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/****************************************************************************
* Copyright (C) from 2009 to Present EPAM Systems.
*
* This file is part of Indigo toolkit.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
***************************************************************************/
#include "math/algebra.h"
using namespace indigo;
float Vec3f::length() const
{
return (float)sqrt(lengthSqr());
}
void Vec3f::transformPoint(const Transform3f& matr)
{
Vec3f v;
v.pointTransformation(*this, matr);
copy(v);
}
void Vec3f::transformVector(const Transform3f& matr)
{
Vec3f v;
v.vectorTransformation(*this, matr);
copy(v);
}
void Vec3f::invTransformVector(const Transform3f& matr)
{
Vec3f v;
v.invVectorTransformation(*this, matr);
copy(v);
}
void Vec3f::pointTransformation(const Vec3f& v, const Transform3f& matr)
{
if (&v == this)
{
transformPoint(matr);
return;
}
x = matr.elements[0] * v.x + matr.elements[4] * v.y + matr.elements[8] * v.z + matr.elements[12];
y = matr.elements[1] * v.x + matr.elements[5] * v.y + matr.elements[9] * v.z + matr.elements[13];
z = matr.elements[2] * v.x + matr.elements[6] * v.y + matr.elements[10] * v.z + matr.elements[14];
}
void Vec3f::vectorTransformation(const Vec3f& v, const Transform3f& matr)
{
if (&v == this)
{
transformVector(matr);
return;
}
x = matr.elements[0] * v.x + matr.elements[4] * v.y + matr.elements[8] * v.z;
y = matr.elements[1] * v.x + matr.elements[5] * v.y + matr.elements[9] * v.z;
z = matr.elements[2] * v.x + matr.elements[6] * v.y + matr.elements[10] * v.z;
}
void Vec3f::invVectorTransformation(const Vec3f& v, const Transform3f& matr)
{
if (&v == this)
{
invTransformVector(matr);
return;
}
x = matr.elements[0] * v.x + matr.elements[1] * v.y + matr.elements[2] * v.z;
y = matr.elements[4] * v.x + matr.elements[5] * v.y + matr.elements[6] * v.z;
z = matr.elements[8] * v.x + matr.elements[9] * v.y + matr.elements[10] * v.z;
}
void Vec3f::rotateX(float angle)
{
float sine = (float)sin(angle);
float cosine = (float)cos(angle);
float yy = y * cosine - z * sine;
z = y * sine + z * cosine;
y = yy;
}
void Vec3f::rotateY(float angle)
{
float sine = (float)sin(angle);
float cosine = (float)cos(angle);
float xx = x * cosine + z * sine;
z = -x * sine + z * cosine;
x = xx;
}
void Vec3f::rotateZ(float angle)
{
float sine = (float)sin(angle);
float cosine = (float)cos(angle);
float xx = x * cosine - y * sine;
y = x * sine + y * cosine;
x = xx;
}
void Vec3f::rotate(const Vec3f& around, float angle)
{
Transform3f matr;
matr.rotation(around.x, around.y, around.z, angle);
transformVector(matr);
}
bool Vec3f::normalize()
{
float l = lengthSqr();
if (l < EPSILON * EPSILON)
return false;
l = (float)sqrt(l);
x /= l;
y /= l;
z /= l;
return true;
}
bool Vec3f::normalization(const Vec3f& v)
{
float l = v.lengthSqr();
if (l < EPSILON * EPSILON)
return false;
l = (float)sqrt(l);
x = v.x / l;
y = v.y / l;
z = v.z / l;
return true;
}
bool Vec3f::angle(const Vec3f& a, const Vec3f& b, float& res)
{
float a_len = a.length();
float b_len = b.length();
if (a_len < EPSILON || b_len < EPSILON)
return false;
res = acos(dot(a, b) / (a_len * b_len));
return true;
}
float Vec3f::dot(const Vec3f& a, const Vec3f& b)
{
return a.x * b.x + a.y * b.y + a.z * b.z;
}
float Vec3f::distSqr(const Vec3f& a, const Vec3f& b)
{
float dx = b.x - a.x;
float dy = b.y - a.y;
float dz = b.z - a.z;
return dx * dx + dy * dy + dz * dz;
}
float Vec3f::dist(const Vec3f& a, const Vec3f& b)
{
return (float)sqrt(distSqr(a, b));
}
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