-// 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
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Library General Public License for more details.
//
-// You should have received a copy of the GNU Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA 02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
#ifndef SGVec3_H
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)
/// uninitialized values in the debug build very fast ...
#ifndef NDEBUG
for (unsigned i = 0; i < 3; ++i)
- _data[i] = SGLimits<T>::quiet_NaN();
+ 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; }
+ { data()[0] = x; data()[1] = y; data()[2] = z; }
/// Constructor. Initialize by the content of a plain array,
/// make sure it has at least 3 elements
- explicit SGVec3(const T* data)
- { _data[0] = data[0]; _data[1] = data[1]; _data[2] = data[2]; }
- /// Constructor. Initialize by a geodetic coordinate
- /// Note that this conversion is relatively expensive to compute
- SGVec3(const SGGeod& geod)
- { SGGeodesy::SGGeodToCart(geod, *this); }
- /// Constructor. Initialize by a geocentric coordinate
- /// Note that this conversion is relatively expensive to compute
- SGVec3(const SGGeoc& geoc)
- { SGGeodesy::SGGeocToCart(geoc, *this); }
+ 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 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
- { return _data[i]; }
+ { return data()[i]; }
/// Access by index, the index is unchecked
T& operator()(unsigned i)
- { return _data[i]; }
+ { return data()[i]; }
/// Access raw data by index, the index is unchecked
const T& operator[](unsigned i) const
- { return _data[i]; }
+ { return data()[i]; }
/// Access raw data by index, the index is unchecked
T& operator[](unsigned i)
- { return _data[i]; }
+ { return data()[i]; }
/// Access the x component
const T& x(void) const
- { return _data[0]; }
+ { return data()[0]; }
/// Access the x component
T& x(void)
- { return _data[0]; }
+ { return data()[0]; }
/// Access the y component
const T& y(void) const
- { return _data[1]; }
+ { return data()[1]; }
/// Access the y component
T& y(void)
- { return _data[1]; }
+ { return data()[1]; }
/// Access the z component
const T& z(void) const
- { return _data[2]; }
+ { return data()[2]; }
/// Access the z component
T& z(void)
- { return _data[2]; }
+ { return data()[2]; }
- /// Get the data pointer
- const T* data(void) const
+ /// Readonly raw storage interface
+ const T (&data(void) const)[3]
{ return _data; }
- /// Get the data pointer
- T* data(void)
- { return _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]
+ /// Readonly raw storage interface
+ T (&data(void))[3]
{ return _data; }
/// Inplace addition
SGVec3& operator+=(const SGVec3& v)
- { _data[0] += v(0); _data[1] += v(1); _data[2] += v(2); return *this; }
+ { data()[0] += v(0); data()[1] += v(1); data()[2] += v(2); return *this; }
/// Inplace subtraction
SGVec3& operator-=(const SGVec3& v)
- { _data[0] -= v(0); _data[1] -= v(1); _data[2] -= v(2); return *this; }
+ { data()[0] -= v(0); data()[1] -= v(1); data()[2] -= v(2); return *this; }
/// Inplace scalar multiplication
template<typename S>
SGVec3& operator*=(S s)
- { _data[0] *= s; _data[1] *= s; _data[2] *= s; return *this; }
+ { data()[0] *= s; data()[1] *= s; data()[2] *= s; return *this; }
/// Inplace scalar multiplication by 1/s
template<typename S>
SGVec3& operator/=(S s)
static SGVec3 e3(void)
{ return SGVec3(0, 0, 1); }
+ /// Constructor. Initialize by a geodetic coordinate
+ /// Note that this conversion is relatively expensive to compute
+ static SGVec3 fromGeod(const SGGeod& geod);
+ /// Constructor. Initialize by a geocentric coordinate
+ /// Note that this conversion is relatively expensive to compute
+ static SGVec3 fromGeoc(const SGGeoc& geoc);
+
private:
- /// The actual data
T _data[3];
};
+template<>
+inline
+SGVec3<double>
+SGVec3<double>::fromGeod(const SGGeod& geod)
+{
+ SGVec3<double> cart;
+ SGGeodesy::SGGeodToCart(geod, cart);
+ return cart;
+}
+
+template<>
+inline
+SGVec3<float>
+SGVec3<float>::fromGeod(const SGGeod& geod)
+{
+ SGVec3<double> cart;
+ SGGeodesy::SGGeodToCart(geod, cart);
+ return SGVec3<float>(cart(0), cart(1), cart(2));
+}
+
+template<>
+inline
+SGVec3<double>
+SGVec3<double>::fromGeoc(const SGGeoc& geoc)
+{
+ SGVec3<double> cart;
+ SGGeodesy::SGGeocToCart(geoc, cart);
+ return cart;
+}
+
+template<>
+inline
+SGVec3<float>
+SGVec3<float>::fromGeoc(const SGGeoc& geoc)
+{
+ SGVec3<double> cart;
+ SGGeodesy::SGGeocToCart(geoc, cart);
+ return SGVec3<float>(cart(0), cart(1), cart(2));
+}
+
/// Unary +, do nothing ...
template<typename T>
inline
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
+SGVec3<T>
+min(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+ return SGVec3<T>(SGMisc<T>::min(v1(0), v2(0)),
+ SGMisc<T>::min(v1(1), v2(1)),
+ SGMisc<T>::min(v1(2), v2(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+min(const SGVec3<T>& v, S s)
+{
+ return SGVec3<T>(SGMisc<T>::min(s, v(0)),
+ SGMisc<T>::min(s, v(1)),
+ SGMisc<T>::min(s, v(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+min(S s, const SGVec3<T>& v)
+{
+ return SGVec3<T>(SGMisc<T>::min(s, v(0)),
+ SGMisc<T>::min(s, v(1)),
+ SGMisc<T>::min(s, v(2)));
+}
+
+/// component wise max
+template<typename T>
+inline
+SGVec3<T>
+max(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+ return SGVec3<T>(SGMisc<T>::max(v1(0), v2(0)),
+ SGMisc<T>::max(v1(1), v2(1)),
+ SGMisc<T>::max(v1(2), v2(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+max(const SGVec3<T>& v, S s)
+{
+ return SGVec3<T>(SGMisc<T>::max(s, v(0)),
+ SGMisc<T>::max(s, v(1)),
+ SGMisc<T>::max(s, v(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+max(S s, const SGVec3<T>& v)
+{
+ return SGVec3<T>(SGMisc<T>::max(s, v(0)),
+ SGMisc<T>::max(s, v(1)),
+ SGMisc<T>::max(s, v(2)));
+}
+
/// Scalar dot product
template<typename T>
inline
norm1(const SGVec3<T>& v)
{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)); }
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec3<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2))); }
+
/// Vector cross product
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
return equivalent(v1, v2, tol, tol);
}
+/// The euclidean distance of the two vectors
+template<typename T>
+inline
+T
+dist(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return norm(v1 - v2); }
+
+/// The squared euclidean distance of the two vectors
+template<typename T>
+inline
+T
+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
operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec3<T>& v)
{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << " ]"; }
-/// Two classes doing actually the same on different types
-typedef SGVec3<float> SGVec3f;
-typedef SGVec3<double> SGVec3d;
-
inline
SGVec3f
toVec3f(const SGVec3d& v)
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