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namespace oopse { |
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const double epsilon = 0.000001; |
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|
44 |
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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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return *this; |
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} |
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|
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template<typename T> |
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inline Vector(const T& 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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/** 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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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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return data_[i]; |
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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() { |
168 |
< |
data_[0] = -data_[0]; |
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data_[1] = -data_[1]; |
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data_[2] = -data_[2]; |
168 |
> |
for (unsigned int i = 0; i < Dim; i++) |
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data_[i] = -data_[i]; |
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} |
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/** |
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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 ) { |
187 |
< |
for (unsigned int i = 0; i < Dim; i++) |
188 |
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data_[i] += v1.data_[i]; |
187 |
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for (unsigned int i = 0; i < Dim; i++) |
188 |
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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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* @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 ) { |
197 |
< |
for (unsigned int i = 0; i < Dim; i++) |
198 |
< |
data_[i] = v1.data_[i] + v2.data_[i]; |
197 |
> |
for (unsigned int i = 0; i < Dim; i++) |
198 |
> |
data_[i] = v1.data_[i] + v2.data_[i]; |
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} |
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|
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/** |
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* @param s the scalar value |
223 |
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*/ |
224 |
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inline void mul( double s ) { |
225 |
< |
for (unsigned int i = 0; i < Dim; i++) |
225 |
> |
for (unsigned int i = 0; i < Dim; i++) |
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data_[i] *= s; |
227 |
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} |
228 |
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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 |
231 |
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* (*this = s * v1). |
232 |
+ |
* @param v1 the vector |
233 |
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* @param s the scalar value |
186 |
– |
* @param v1 the vector |
234 |
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*/ |
235 |
< |
inline void mul( double s, const Vector<Real, Dim>& v1 ) { |
236 |
< |
for (unsigned int i = 0; i < Dim; i++) |
235 |
> |
inline void mul( const Vector<Real, Dim>& v1, double s) { |
236 |
> |
for (unsigned int i = 0; i < Dim; i++) |
237 |
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data_[i] = s * v1.data_[i]; |
238 |
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} |
239 |
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|
242 |
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* @param s the scalar value |
243 |
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*/ |
244 |
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inline void div( double s) { |
245 |
< |
for (unsigned int i = 0; i < Dim; i++) |
245 |
> |
for (unsigned int i = 0; i < Dim; i++) |
246 |
|
data_[i] /= s; |
247 |
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} |
248 |
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|
252 |
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* @param s the scalar value |
253 |
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*/ |
254 |
|
inline void div( const Vector<Real, Dim>& v1, double s ) { |
255 |
< |
for (unsigned int i = 0; i < Dim; i++) |
255 |
> |
for (unsigned int i = 0; i < Dim; i++) |
256 |
|
data_[i] = v1.data_[i] / s; |
257 |
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} |
258 |
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|
292 |
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* Returns the squared length of this vector. |
293 |
|
* @return the squared length of this vector |
294 |
|
*/ |
295 |
< |
inline double lengthSquared() { |
295 |
> |
inline double lengthSquare() { |
296 |
|
return dot(*this, *this); |
297 |
|
} |
298 |
|
|
303 |
|
len = length(); |
304 |
|
*this /= len; |
305 |
|
} |
306 |
+ |
|
307 |
+ |
/** |
308 |
+ |
* Tests if this vector is normalized |
309 |
+ |
* @return true if this vector is normalized, otherwise return false |
310 |
+ |
*/ |
311 |
+ |
inline bool isNormalized() const |
312 |
+ |
{ |
313 |
+ |
return lengthSquare() == 1.0; |
314 |
+ |
} |
315 |
|
|
316 |
|
protected: |
317 |
< |
double data_[3]; |
317 |
> |
double data_[Dim]; |
318 |
|
|
319 |
|
}; |
320 |
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|
321 |
|
/** unary minus*/ |
322 |
|
template<typename Real, unsigned int Dim> |
323 |
|
inline Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1){ |
324 |
< |
Vector tmp(v1); |
325 |
< |
return tmp.negate(); |
324 |
> |
Vector<Real, Dim> tmp(v1); |
325 |
> |
tmp.negate(); |
326 |
> |
return tmp; |
327 |
|
} |
328 |
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|
329 |
|
/** |
362 |
|
template<typename Real, unsigned int Dim> |
363 |
|
Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, double s) { |
364 |
|
Vector<Real, Dim> result; |
365 |
< |
result.mul(s, v1); |
365 |
> |
result.mul(v1,s); |
366 |
|
return result; |
367 |
|
} |
368 |
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|
375 |
|
template<typename Real, unsigned int Dim> |
376 |
|
Vector<Real, Dim> operator * ( double s, const Vector<Real, Dim>& v1 ) { |
377 |
|
Vector<Real, Dim> result; |
378 |
< |
result.mul(s, v1); |
378 |
> |
result.mul(v1, s); |
379 |
|
return result; |
380 |
|
} |
381 |
|
|
392 |
|
return result; |
393 |
|
} |
394 |
|
|
338 |
– |
/** |
339 |
– |
* Returns the value of division of a vector by a scalar. |
340 |
– |
* @return the vaule of scalar division of this vector |
341 |
– |
* @param s the scalar value |
342 |
– |
* @param v1 the source vector |
343 |
– |
*/ |
344 |
– |
template<typename Real, unsigned int Dim> |
345 |
– |
inline Vector<Real, Dim> operator /( double s, const Vector<Real, Dim>& v1 ) { |
346 |
– |
Vector<Real, Dim> result; |
347 |
– |
result.div( v1,s); |
348 |
– |
return result; |
349 |
– |
} |
350 |
– |
|
395 |
|
/** fuzzy comparson */ |
396 |
|
template<typename Real, unsigned int Dim> |
397 |
|
inline bool epsilonEqual( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
407 |
|
*/ |
408 |
|
template<typename Real, unsigned int Dim> |
409 |
|
inline Real dot( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) { |
410 |
< |
Real tmp; |
411 |
< |
tmp = 0; |
410 |
> |
Real tmp; |
411 |
> |
tmp = 0; |
412 |
|
|
413 |
< |
for (unsigned int i = 0; i < Dim; i++) |
414 |
< |
tmp += v1[i] + v2[i]; |
415 |
< |
|
416 |
< |
return tmp; |
413 |
> |
for (unsigned int i = 0; i < Dim; i++) |
414 |
> |
tmp += v1[i] + v2[i]; |
415 |
> |
|
416 |
> |
return tmp; |
417 |
|
} |
418 |
|
|
419 |
|
/** |
444 |
|
* Write to an output stream |
445 |
|
*/ |
446 |
|
template<typename Real, unsigned int Dim> |
447 |
< |
std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v1 ) { |
448 |
< |
|
447 |
> |
std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v) { |
448 |
> |
|
449 |
> |
o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]" << endl; |
450 |
|
return o; |
451 |
|
} |
452 |
|
|