
+
/// component wise min
template<typename T>
inline
v1(0)*v2(1) - v1(1)*v2(0));
}
-/// return any vector perpandicular to v
+/// return any normalized vector perpendicular to v
template<typename T>
inline
SGVec3<T>
-perpandicular(const SGVec3<T>& v)
+perpendicular(const SGVec3<T>& v)
{
- if (fabs(v.x()) < fabs(v.y()) && fabs(v.x()) < fabs(v.z()))
- return cross(SGVec3f(1, 0, 0), v);
- else if (fabs(v.y()) < fabs(v.x()) && fabs(v.y()) < fabs(v.z()))
- return cross(SGVec3f(0, 1, 0), v);
- else
- return cross(SGVec3f(0, 0, 1), v);
+ T absv1 = fabs(v(0));
+ T absv2 = fabs(v(1));
+ T absv3 = fabs(v(2));
+
+ if (absv2 < absv1 && absv3 < absv1) {
+ T quot = v(1)/v(0);
+ return (1/sqrt(1+quot*quot))*SGVec3<T>(quot, -1, 0);
+ } else if (absv3 < absv2) {
+ T quot = v(2)/v(1);
+ return (1/sqrt(1+quot*quot))*SGVec3<T>(0, quot, -1);
+ } else if (SGLimits<T>::min() < absv3) {
+ T quot = v(0)/v(2);
+ return (1/sqrt(1+quot*quot))*SGVec3<T>(-1, 0, quot);
+ } else {
+ // the all zero case ...
+ return SGVec3<T>(0, 0, 0);
+ }
}
/// The euclidean norm of the vector, that is what most people call length
operator!=(const SGVec3<T>& v1, const SGVec3<T>& v2)
{ return ! (v1 == v2); }
+/// Return true if smaller, good for putting that into a std::map
+template<typename T>
+inline
+bool
+operator<(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+ if (v1(0) < v2(0)) return true;
+ else if (v2(0) < v1(0)) return false;
+ else if (v1(1) < v2(1)) return true;
+ else if (v2(1) < v1(1)) return false;
+ else return (v1(2) < v2(2));
+}
+
+template<typename T>
+inline
+bool
+operator<=(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+ if (v1(0) < v2(0)) return true;
+ else if (v2(0) < v1(0)) return false;
+ else if (v1(1) < v2(1)) return true;
+ else if (v2(1) < v1(1)) return false;
+ else return (v1(2) <= v2(2));
+}
+
+template<typename T>
+inline
+bool
+operator>(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return operator<(v2, v1); }
+
+template<typename T>
+inline
+bool
+operator>=(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return operator<=(v2, v1); }
+
/// Return true if equal to the relative tolerance tol
template<typename T>
inline