#ifndef SGVec3_H
#define SGVec3_H
-#ifndef NO_OPENSCENEGRAPH_INTERFACE
-#include <osg/Vec3f>
-#include <osg/Vec3d>
-#endif
+#include <iosfwd>
/// 3D Vector Class
template<typename T>
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; }
{ 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; }
-#ifndef NO_OPENSCENEGRAPH_INTERFACE
- 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]; }
-#endif
/// Access by index, the index is unchecked
const T& operator()(unsigned i) const
T (&data(void))[3]
{ return _data; }
-#ifndef NO_OPENSCENEGRAPH_INTERFACE
- osg::Vec3d osg() const
- { return osg::Vec3d(data()[0], data()[1], data()[2]); }
-#endif
-
/// Inplace addition
SGVec3& operator+=(const SGVec3& v)
{ data()[0] += v(0); data()[1] += v(1); data()[2] += v(2); return *this; }
}
}
-/// The euclidean norm of the vector, that is what most people call length
+/// 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>
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
toVec3d(const SGVec3f& v)
{ return SGVec3d(v(0), v(1), v(2)); }
-#ifndef NO_OPENSCENEGRAPH_INTERFACE
-inline
-SGVec3d
-toSG(const osg::Vec3d& v)
-{ return SGVec3d(v[0], v[1], v[2]); }
-
-inline
-SGVec3f
-toSG(const osg::Vec3f& v)
-{ return SGVec3f(v[0], v[1], v[2]); }
-
-inline
-osg::Vec3d
-toOsg(const SGVec3d& v)
-{ return osg::Vec3d(v[0], v[1], v[2]); }
-
-inline
-osg::Vec3f
-toOsg(const SGVec3f& v)
-{ return osg::Vec3f(v[0], v[1], v[2]); }
-#endif
-
#endif