+// 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
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// 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 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 SGVec4_H
#define SGVec4_H
-/// 3D Vector Class
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Vec4f>
+#include <osg/Vec4d>
+#endif
+
+/// 4D Vector Class
template<typename T>
class SGVec4 {
public:
/// uninitialized values in the debug build very fast ...
#ifndef NDEBUG
for (unsigned i = 0; i < 4; ++i)
- _data[i] = SGLimits<T>::quiet_NaN();
+ data()[i] = SGLimits<T>::quiet_NaN();
#endif
}
/// Constructor. Initialize by the given values
SGVec4(T x, T y, T z, T w)
- { _data[0] = x; _data[1] = y; _data[2] = z; _data[3] = w; }
+ { data()[0] = x; data()[1] = y; data()[2] = z; data()[3] = w; }
/// Constructor. Initialize by the content of a plain array,
/// make sure it has at least 3 elements
explicit SGVec4(const T* d)
- { _data[0] = d[0]; _data[1] = d[1]; _data[2] = d[2]; _data[3] = d[3]; }
-
+ { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+ template<typename S>
+ explicit SGVec4(const SGVec4<S>& d)
+ { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+ explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
+ { data()[0] = v3[0]; data()[1] = v3[1]; data()[2] = v3[2]; data()[3] = v4; }
/// 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]; }
+ /// Access raw data by index, the index is unchecked
+ T& operator[](unsigned 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]; }
/// Access the x component
const T& w(void) const
- { return _data[3]; }
+ { return data()[3]; }
/// Access the x component
T& w(void)
- { return _data[3]; }
-
+ { return data()[3]; }
- /// Get the data pointer, usefull for interfacing with plib's sg*Vec
- const T* data(void) const
+ /// Readonly raw storage interface
+ const T (&data(void) const)[4]
{ return _data; }
- /// Get the data pointer, usefull for interfacing with plib's sg*Vec
- T* data(void)
- { return _data; }
-
- /// Readonly interface function to ssg's sgVec3/sgdVec3
- const T (&sg(void) const)[4]
- { return _data; }
- /// Interface function to ssg's sgVec3/sgdVec3
- T (&sg(void))[4]
+ /// Readonly raw storage interface
+ T (&data(void))[4]
{ return _data; }
/// Inplace addition
SGVec4& operator+=(const SGVec4& v)
- { _data[0]+=v(0);_data[1]+=v(1);_data[2]+=v(2);_data[3]+=v(3);return *this; }
+ { data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
/// Inplace subtraction
SGVec4& operator-=(const SGVec4& v)
- { _data[0]-=v(0);_data[1]-=v(1);_data[2]-=v(2);_data[3]-=v(3);return *this; }
+ { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
/// Inplace scalar multiplication
template<typename S>
SGVec4& operator*=(S s)
- { _data[0] *= s; _data[1] *= s; _data[2] *= s; _data[3] *= s; return *this; }
+ { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
/// Inplace scalar multiplication by 1/s
template<typename S>
SGVec4& operator/=(S s)
{ return SGVec4(0, 0, 0, 1); }
private:
- /// The actual data
T _data[4];
};
operator*(const SGVec4<T>& v, S s)
{ return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
+/// multiplication as a multiplicator, that is assume that the first vector
+/// represents a 4x4 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
+SGVec4<T>
+mult(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return SGVec4<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2), v1(3)*v2(3)); }
+
+/// component wise min
+template<typename T>
+inline
+SGVec4<T>
+min(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+ return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
+ SGMisc<T>::min(v1(1), v2(1)),
+ SGMisc<T>::min(v1(2), v2(2)),
+ SGMisc<T>::min(v1(3), v2(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+min(const SGVec4<T>& v, S s)
+{
+ return SGVec4<T>(SGMisc<T>::min(s, v(0)),
+ SGMisc<T>::min(s, v(1)),
+ SGMisc<T>::min(s, v(2)),
+ SGMisc<T>::min(s, v(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+min(S s, const SGVec4<T>& v)
+{
+ return SGVec4<T>(SGMisc<T>::min(s, v(0)),
+ SGMisc<T>::min(s, v(1)),
+ SGMisc<T>::min(s, v(2)),
+ SGMisc<T>::min(s, v(3)));
+}
+
+/// component wise max
+template<typename T>
+inline
+SGVec4<T>
+max(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+ return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
+ SGMisc<T>::max(v1(1), v2(1)),
+ SGMisc<T>::max(v1(2), v2(2)),
+ SGMisc<T>::max(v1(3), v2(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+max(const SGVec4<T>& v, S s)
+{
+ return SGVec4<T>(SGMisc<T>::max(s, v(0)),
+ SGMisc<T>::max(s, v(1)),
+ SGMisc<T>::max(s, v(2)),
+ SGMisc<T>::max(s, v(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+max(S s, const SGVec4<T>& v)
+{
+ return SGVec4<T>(SGMisc<T>::max(s, v(0)),
+ SGMisc<T>::max(s, v(1)),
+ SGMisc<T>::max(s, v(2)),
+ SGMisc<T>::max(s, v(3)));
+}
+
/// Scalar dot product
template<typename T>
inline
norm1(const SGVec4<T>& v)
{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec4<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
+
/// The euclidean norm of the vector, that is what most people call length
template<typename T>
inline
SGVec4<T>
normalize(const SGVec4<T>& v)
-{ return (1/norm(v))*v; }
+{
+ T normv = norm(v);
+ if (normv <= SGLimits<T>::min())
+ return SGVec4<T>::zeros();
+ return (1/normv)*v;
+}
/// Return true if exactly the same
template<typename T>
operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
{ return ! (v1 == v2); }
+/// Return true if smaller, good for putting that into a std::map
+template<typename T>
+inline
+bool
+operator<(const SGVec4<T>& v1, const SGVec4<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 if (v1(2) < v2(2)) return true;
+ else if (v2(2) < v1(2)) return false;
+ else return (v1(3) < v2(3));
+}
+
+template<typename T>
+inline
+bool
+operator<=(const SGVec4<T>& v1, const SGVec4<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 if (v1(2) < v2(2)) return true;
+ else if (v2(2) < v1(2)) return false;
+ else return (v1(3) <= v2(3));
+}
+
+template<typename T>
+inline
+bool
+operator>(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return operator<(v2, v1); }
+
+template<typename T>
+inline
+bool
+operator>=(const SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return norm(v1 - v2); }
+
+/// The squared euclidean distance of the two vectors
+template<typename T>
+inline
+T
+distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
+
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec4<T>
+projection(const SGVec4<T>& u, const SGVec4<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 SGVec4<T>& v)
{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
-/// Two classes doing actually the same on different types
-typedef SGVec4<float> SGVec4f;
-typedef SGVec4<double> SGVec4d;
-
inline
SGVec4f
toVec4f(const SGVec4d& v)
toVec4d(const SGVec4f& v)
{ return SGVec4d(v(0), v(1), v(2), v(3)); }
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec4d
+toSG(const osg::Vec4d& v)
+{ return SGVec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+SGVec4f
+toSG(const osg::Vec4f& v)
+{ return SGVec4f(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4d
+toOsg(const SGVec4d& v)
+{ return osg::Vec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4f
+toOsg(const SGVec4f& v)
+{ return osg::Vec4f(v[0], v[1], v[2], v[3]); }
+#endif
+
#endif
projects / simgear.git / blobdiff