-// Copyright (C) 2006 Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009 Mathias Froehlich - Mathias.Froehlich@web.de
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
#ifndef SGVec3_H
#define SGVec3_H
-#include <osg/Vec3f>
-#include <osg/Vec3d>
-
-template<typename T>
-struct SGVec3Storage {
- /// Readonly raw storage interface
- const T (&data(void) const)[3]
- { return _data; }
- /// Readonly raw storage interface
- T (&data(void))[3]
- { return _data; }
-
- void osg() const
- { }
-
-private:
- T _data[3];
-};
-
-template<>
-struct SGVec3Storage<float> : public osg::Vec3f {
- /// Access raw data by index, the index is unchecked
- const float (&data(void) const)[3]
- { return osg::Vec3f::_v; }
- /// Access raw data by index, the index is unchecked
- float (&data(void))[3]
- { return osg::Vec3f::_v; }
-
- const osg::Vec3f& osg() const
- { return *this; }
- osg::Vec3f& osg()
- { return *this; }
-};
-
-template<>
-struct SGVec3Storage<double> : public osg::Vec3d {
- /// Access raw data by index, the index is unchecked
- const double (&data(void) const)[3]
- { return osg::Vec3d::_v; }
- /// Access raw data by index, the index is unchecked
- double (&data(void))[3]
- { return osg::Vec3d::_v; }
-
- const osg::Vec3d& osg() const
- { return *this; }
- osg::Vec3d& osg()
- { return *this; }
-};
-
/// 3D Vector Class
template<typename T>
-class SGVec3 : protected SGVec3Storage<T> {
+class SGVec3 {
public:
typedef T value_type;
+#ifdef __GNUC__
+// Avoid "_data not initialized" warnings (see comment below).
+# pragma GCC diagnostic ignored "-Wuninitialized"
+#endif
+
/// Default constructor. Does not initialize at all.
/// If you need them zero initialized, use SGVec3::zeros()
SGVec3(void)
data()[i] = SGLimits<T>::quiet_NaN();
#endif
}
+
+#ifdef __GNUC__
+ // Restore warning settings.
+# pragma GCC diagnostic warning "-Wuninitialized"
+#endif
+
/// Constructor. Initialize by the given values
SGVec3(T x, T y, T z)
{ data()[0] = x; data()[1] = y; data()[2] = z; }
/// 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]; }
- explicit SGVec3(const osg::Vec3f& d)
- { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
- explicit SGVec3(const osg::Vec3d& d)
+ template<typename S>
+ explicit SGVec3(const SGVec3<S>& 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
T& z(void)
{ return data()[2]; }
- /// Get the data pointer
- using SGVec3Storage<T>::data;
-
- /// Readonly interface function to ssg's sgVec3/sgdVec3
- const T (&sg(void) const)[3]
- { return data(); }
- /// Interface function to ssg's sgVec3/sgdVec3
- T (&sg(void))[3]
- { return data(); }
-
- /// Interface function to osg's Vec3*
- using SGVec3Storage<T>::osg;
+ /// Readonly raw storage interface
+ const T (&data(void) const)[3]
+ { return _data; }
+ /// Readonly raw storage interface
+ T (&data(void))[3]
+ { return _data; }
/// Inplace addition
SGVec3& operator+=(const SGVec3& v)
/// Constructor. Initialize by a geocentric coordinate
/// Note that this conversion is relatively expensive to compute
static SGVec3 fromGeoc(const SGGeoc& geoc);
+
+private:
+ T _data[3];
};
template<>
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));
}
-/// The euclidean norm of the vector, that is what most people call length
+/// return any normalized vector perpendicular to v
+template<typename T>
+inline
+SGVec3<T>
+perpendicular(const SGVec3<T>& 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);
+ }
+}
+
+/// Construct a unit vector in the given direction.
+/// or the zero vector if the input vector is zero.
template<typename T>
inline
SGVec3<T>
normalize(const SGVec3<T>& v)
-{ return (1/norm(v))*v; }
+{
+ T normv = norm(v);
+ if (normv <= SGLimits<T>::min())
+ return SGVec3<T>::zeros();
+ return (1/normv)*v;
+}
/// Return true if exactly the same
template<typename T>
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
distSqr(const SGVec3<T>& v1, const SGVec3<T>& v2)
{ SGVec3<T> tmp = v1 - v2; return dot(tmp, tmp); }
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec3<T>
+projection(const SGVec3<T>& u, const SGVec3<T>& d)
+{
+ T denom = dot(d, d);
+ T ud = dot(u, d);
+ if (SGLimits<T>::min() < denom) return u;
+ else return d * (dot(u, d) / denom);
+}
+
#ifndef NDEBUG
template<typename T>
inline
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