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/*****************************************************************************
* *
* PrimeSense PSCommon Library *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of PSCommon. *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _XN_VECTOR3D_H_
#define _XN_VECTOR3D_H_
#include "XnLib.h"
#include "XnMath.h"
namespace xnl
{
struct Point3D
{
Point3D() : x(0), y(0), z(0) {}
Point3D(const Point3D& other) : x(other.x), y(other.y), z(other.z) {}
Point3D(XnFloat x, XnFloat y, XnFloat z) : x(x), y(y), z(z) {}
Point3D& operator=(const Point3D& other) {x = other.x; y = other.y; z = other.z; return *this;}
XnFloat x;
XnFloat y;
XnFloat z;
};
class Vector3D : public Point3D
{
public:
static Vector3D Zero();
static Vector3D All(XnFloat f);
static Vector3D Up();
static Vector3D Down();
static Vector3D Right();
static Vector3D Left();
inline Vector3D();
inline Vector3D(XnFloat x, XnFloat y, XnFloat z);
inline Vector3D(const Point3D& point);
inline Vector3D(const Vector3D& other);
inline Vector3D& operator=(const Point3D& point);
inline Vector3D& operator=(const Vector3D& other);
inline XnFloat operator[](XnUInt32 index) const;
inline XnFloat& operator[](XnUInt32 index);
inline Vector3D& Set(const Vector3D& other);
inline Vector3D& Set(const Point3D& point);
inline Vector3D& Set(XnFloat x, XnFloat y, XnFloat z);
inline Vector3D& SetZero();
inline XnBool IsZero() const;
inline XnBool operator==(const Vector3D& other) const;
inline XnBool operator!=(const Vector3D& other) const;
inline Vector3D operator-() const;
inline Vector3D& Negate(const Vector3D& other);
inline Vector3D& Negate();
friend inline Vector3D operator*(XnFloat f, const Vector3D& other);
inline Vector3D operator*(XnFloat f) const;
inline Vector3D& operator*=(XnFloat f);
inline Vector3D& Multiply(XnFloat f, const Vector3D& other);
inline Vector3D& Multiply(const Vector3D& other, XnFloat f);
inline Vector3D operator/(XnFloat f) const;
inline Vector3D& operator/=(XnFloat f);
inline Vector3D& Divide(const Vector3D& other, XnFloat f);
inline Vector3D operator+(const Vector3D& other) const;
inline Vector3D& operator+=(const Vector3D& other);
inline Vector3D& Add(const Vector3D& left, const Vector3D& right);
inline Vector3D operator-(const Vector3D& other) const;
inline Vector3D& operator-=(const Vector3D& other);
inline Vector3D& Subtract(const Vector3D& left, const Vector3D& right);
inline XnFloat Magnitude() const;
inline XnFloat MagnitudeSquared() const;
inline XnFloat Distance(const Vector3D& other) const;
inline XnFloat DistanceSquared(const Vector3D& other) const;
inline XnFloat Normalize();
inline Vector3D OrthogonalVector() const;
inline Vector3D UnitOrthogonalVector() const;
Vector3D ProjectedOnUnitVector(const Vector3D &unitVector) const
{
return DotProduct(*this,unitVector)*unitVector;
}
Vector3D ProjectedOnPlane(const Vector3D &unitNormal) const;
// round vector terms
Vector3D Round (void) const
{
return Vector3D((float)round(x), (float)round(y), (float)round(z)) ;
}
inline Vector3D operator^(const Vector3D& other);
inline Vector3D& CrossProduct(const Vector3D& left, const Vector3D& right);
inline XnFloat operator|(const Vector3D& other);
friend inline XnFloat DotProduct(const Vector3D& left, const Vector3D& right);
inline Vector3D& Interpolate(const Vector3D& vec1, const Vector3D& vec2, XnFloat alpha);
inline XnBool IsSameDirection(const Vector3D& other) const;
inline XnFloat GetTolerance() const;
inline void SetTolerance(XnFloat tolerance);
protected:
XnFloat m_tolerance;
};
Vector3D::Vector3D() : m_tolerance(1e-5f) {Set(0,0,0);}
Vector3D::Vector3D(XnFloat x, XnFloat y, XnFloat z) : m_tolerance(1e-5f) {Set(x, y, z);}
Vector3D::Vector3D(const Vector3D& other) {Set(other);}
Vector3D::Vector3D(const Point3D& point) {Set(point);}
Vector3D& Vector3D::operator=(const Vector3D& other) {m_tolerance = other.m_tolerance; return Set(other.x, other.y, other.z);}
Vector3D& Vector3D::operator=(const Point3D& point) {m_tolerance = 1e-5f; return Set(point.x, point.y, point.z);}
XnFloat Vector3D::operator[](XnUInt32 index) const
{
switch (index)
{
case 0:
return x;
case 1:
return y;
case 2:
return z;
}
XN_ASSERT(false);
return z;
}
XnFloat &Vector3D::operator[](XnUInt32 index)
{
switch (index)
{
case 0:
return x;
case 1:
return y;
case 2:
return z;
}
XN_ASSERT(false);
return z;
}
Vector3D& Vector3D::Set(const Vector3D& other) {*this = other; return *this;}
Vector3D& Vector3D::Set(const Point3D& point) {*this = point; return *this;}
Vector3D& Vector3D::Set(XnFloat x, XnFloat y, XnFloat z) {this->x = x; this->y = y; this->z = z; return *this;}
Vector3D& Vector3D::SetZero() {return Set(Zero());}
XnBool Vector3D::IsZero() const {return *this==Zero();}
// {return (fabs(x) < m_tolerance && fabs(y) < m_tolerance && fabs(z) < m_tolerance);}
XnBool Vector3D::operator==(const Vector3D& other) const {return (Math::Abs(x-other.x) < m_tolerance && Math::Abs(y-other.y) < m_tolerance && Math::Abs(z-other.z) < m_tolerance);}
XnBool Vector3D::operator!=(const Vector3D& other) const {return !this->operator==(other);}
Vector3D Vector3D::operator-() const {return Vector3D(-x, -y, -z);}
Vector3D& Vector3D::Negate(const Vector3D& other) {return Set(-other.x, -other.y, -other.z);}
Vector3D& Vector3D::Negate() {return Set(-x, -y, -z);}
Vector3D operator*(XnFloat f, const Vector3D& rhs) {return Vector3D(f*rhs.x, f*rhs.y, f*rhs.z);}
Vector3D Vector3D::operator*(XnFloat f) const {return Vector3D(x*f, y*f, z*f);}
Vector3D& Vector3D::operator*=(XnFloat f) {return Set(x*f, y*f, z*f);}
Vector3D& Vector3D::Multiply(XnFloat f, const Vector3D& other) {return Set(f*other.x, f*other.y, f*other.z);}
Vector3D& Vector3D::Multiply(const Vector3D& other, XnFloat f) {return Set(other.x*f, other.y*f, other.z*f);}
Vector3D Vector3D::operator/(XnFloat f) const {return Vector3D(x/f, y/f, z/f);}
Vector3D& Vector3D::operator/=(XnFloat f) {return Set(x/f, y/f, z/f);}
Vector3D& Vector3D::Divide(const Vector3D& other, XnFloat f) {return Set(other.x/f, other.y/f, other.z/f);}
Vector3D Vector3D::operator+(const Vector3D& other) const {return Vector3D(x+other.x, y+other.y, z+other.z);}
Vector3D& Vector3D::operator+=(const Vector3D& other) {return Set(x+other.x, y+other.y, z+other.z);}
Vector3D& Vector3D::Add(const Vector3D& left, const Vector3D& right) {return Set(left.x+right.x, left.y+right.y, left.z+right.z);}
Vector3D Vector3D::operator-(const Vector3D& other) const {return Vector3D(x-other.x, y-other.y, z-other.z);}
Vector3D& Vector3D::operator-=(const Vector3D& other) {return Set(x-other.x, y-other.y, z-other.z);}
Vector3D& Vector3D::Subtract(const Vector3D& left, const Vector3D& right) {return Set(left.x-right.x, left.y-right.y, left.z-right.z);}
XnFloat Vector3D::Magnitude() const { return Math::Sqrt(MagnitudeSquared()); }
XnFloat Vector3D::MagnitudeSquared() const {return x*x+y*y+z*z;}
XnFloat Vector3D::Distance(const Vector3D& other) const {return Math::Sqrt(DistanceSquared(other));}
XnFloat Vector3D::DistanceSquared(const Vector3D& other) const {return (*this-other).MagnitudeSquared();}
XnFloat Vector3D::Normalize()
{
XnFloat length = Magnitude();
if (length > m_tolerance)
*this /= length;
else
Set(1,0,0);
return length;
}
Vector3D Vector3D::OrthogonalVector() const
{
XnFloat absX = Math::Abs(x), absY = Math::Abs(y), absZ = Math::Abs(z);
if (absX < absY)
if (absX < absZ)
return Vector3D(0, z, -y);
else
return Vector3D(y, -x, 0);
else
if (absY < absZ)
return Vector3D(z, 0, x);
else
return Vector3D(y, -x, 0);
}
Vector3D Vector3D::UnitOrthogonalVector() const
{
Vector3D vec = OrthogonalVector();
vec.Normalize();
return vec;
}
Vector3D Vector3D::operator^(const Vector3D& other)
{
Vector3D result;
result.CrossProduct(*this, other);
return result;
}
Vector3D& Vector3D::CrossProduct(const Vector3D& left, const Vector3D& right)
{
return Set(left.y*right.z - left.z*right.y,
left.z*right.x - left.x*right.z,
left.x*right.y - left.y*right.x);
}
XnFloat Vector3D::operator|(const Vector3D& other)
{
return DotProduct(*this, other);
}
XnFloat DotProduct(const Vector3D& left, const Vector3D& right)
{
return left.x*right.x + left.y*right.y + left.z*right.z;
}
Vector3D& Vector3D::Interpolate(const Vector3D& vec1, const Vector3D& vec2, XnFloat alpha)
{
return Set(vec1.x+alpha*(vec2.x-vec1.x),
vec1.y+alpha*(vec2.y-vec1.y),
vec1.z+alpha*(vec2.z-vec1.z));
}
XnBool Vector3D::IsSameDirection(const Vector3D& other) const
{
if (IsZero() || other.IsZero())
{
return true;
}
XnFloat ratio = 0;
if (!Math::IsZero(x, m_tolerance) && !Math::IsZero(other.x, m_tolerance))
ratio = other.x/x;
else if (!Math::IsZero(y, m_tolerance) && !Math::IsZero(other.y, m_tolerance))
ratio = other.y/y;
else if (!Math::IsZero(z, m_tolerance) && !Math::IsZero(other.z, m_tolerance))
ratio = other.z/z;
else
{
return false;
}
if (other/ratio == *this)
return true;
return false;
}
inline Vector3D MaxAbs(const Vector3D &v1, const Vector3D &v2)
{
return Vector3D(Math::MaxAbs(v1.x,v2.x),Math::MaxAbs(v1.y,v2.y),Math::MaxAbs(v1.z,v2.z));
}
inline Vector3D CrossProduct(const Vector3D &v1, const Vector3D &v2) {
return Vector3D(v1.y*v2.z-v1.z*v2.y, v1.z*v2.x-v1.x*v2.z, v1.x*v2.y-v1.y*v2.x);
}
inline void CrossProduct(const Vector3D &v1, const Vector3D &v2, Vector3D &v3)
{
v3.Set(v1.y*v2.z-v1.z*v2.y, v1.z*v2.x-v1.x*v2.z, v1.x*v2.y-v1.y*v2.x);
}
inline XnFloat CrossProductMagnitudeSquared(const Vector3D &v1, const Vector3D &v2)
{
return Math::Sqr(v1.y*v2.z-v1.z*v2.y)+Math::Sqr(v1.z*v2.x-v1.x*v2.z)+Math::Sqr(v1.x*v2.y-v1.y*v2.x);
}
inline XnFloat CrossProductMagnitude(const Vector3D &v1, const Vector3D &v2)
{
return Math::Sqrt(CrossProductMagnitudeSquared(v1,v2));
}
} // xnl
#endif // _XN_VECTOR3D_H_
|
