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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 Vector3d.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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|
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namespace oopse { |
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|
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/** |
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* @class Vector3d Vector3d.hpp "math/Vector3d.hpp" |
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* @brief Fix length vector class |
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*/ |
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class Vector3d{ |
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public: |
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|
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/** default constructor */ |
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inline Vector3d(){ |
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data_[0] = 0.0; |
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data_[1] = 0.0; |
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data_[2] = 0.0; |
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} |
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|
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/** Constructs and initializes a Vector3d from an array */ |
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inline Vector3d( double* v) { |
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data_[0] = v[0]; |
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data_[1] = v[1]; |
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data_[2] = v[2]; |
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} |
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|
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/** Constructs and initializes a Vector3d from x, y, z coordinates */ |
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inline Vector3d( double x, double y, double z) { |
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data_[0] = x; |
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data_[1] = y; |
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data_[2] = z; |
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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 < 3); |
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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 < 3); |
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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 < 3); |
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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 < 3); |
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return data_[i] |
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} |
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/** |
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* Retunrs reference of the first element of Vector3. |
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* @return reference of the first element of Vector3 |
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*/ |
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inline double& x() { return data_[0];} |
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|
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/** |
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* Retunrs the first element of Vector3. |
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* @return the first element of Vector3 |
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*/ |
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inline double x() const { return data_[0];} |
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|
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/** |
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* Retunrs reference of the second element of Vector3. |
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* @return reference of the second element of Vector3 |
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*/ |
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inline double& y() { return data_[1];} |
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|
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/** |
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* Retunrs the second element of Vector3. |
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* @return c the second element of Vector3 |
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*/ |
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inline double y() const { return data_[1];} |
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|
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/** |
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* Retunrs reference of the third element of Vector3. |
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* @return reference of the third element of Vector3 |
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*/ |
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inline double& z() { return data_[2];} |
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|
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/** |
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* Retunrs the third element of Vector3. |
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* @return f the third element of Vector3 |
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*/ |
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inline double z() const { return data_[2];} |
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|
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/** |
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* Returns multiplication of matrix and vector |
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* @return multiplication of matrix and vector |
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* @param m matrix |
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* @param v vector |
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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 Vector3d& v1) { |
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data_[0] = -v1.data_[0]; |
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data_[1] = -v1.data_[1]; |
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data_[2] = -v1.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 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 Vector3d& v1 ) { |
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data_[0] += v1.data_[0]; |
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data_[1] += v1.data_[1]; |
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data_[2] += v1.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 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 Vector3d& v1, const Vector3d& v2 ) { |
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data_[0] = v1.data_[0] + v2.data_[0]; |
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data_[1] = v1.data_[1] + v2.data_[1]; |
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data_[2] = v1.data_[2] + v2.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 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 Vector3d& v1 ) { |
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data_[0] -= v1.data_[0]; |
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data_[1] -= v1.data_[1]; |
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data_[2] -= v1.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 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 Vector3d& v1, const Vector3d &v2 ){ |
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data_[0] = v1.data_[0] - v2.data_[0]; |
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data_[1] = v1.data_[1] - v2.data_[1]; |
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data_[2] = v1.data_[2] - v2.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 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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data_[0] *= s; |
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data_[1] *= s; |
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data_[2] *= 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 Vector3d& v1 ) { |
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data_[0] = s * v1.data_[0]; |
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data_[1] = s * v1.data_[1]; |
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data_[2] = s * v1.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 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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data_[0] /= s; |
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data_[1] /= s; |
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data_[2] /= 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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* @paran 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 Vector3d& v1, double s ) { |
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data_[0] = v1.data_[0] / s; |
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data_[1] = v1.data_[1] /s; |
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data_[2] = v1.data_[2] /s; |
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} |
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|
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/** @see #add */ |
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inline void operator +=( const Vector3d& v1 ) { |
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data_[0] += v1.data_[0]; |
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data_[1] += v1.data_[1]; |
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data_[2] += v1.data_[2]; |
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} |
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|
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/** @see #sub */ |
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inline void operator -=( const Vector3d& v1 ) { |
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data_[0] -= v1.data_[0]; |
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data_[1] -= v1.data_[1]; |
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data_[2] -= v1.data_[2]; |
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} |
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|
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/** @see #mul */ |
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inline void operator *=( double s) { |
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data_[0] *= s; |
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data_[1] *= s; |
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data_[2] *= s; |
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} |
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|
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/** @see #div */ |
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inline void operator /=( double s ) { |
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data_[0] /= s; |
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data_[1] /= s; |
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data_[2] /= s; |
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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(data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2]); |
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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 lengthSquared() { |
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return data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2]; |
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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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|
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//if (len == 0) |
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// throw Exception(""); |
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|
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*this /= len; |
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} |
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|
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/** unary minus*/ |
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friend inline Vector3d operator -(const Vector3d& v1); |
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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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friend inline Vector3d operator +( const Vector3d& v1 const Vector3d& v2) const; |
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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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friend inline Vector3d operator -(const Vector3d& v1 const Vector3d& v2) const; |
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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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friend inline Vector3d operator * ( const Vector3d& v1, double s); |
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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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friend inline Vector3d operator * ( double s, const Vector3d& v1 ); |
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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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friend inline Vector3d operator /( const Vector3d& v1, double s ) const; |
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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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friend inline Vector3d operator /( double s, const Vector3d& v1 ) const; |
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|
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/** */ |
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friend inline bool epsilonEqual( const Vector3d& v1, const Vector3d& v2); |
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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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friend inline double dot( const Vector3d& v1, const Vector3d& v2 ); |
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|
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/** |
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* Returns the cross 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 cross product of v1 and v2 |
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* @see #vector::dot |
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*/ |
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friend inline Vector3d cross( const Vector3d& v1, const Vector3d& v2 ); |
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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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friend inline double distance( const Vector3d& v1, const Vector3d& v2 ); |
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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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friend inline double distanceSquare( const Vector3d& v1, const Vector3d& v2 ); |
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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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friend std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 ); |
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|
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private: |
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double data_[3]; |
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|
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}; |
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|
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Vector3d operator -(const Vector3d& v1){ |
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Vector3d tmp(v1); |
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return tmp.negate(); |
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} |
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|
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Vector3d operator +(const Vector3d& v1, const Vector3d& v2) { |
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Vector3d result; |
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|
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result.data_[0] = v1.data_[0] + v2.data_[0]; |
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result.data_[1] = v1.data_[1] + v2.data_[1]; |
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result.data_[2] = v1.data_[2] + v2.data_[2]; |
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|
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return result; |
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} |
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|
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Vector3d operator -(const Vector3d& v1, const Vector3d& v2) { |
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Vector3d result; |
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|
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result.data_[0] = v1.data_[0] - v2.data_[0]; |
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result.data_[1] = v1.data_[1] - v2.data_[1]; |
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result.data_[2] = v1.data_[2] - v2.data_[2]; |
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|
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return result; |
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} |
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|
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Vector3d operator * ( const Vector3d& v1, double s) { |
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Vector3d result; |
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|
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result.data_[0] = v1.data_[0] * s; |
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result.data_[1] = v1.data_[1] * s; |
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result.data_[2] = v1.data_[2] * s; |
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|
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return result; |
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} |
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|
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Vector3d operator * ( double s, const Vector3d& v1 ) { |
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return v1 * s; |
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} |
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|
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Vector3d operator / ( const Vector3d& v1, double s) { |
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Vector3d result; |
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|
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result.data_[0] = v1.data_[0] / s; |
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result.data_[1] = v1.data_[1] / s; |
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result.data_[2] = v1.data_[2] / s; |
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|
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return result; |
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} |
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|
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Vector3d operator / ( double s, const Vector3d& v1 ) { |
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return v1 / s; |
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} |
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|
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|
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bool epsilonEqual( const Vector3d& v1, const Vector3d& v2 ) { |
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|
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} |
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|
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double dot( const Vector3d& v1, const Vector3d& v2 ) { |
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return v1.data_[0] * v2.data_[0] + |
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v1.data_[1] * v2.data_[1] + |
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v1.data_[2] * v2.data_[2]; |
| 467 |
} |
| 468 |
|
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Vector3d cross( const Vector3d& v1, const Vector3d& v2 ) { |
| 470 |
Vector3d result; |
| 471 |
|
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result.data_[0] = v1.data_[1] * v2.data_[2] - v1.data_[2] * v2.data_[1] ; |
| 473 |
result.data_[1] = v1.data_[2] * v2.data_[0] - v1.data_[0] * v2.data_[2] ; |
| 474 |
result.data_[2] = v1.data_[0] * v2.data_[1] - v1.data_[1] * v2.data_[0]; |
| 475 |
|
| 476 |
return result; |
| 477 |
} |
| 478 |
|
| 479 |
double distance( const Vector3d& v1, const Vector3d& v2 ) { |
| 480 |
Vector3d tempVector = v1 - v2; |
| 481 |
return tempVector.length(); |
| 482 |
} |
| 483 |
|
| 484 |
double distanceSquare( const Vector3d& v1, const Vector3d& v2 ) { |
| 485 |
Vector3d tempVector = v1 - v2; |
| 486 |
return tempVector.lengthSquare(); |
| 487 |
} |
| 488 |
|
| 489 |
std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 ) { |
| 490 |
o << " x = " << v1.data_[0] <<" y = " << v1.data_[1] << " z = " << v1.data_[2]; |
| 491 |
return o; |
| 492 |
} |
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|
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|
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} |
| 496 |
|
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|
| 498 |
#endif |
