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//
// This module contains a bunch of well understood functions
// I apologise if the conventions used here are slightly
// different than what you are used to.
//
#ifndef GENERIC_VECTOR_H
#define GENERIC_VECTOR_H
#include <stdio.h>
#include <math.h>
class Vector {
public:
float x,y,z;
Vector(float _x=0.0,float _y=0.0,float _z=0.0){x=_x;y=_y;z=_z;};
operator float *() { return &x;};
};
float magnitude(Vector v);
Vector normalize(Vector v);
Vector operator+(Vector v1,Vector v2);
Vector operator-(Vector v);
Vector operator-(Vector v1,Vector v2);
Vector operator*(Vector v1,float s) ;
Vector operator*(float s,Vector v1) ;
Vector operator/(Vector v1,float s) ;
float operator^(Vector v1,Vector v2); // DOT product
Vector operator*(Vector v1,Vector v2); // CROSS product
Vector planelineintersection(Vector n,float d,Vector p1,Vector p2);
class matrix{
public:
Vector x,y,z;
matrix(){x=Vector(1.0f,0.0f,0.0f);
y=Vector(0.0f,1.0f,0.0f);
z=Vector(0.0f,0.0f,1.0f);};
matrix(Vector _x,Vector _y,Vector _z){x=_x;y=_y;z=_z;};
};
matrix transpose(matrix m);
Vector operator*(matrix m,Vector v);
matrix operator*(matrix m1,matrix m2);
class Quaternion{
public:
float r,x,y,z;
Quaternion(){x=y=z=0.0f;r=1.0f;};
Quaternion(Vector v,float t){
v=normalize(v);
r=float(cos(t/2.0));
v=v*float(sin(t/2.0));
x=v.x;
y=v.y;
z=v.z;
};
Quaternion(float _r,float _x,float _y,float _z){r=_r;x=_x;y=_y;z=_z;};
float angle(){return float(acos(r)*2.0);}
Vector axis(){Vector a(x,y,z); return a*float(1/sin(angle()/2.0));}
Vector xdir(){
return Vector(1-2*(y*y+z*z), 2*(x*y+r*z), 2*(x*z-r*y));
}
Vector ydir(){
return Vector( 2*(x*y-r*z),1-2*(x*x+z*z), 2*(y*z+r*x));
}
Vector zdir(){
return Vector( 2*(x*z+r*y), 2*(y*z-r*x),1-2*(x*x+y*y));
}
matrix getmatrix(){return matrix(xdir(),ydir(),zdir());}
//operator matrix(){return getmatrix();}
};
Quaternion operator-(Quaternion q);
Quaternion operator*(Quaternion a,Quaternion b);
Vector operator*(Quaternion q,Vector v);
Vector operator*(Vector v,Quaternion q);
Quaternion slerp(Quaternion a,Quaternion b,float interp);
#endif
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