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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.0 (2010/01/01)
#include "Wm5MathematicsPCH.h"
#include "Wm5AVector.h"
using namespace Wm5;
const AVector AVector::ZERO(0.0f, 0.0f, 0.0f);
const AVector AVector::UNIT_X(1.0f, 0.0f, 0.0f);
const AVector AVector::UNIT_Y(0.0f, 1.0f, 0.0f);
const AVector AVector::UNIT_Z(0.0f, 0.0f, 1.0f);
//----------------------------------------------------------------------------
AVector::AVector ()
{
mTuple[0] = 0.0f;
mTuple[1] = 0.0f;
mTuple[2] = 0.0f;
mTuple[3] = 0.0f;
}
//----------------------------------------------------------------------------
AVector::AVector (const AVector& vec)
{
mTuple[0] = vec.mTuple[0];
mTuple[1] = vec.mTuple[1];
mTuple[2] = vec.mTuple[2];
mTuple[3] = 0.0f;
}
//----------------------------------------------------------------------------
AVector::AVector (float x, float y, float z)
{
mTuple[0] = x;
mTuple[1] = y;
mTuple[2] = z;
mTuple[3] = 0.0f;
}
//----------------------------------------------------------------------------
AVector::AVector (const Float3& tuple)
{
mTuple[0] = tuple[0];
mTuple[1] = tuple[1];
mTuple[2] = tuple[2];
mTuple[3] = 0.0f;
}
//----------------------------------------------------------------------------
AVector::AVector (const Vector3f& tuple)
{
mTuple[0] = tuple[0];
mTuple[1] = tuple[1];
mTuple[2] = tuple[2];
mTuple[3] = 0.0f;
}
//----------------------------------------------------------------------------
AVector::~AVector ()
{
}
//----------------------------------------------------------------------------
AVector& AVector::operator= (const AVector& vec)
{
mTuple[0] = vec.mTuple[0];
mTuple[1] = vec.mTuple[1];
mTuple[2] = vec.mTuple[2];
mTuple[3] = 0.0f;
return *this;
}
//----------------------------------------------------------------------------
AVector AVector::operator+ (const AVector& vec) const
{
return AVector
(
mTuple[0] + vec.mTuple[0],
mTuple[1] + vec.mTuple[1],
mTuple[2] + vec.mTuple[2]
);
}
//----------------------------------------------------------------------------
AVector AVector::operator- (const AVector& vec) const
{
return AVector
(
mTuple[0] - vec.mTuple[0],
mTuple[1] - vec.mTuple[1],
mTuple[2] - vec.mTuple[2]
);
}
//----------------------------------------------------------------------------
AVector AVector::operator* (float scalar) const
{
return AVector
(
scalar*mTuple[0],
scalar*mTuple[1],
scalar*mTuple[2]
);
}
//----------------------------------------------------------------------------
AVector AVector::operator/ (float scalar) const
{
if (scalar != 0.0f)
{
float invScalar = 1.0f/scalar;
return AVector
(
invScalar*mTuple[0],
invScalar*mTuple[1],
invScalar*mTuple[2]
);
}
return AVector(FLT_MAX, FLT_MAX, FLT_MAX);
}
//----------------------------------------------------------------------------
AVector AVector::operator- () const
{
return AVector(-mTuple[0], -mTuple[1], -mTuple[2]);
}
//----------------------------------------------------------------------------
AVector Wm5::operator* (float scalar, const AVector& vec)
{
return vec*scalar;
}
//----------------------------------------------------------------------------
AVector& AVector::operator+= (const AVector& vec)
{
mTuple[0] += vec[0];
mTuple[1] += vec[1];
mTuple[2] += vec[2];
return *this;
}
//----------------------------------------------------------------------------
AVector& AVector::operator-= (const AVector& vec)
{
mTuple[0] -= vec[0];
mTuple[1] -= vec[1];
mTuple[2] -= vec[2];
return *this;
}
//----------------------------------------------------------------------------
AVector& AVector::operator*= (float scalar)
{
mTuple[0] *= scalar;
mTuple[1] *= scalar;
mTuple[2] *= scalar;
return *this;
}
//----------------------------------------------------------------------------
AVector& AVector::operator/= (float scalar)
{
if (scalar != 0.0f)
{
float invScalar = 1.0f/scalar;
mTuple[0] *= invScalar;
mTuple[1] *= invScalar;
mTuple[2] *= invScalar;
}
else
{
mTuple[0] = FLT_MAX;
mTuple[1] = FLT_MAX;
mTuple[2] = FLT_MAX;
}
return *this;
}
//----------------------------------------------------------------------------
float AVector::Length () const
{
float sqrLength = mTuple[0]*mTuple[0] + mTuple[1]*mTuple[1] +
mTuple[2]*mTuple[2];
return sqrtf(sqrLength);
}
//----------------------------------------------------------------------------
float AVector::SquaredLength () const
{
float sqrLength = mTuple[0]*mTuple[0] + mTuple[1]*mTuple[1] +
mTuple[2]*mTuple[2];
return sqrLength;
}
//----------------------------------------------------------------------------
float AVector::Dot (const AVector& vec) const
{
float dotProduct = mTuple[0]*vec.mTuple[0] + mTuple[1]*vec.mTuple[1] +
mTuple[2]*vec.mTuple[2];
return dotProduct;
}
//----------------------------------------------------------------------------
float AVector::Normalize (const float epsilon)
{
float length = Length();
if (length > epsilon)
{
float invLength = 1.0f/length;
mTuple[0] *= invLength;
mTuple[1] *= invLength;
mTuple[2] *= invLength;
}
else
{
length = 0.0f;
mTuple[0] = 0.0f;
mTuple[1] = 0.0f;
mTuple[2] = 0.0f;
}
return length;
}
//----------------------------------------------------------------------------
AVector AVector::Cross (const AVector& vec) const
{
return AVector
(
mTuple[1]*vec.mTuple[2] - mTuple[2]*vec.mTuple[1],
mTuple[2]*vec.mTuple[0] - mTuple[0]*vec.mTuple[2],
mTuple[0]*vec.mTuple[1] - mTuple[1]*vec.mTuple[0]
);
}
//----------------------------------------------------------------------------
AVector AVector::UnitCross (const AVector& vec) const
{
AVector cross
(
mTuple[1]*vec.mTuple[2] - mTuple[2]*vec.mTuple[1],
mTuple[2]*vec.mTuple[0] - mTuple[0]*vec.mTuple[2],
mTuple[0]*vec.mTuple[1] - mTuple[1]*vec.mTuple[0]
);
cross.Normalize();
return cross;
}
//----------------------------------------------------------------------------
void AVector::Orthonormalize (AVector& vec0, AVector& vec1, AVector& vec2)
{
// If the input vectors are v0, v1, and v2, then the Gram-Schmidt
// orthonormalization produces vectors u0, u1, and u2 as follows,
//
// u0 = v0/|v0|
// u1 = (v1-(u0*v1)u0)/|v1-(u0*v1)u0|
// u2 = (v2-(u0*v2)u0-(u1*v2)u1)/|v2-(u0*v2)u0-(u1*v2)u1|
//
// where |A| indicates length of vector A and A*B indicates dot
// product of vectors A and B.
// Compute u0.
vec0.Normalize();
// Compute u1.
float dot0 = vec0.Dot(vec1);
vec1 -= dot0*vec0;
vec1.Normalize();
// Compute u2.
float dot1 = vec1.Dot(vec2);
dot0 = vec0.Dot(vec2);
vec2 -= dot0*vec0 + dot1*vec1;
vec2.Normalize();
}
//----------------------------------------------------------------------------
void AVector::Orthonormalize (AVector* vec)
{
Orthonormalize(vec[0], vec[1], vec[2]);
}
//----------------------------------------------------------------------------
void AVector::GenerateOrthonormalBasis (AVector& vec0, AVector& vec1,
AVector& vec2)
{
vec2.Normalize();
GenerateComplementBasis(vec0, vec1, vec2);
}
//----------------------------------------------------------------------------
void AVector::GenerateComplementBasis (AVector& vec0, AVector& vec1,
const AVector& vec2)
{
float invLength;
if (fabsf(vec2.mTuple[0]) >= fabsf(vec2.mTuple[1]))
{
// vec2.x or vec2.z is the largest magnitude component, swap them
invLength = 1.0f/sqrtf(vec2.mTuple[0]*vec2.mTuple[0] +
vec2.mTuple[2]*vec2.mTuple[2]);
vec0.mTuple[0] = -vec2.mTuple[2]*invLength;
vec0.mTuple[1] = 0.0f;
vec0.mTuple[2] = +vec2.mTuple[0]*invLength;
vec1.mTuple[0] = vec2.mTuple[1]*vec0.mTuple[2];
vec1.mTuple[1] = vec2.mTuple[2]*vec0.mTuple[0] -
vec2.mTuple[0]*vec0.mTuple[2];
vec1.mTuple[2] = -vec2.mTuple[1]*vec0.mTuple[0];
}
else
{
// vec2.y or vec2.z is the largest magnitude component, swap them
invLength = 1.0f/sqrtf(vec2.mTuple[1]*vec2.mTuple[1] +
vec2.mTuple[2]*vec2.mTuple[2]);
vec0.mTuple[0] = 0.0f;
vec0.mTuple[1] = +vec2.mTuple[2]*invLength;
vec0.mTuple[2] = -vec2.mTuple[1]*invLength;
vec1.mTuple[0] = vec2.mTuple[1]*vec0.mTuple[2] -
vec2.mTuple[2]*vec0.mTuple[1];
vec1.mTuple[1] = -vec2.mTuple[0]*vec0.mTuple[2];
vec1.mTuple[2] = vec2.mTuple[0]*vec0.mTuple[1];
}
}
//----------------------------------------------------------------------------
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