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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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*/ |
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|
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/** |
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* @file Vector.hpp |
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* @author Teng Lin |
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* @date 09/14/2004 |
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* @version 1.0 |
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*/ |
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|
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#ifndef MATH_VECTOR_HPP |
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#define MATH_VECTOR_HPP |
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|
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#include <cassert> |
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#include <cmath> |
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#include <iostream> |
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|
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namespace oopse { |
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|
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const double epsilon = 0.000001; |
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|
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template<typename T> |
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inline bool equal(T e1, T e2) { |
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return e1 == e2; |
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} |
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|
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template<> |
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inline bool equal(float e1, float e2) { |
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return fabs(e1 - e2) < epsilon; |
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} |
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|
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template<> |
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inline bool equal(double e1, double e2) { |
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return fabs(e1 - e2) < epsilon; |
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} |
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|
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/** |
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* @class Vector Vector.hpp "math/Vector.hpp" |
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* @brief Fix length vector class |
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*/ |
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template<typename Real, unsigned int Dim> |
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class Vector{ |
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public: |
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|
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/** default constructor */ |
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inline Vector(){ |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = 0.0; |
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} |
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|
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/** Constructs and initializes a Vector from a vector */ |
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inline Vector(const Vector<Real, Dim>& v) { |
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*this = v; |
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} |
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|
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/** copy assignment operator */ |
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inline Vector<Real, Dim>& operator=(const Vector<Real, Dim>& v) { |
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if (this == &v) |
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return *this; |
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|
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = v[i]; |
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|
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return *this; |
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} |
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|
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/** Constructs and initializes a Vector from an array */ |
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inline Vector( double* v) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = v[i]; |
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} |
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|
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/** |
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* Returns reference of ith element. |
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* @return reference of ith element |
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* @param i index |
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*/ |
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inline double& operator[](unsigned int i) { |
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assert( i < Dim); |
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return data_[i]; |
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} |
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|
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/** |
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* Returns reference of ith element. |
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* @return reference of ith element |
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* @param i index |
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*/ |
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inline double& operator()(unsigned int i) { |
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assert( i < Dim); |
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return data_[i]; |
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} |
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|
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/** |
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* Returns constant reference of ith element. |
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* @return reference of ith element |
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* @param i index |
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*/ |
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inline const double& operator[](unsigned int i) const { |
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assert( i < Dim); |
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return data_[i]; |
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} |
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|
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/** |
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* Returns constant reference of ith element. |
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* @return reference of ith element |
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* @param i index |
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*/ |
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inline const double& operator()(unsigned int i) const { |
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assert( i < Dim); |
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return data_[i]; |
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} |
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|
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/** |
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* Tests if this vetor is equal to other vector |
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* @return true if equal, otherwise return false |
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* @param v vector to be compared |
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*/ |
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inline bool operator ==(const Vector<Real, Dim>& v) { |
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|
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for (unsigned int i = 0; i < Dim; i ++) { |
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if (!equal(data_[i], v[i])) { |
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return false; |
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} |
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} |
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|
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return true; |
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} |
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|
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/** |
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* Tests if this vetor is not equal to other vector |
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* @return true if equal, otherwise return false |
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* @param v vector to be compared |
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*/ |
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inline bool operator !=(const Vector<Real, Dim>& v) { |
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return !(*this == v); |
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} |
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|
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/** Negates the value of this vector in place. */ |
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inline void negate() { |
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data_[0] = -data_[0]; |
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data_[1] = -data_[1]; |
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data_[2] = -data_[2]; |
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} |
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|
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/** |
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* Sets the value of this vector to the negation of vector v1. |
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* @param v1 the source vector |
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*/ |
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inline void negate(const Vector<Real, Dim>& v1) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = -v1.data_[i]; |
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|
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} |
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|
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/** |
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* Sets the value of this vector to the sum of itself and v1 (*this += v1). |
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* @param v1 the other vector |
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*/ |
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inline void add( const Vector<Real, Dim>& v1 ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] += v1.data_[i]; |
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} |
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|
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/** |
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* Sets the value of this vector to the sum of v1 and v2 (*this = v1 + v2). |
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* @param v1 the first vector |
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* @param v2 the second vector |
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*/ |
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inline void add( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = v1.data_[i] + v2.data_[i]; |
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} |
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|
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/** |
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* Sets the value of this vector to the difference of itself and v1 (*this -= v1). |
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* @param v1 the other vector |
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*/ |
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inline void sub( const Vector<Real, Dim>& v1 ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] -= v1.data_[i]; |
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} |
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|
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/** |
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* Sets the value of this vector to the difference of vector v1 and v2 (*this = v1 - v2). |
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* @param v1 the first vector |
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* @param v2 the second vector |
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*/ |
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inline void sub( const Vector<Real, Dim>& v1, const Vector &v2 ){ |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = v1.data_[i] - v2.data_[i]; |
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} |
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|
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/** |
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* Sets the value of this vector to the scalar multiplication of itself (*this *= s). |
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* @param s the scalar value |
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*/ |
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inline void mul( double s ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] *= s; |
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} |
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|
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/** |
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* Sets the value of this vector to the scalar multiplication of vector v1 |
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* (*this = s * v1). |
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* @param s the scalar value |
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* @param v1 the vector |
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*/ |
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inline void mul( double s, const Vector<Real, Dim>& v1 ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = s * v1.data_[i]; |
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} |
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|
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/** |
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* Sets the value of this vector to the scalar division of itself (*this /= s ). |
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* @param s the scalar value |
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*/ |
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inline void div( double s) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] /= s; |
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} |
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|
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/** |
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* Sets the value of this vector to the scalar division of vector v1 (*this = v1 / s ). |
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* @param v1 the source vector |
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* @param s the scalar value |
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*/ |
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inline void div( const Vector<Real, Dim>& v1, double s ) { |
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for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = v1.data_[i] / s; |
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} |
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|
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/** @see #add */ |
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inline Vector<Real, Dim>& operator +=( const Vector<Real, Dim>& v1 ) { |
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add(v1); |
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return *this; |
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} |
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|
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/** @see #sub */ |
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inline Vector<Real, Dim>& operator -=( const Vector<Real, Dim>& v1 ) { |
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sub(v1); |
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return *this; |
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} |
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|
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/** @see #mul */ |
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inline Vector<Real, Dim>& operator *=( double s) { |
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mul(s); |
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return *this; |
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} |
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|
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/** @see #div */ |
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inline Vector<Real, Dim>& operator /=( double s ) { |
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div(s); |
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return *this; |
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} |
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|
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/** |
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* Returns the length of this vector. |
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* @return the length of this vector |
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*/ |
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inline double length() { |
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return sqrt(lengthSquared()); |
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} |
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|
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/** |
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* Returns the squared length of this vector. |
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* @return the squared length of this vector |
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*/ |
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inline double lengthSquare() { |
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return dot(*this, *this); |
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} |
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|
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/** Normalizes this vector in place */ |
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inline void normalize() { |
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double len; |
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|
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len = length(); |
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*this /= len; |
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} |
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|
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/** |
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* Tests if this vector is normalized |
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* @return true if this vector is normalized, otherwise return false |
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*/ |
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inline bool isNormalized() const |
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{ |
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return lengthSquare() == 1.0; |
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} |
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|
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protected: |
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double data_[3]; |
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|
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}; |
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|
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/** unary minus*/ |
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template<typename Real, unsigned int Dim> |
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inline Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1){ |
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Vector tmp(v1); |
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return tmp.negate(); |
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} |
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|
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/** |
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* Return the sum of two vectors (v1 - v2). |
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* @return the sum of two vectors |
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* @param v1 the first vector |
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* @param v2 the second vector |
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*/ |
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template<typename Real, unsigned int Dim> |
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inline Vector<Real, Dim> operator +(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) { |
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Vector<Real, Dim> result; |
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|
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result.add(v1, v2); |
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return result; |
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} |
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|
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/** |
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* Return the difference of two vectors (v1 - v2). |
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* @return the difference of two vectors |
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* @param v1 the first vector |
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* @param v2 the second vector |
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*/ |
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template<typename Real, unsigned int Dim> |
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Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) { |
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Vector<Real, Dim> result; |
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result.sub(v1, v2); |
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return result; |
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} |
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|
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/** |
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* Returns the vaule of scalar multiplication of this vector v1 (v1 * r). |
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* @return the vaule of scalar multiplication of this vector |
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* @param v1 the source vector |
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* @param s the scalar value |
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*/ |
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template<typename Real, unsigned int Dim> |
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Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, double s) { |
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Vector<Real, Dim> result; |
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result.mul(s, v1); |
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return result; |
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} |
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|
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/** |
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* Returns the vaule of scalar multiplication of this vector v1 (v1 * r). |
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* @return the vaule of scalar multiplication of this vector |
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* @param s the scalar value |
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* @param v1 the source vector |
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*/ |
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template<typename Real, unsigned int Dim> |
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Vector<Real, Dim> operator * ( double s, const Vector<Real, Dim>& v1 ) { |
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Vector<Real, Dim> result; |
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result.mul(s, v1); |
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return result; |
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} |
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|
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/** |
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* Returns the value of division of a vector by a scalar. |
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* @return the vaule of scalar division of this vector |
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* @param v1 the source vector |
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* @param s the scalar value |
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*/ |
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template<typename Real, unsigned int Dim> |
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Vector<Real, Dim> operator / ( const Vector<Real, Dim>& v1, double s) { |
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Vector<Real, Dim> result; |
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result.div( v1,s); |
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return result; |
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} |
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|
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/** |
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* Returns the value of division of a vector by a scalar. |
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* @return the vaule of scalar division of this vector |
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* @param s the scalar value |
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* @param v1 the source vector |
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*/ |
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template<typename Real, unsigned int Dim> |
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inline Vector<Real, Dim> operator /( double s, const Vector<Real, Dim>& v1 ) { |
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Vector<Real, Dim> result; |
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result.div( v1,s); |
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return result; |
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} |
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|
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/** fuzzy comparson */ |
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template<typename Real, unsigned int Dim> |
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inline bool epsilonEqual( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
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|
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} |
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|
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|
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/** |
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* Returns the dot product of two Vectors |
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* @param v1 first vector |
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* @param v2 second vector |
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* @return the dot product of v1 and v2 |
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*/ |
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template<typename Real, unsigned int Dim> |
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inline Real dot( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
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Real tmp; |
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tmp = 0; |
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|
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for (unsigned int i = 0; i < Dim; i++) |
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tmp += v1[i] + v2[i]; |
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|
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return tmp; |
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} |
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|
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/** |
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* Returns the distance between two Vectors |
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* @param v1 first vector |
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* @param v2 second vector |
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* @return the distance between v1 and v2 |
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*/ |
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template<typename Real, unsigned int Dim> |
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inline Real distance( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
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Vector<Real, Dim> tempVector = v1 - v2; |
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return tempVector.length(); |
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} |
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|
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/** |
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* Returns the squared distance between two Vectors |
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* @param v1 first vector |
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* @param v2 second vector |
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* @return the squared distance between v1 and v2 |
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*/ |
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template<typename Real, unsigned int Dim> |
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inline Real distanceSquare( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
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Vector<Real, Dim> tempVector = v1 - v2; |
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return tempVector.lengthSquare(); |
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} |
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|
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/** |
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* Write to an output stream |
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*/ |
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template<typename Real, unsigned int Dim> |
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std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v) { |
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|
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o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]" << endl; |
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return o; |
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} |
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|
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} |
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#endif |
