Program Listing for File Vector3.h
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/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TF2_VECTOR3_H
#define TF2_VECTOR3_H
#include "Scalar.h"
#include "MinMax.h"
#include "tf2/visibility_control.h"
namespace tf2
{
#define Vector3Data Vector3DoubleData
#define Vector3DataName "Vector3DoubleData"
ATTRIBUTE_ALIGNED16(class) Vector3
{
public:
#if defined (__SPU__) && defined (__CELLOS_LV2__)
tf2Scalar m_floats[4];
public:
TF2SIMD_FORCE_INLINE const vec_float4& get128() const
{
return *((const vec_float4*)&m_floats[0]);
}
public:
#else //__CELLOS_LV2__ __SPU__
#ifdef TF2_USE_SSE // _WIN32
union {
__m128 mVec128;
tf2Scalar m_floats[4];
};
TF2SIMD_FORCE_INLINE __m128 get128() const
{
return mVec128;
}
TF2SIMD_FORCE_INLINE void set128(__m128 v128)
{
mVec128 = v128;
}
#else
tf2Scalar m_floats[4];
#endif
#endif //__CELLOS_LV2__ __SPU__
public:
TF2SIMD_FORCE_INLINE Vector3() {}
TF2SIMD_FORCE_INLINE Vector3(const tf2Scalar& x, const tf2Scalar& y, const tf2Scalar& z)
{
m_floats[0] = x;
m_floats[1] = y;
m_floats[2] = z;
m_floats[3] = tf2Scalar(0.);
}
TF2SIMD_FORCE_INLINE Vector3& operator+=(const Vector3& v)
{
m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2];
return *this;
}
TF2SIMD_FORCE_INLINE Vector3& operator-=(const Vector3& v)
{
m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
return *this;
}
TF2SIMD_FORCE_INLINE Vector3& operator*=(const tf2Scalar& s)
{
m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
return *this;
}
TF2SIMD_FORCE_INLINE Vector3& operator/=(const tf2Scalar& s)
{
tf2FullAssert(s != tf2Scalar(0.0));
return *this *= tf2Scalar(1.0) / s;
}
TF2SIMD_FORCE_INLINE tf2Scalar dot(const Vector3& v) const
{
return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2];
}
TF2SIMD_FORCE_INLINE tf2Scalar length2() const
{
return dot(*this);
}
TF2SIMD_FORCE_INLINE tf2Scalar length() const
{
return tf2Sqrt(length2());
}
TF2SIMD_FORCE_INLINE tf2Scalar distance2(const Vector3& v) const;
TF2SIMD_FORCE_INLINE tf2Scalar distance(const Vector3& v) const;
TF2SIMD_FORCE_INLINE Vector3& normalize()
{
return *this /= length();
}
TF2SIMD_FORCE_INLINE Vector3 normalized() const;
TF2SIMD_FORCE_INLINE Vector3 rotate( const Vector3& wAxis, const tf2Scalar angle ) const;
TF2SIMD_FORCE_INLINE tf2Scalar angle(const Vector3& v) const
{
tf2Scalar s = tf2Sqrt(length2() * v.length2());
tf2FullAssert(s != tf2Scalar(0.0));
return tf2Acos(dot(v) / s);
}
TF2SIMD_FORCE_INLINE Vector3 absolute() const
{
return Vector3(
tf2Fabs(m_floats[0]),
tf2Fabs(m_floats[1]),
tf2Fabs(m_floats[2]));
}
TF2SIMD_FORCE_INLINE Vector3 cross(const Vector3& v) const
{
return Vector3(
m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1],
m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
}
TF2SIMD_FORCE_INLINE tf2Scalar triple(const Vector3& v1, const Vector3& v2) const
{
return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
}
TF2SIMD_FORCE_INLINE int minAxis() const
{
return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
}
TF2SIMD_FORCE_INLINE int maxAxis() const
{
return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
}
TF2SIMD_FORCE_INLINE int furthestAxis() const
{
return absolute().minAxis();
}
TF2SIMD_FORCE_INLINE int closestAxis() const
{
return absolute().maxAxis();
}
TF2SIMD_FORCE_INLINE void setInterpolate3(const Vector3& v0, const Vector3& v1, tf2Scalar rt)
{
tf2Scalar s = tf2Scalar(1.0) - rt;
m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
//don't do the unused w component
// m_co[3] = s * v0[3] + rt * v1[3];
}
TF2SIMD_FORCE_INLINE Vector3 lerp(const Vector3& v, const tf2Scalar& t) const
{
return Vector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
m_floats[2] + (v.m_floats[2] -m_floats[2]) * t);
}
TF2SIMD_FORCE_INLINE Vector3& operator*=(const Vector3& v)
{
m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2];
return *this;
}
TF2SIMD_FORCE_INLINE const tf2Scalar& getX() const { return m_floats[0]; }
TF2SIMD_FORCE_INLINE const tf2Scalar& getY() const { return m_floats[1]; }
TF2SIMD_FORCE_INLINE const tf2Scalar& getZ() const { return m_floats[2]; }
TF2SIMD_FORCE_INLINE void setX(tf2Scalar x) { m_floats[0] = x;};
TF2SIMD_FORCE_INLINE void setY(tf2Scalar y) { m_floats[1] = y;};
TF2SIMD_FORCE_INLINE void setZ(tf2Scalar z) {m_floats[2] = z;};
TF2SIMD_FORCE_INLINE void setW(tf2Scalar w) { m_floats[3] = w;};
TF2SIMD_FORCE_INLINE const tf2Scalar& x() const { return m_floats[0]; }
TF2SIMD_FORCE_INLINE const tf2Scalar& y() const { return m_floats[1]; }
TF2SIMD_FORCE_INLINE const tf2Scalar& z() const { return m_floats[2]; }
TF2SIMD_FORCE_INLINE const tf2Scalar& w() const { return m_floats[3]; }
//TF2SIMD_FORCE_INLINE tf2Scalar& operator[](int i) { return (&m_floats[0])[i]; }
//TF2SIMD_FORCE_INLINE const tf2Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
TF2SIMD_FORCE_INLINE operator tf2Scalar *() { return &m_floats[0]; }
TF2SIMD_FORCE_INLINE operator const tf2Scalar *() const { return &m_floats[0]; }
TF2SIMD_FORCE_INLINE bool operator==(const Vector3& other) const
{
return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
}
TF2SIMD_FORCE_INLINE bool operator!=(const Vector3& other) const
{
return !(*this == other);
}
TF2SIMD_FORCE_INLINE void setMax(const Vector3& other)
{
tf2SetMax(m_floats[0], other.m_floats[0]);
tf2SetMax(m_floats[1], other.m_floats[1]);
tf2SetMax(m_floats[2], other.m_floats[2]);
tf2SetMax(m_floats[3], other.w());
}
TF2SIMD_FORCE_INLINE void setMin(const Vector3& other)
{
tf2SetMin(m_floats[0], other.m_floats[0]);
tf2SetMin(m_floats[1], other.m_floats[1]);
tf2SetMin(m_floats[2], other.m_floats[2]);
tf2SetMin(m_floats[3], other.w());
}
TF2SIMD_FORCE_INLINE void setValue(const tf2Scalar& x, const tf2Scalar& y, const tf2Scalar& z)
{
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
m_floats[3] = tf2Scalar(0.);
}
TF2_PUBLIC
void getSkewSymmetricMatrix(Vector3* v0,Vector3* v1,Vector3* v2) const
{
v0->setValue(0. ,-z() ,y());
v1->setValue(z() ,0. ,-x());
v2->setValue(-y() ,x() ,0.);
}
TF2_PUBLIC
void setZero()
{
setValue(tf2Scalar(0.),tf2Scalar(0.),tf2Scalar(0.));
}
TF2SIMD_FORCE_INLINE bool isZero() const
{
return m_floats[0] == tf2Scalar(0) && m_floats[1] == tf2Scalar(0) && m_floats[2] == tf2Scalar(0);
}
TF2SIMD_FORCE_INLINE bool fuzzyZero() const
{
return length2() < TF2SIMD_EPSILON;
}
TF2SIMD_FORCE_INLINE void serialize(struct Vector3Data& dataOut) const;
TF2SIMD_FORCE_INLINE void deSerialize(const struct Vector3Data& dataIn);
TF2SIMD_FORCE_INLINE void serializeFloat(struct Vector3FloatData& dataOut) const;
TF2SIMD_FORCE_INLINE void deSerializeFloat(const struct Vector3FloatData& dataIn);
TF2SIMD_FORCE_INLINE void serializeDouble(struct Vector3DoubleData& dataOut) const;
TF2SIMD_FORCE_INLINE void deSerializeDouble(const struct Vector3DoubleData& dataIn);
};
TF2SIMD_FORCE_INLINE Vector3
operator+(const Vector3& v1, const Vector3& v2)
{
return Vector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]);
}
TF2SIMD_FORCE_INLINE Vector3
operator*(const Vector3& v1, const Vector3& v2)
{
return Vector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]);
}
TF2SIMD_FORCE_INLINE Vector3
operator-(const Vector3& v1, const Vector3& v2)
{
return Vector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]);
}
TF2SIMD_FORCE_INLINE Vector3
operator-(const Vector3& v)
{
return Vector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
}
TF2SIMD_FORCE_INLINE Vector3
operator*(const Vector3& v, const tf2Scalar& s)
{
return Vector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
}
TF2SIMD_FORCE_INLINE Vector3
operator*(const tf2Scalar& s, const Vector3& v)
{
return v * s;
}
TF2SIMD_FORCE_INLINE Vector3
operator/(const Vector3& v, const tf2Scalar& s)
{
tf2FullAssert(s != tf2Scalar(0.0));
return v * (tf2Scalar(1.0) / s);
}
TF2SIMD_FORCE_INLINE Vector3
operator/(const Vector3& v1, const Vector3& v2)
{
return Vector3(v1.m_floats[0] / v2.m_floats[0],v1.m_floats[1] / v2.m_floats[1],v1.m_floats[2] / v2.m_floats[2]);
}
TF2SIMD_FORCE_INLINE tf2Scalar
tf2Dot(const Vector3& v1, const Vector3& v2)
{
return v1.dot(v2);
}
TF2SIMD_FORCE_INLINE tf2Scalar
tf2Distance2(const Vector3& v1, const Vector3& v2)
{
return v1.distance2(v2);
}
TF2SIMD_FORCE_INLINE tf2Scalar
tf2Distance(const Vector3& v1, const Vector3& v2)
{
return v1.distance(v2);
}
TF2SIMD_FORCE_INLINE tf2Scalar
tf2Angle(const Vector3& v1, const Vector3& v2)
{
return v1.angle(v2);
}
TF2SIMD_FORCE_INLINE Vector3
tf2Cross(const Vector3& v1, const Vector3& v2)
{
return v1.cross(v2);
}
TF2SIMD_FORCE_INLINE tf2Scalar
tf2Triple(const Vector3& v1, const Vector3& v2, const Vector3& v3)
{
return v1.triple(v2, v3);
}
TF2SIMD_FORCE_INLINE Vector3
lerp(const Vector3& v1, const Vector3& v2, const tf2Scalar& t)
{
return v1.lerp(v2, t);
}
TF2SIMD_FORCE_INLINE tf2Scalar Vector3::distance2(const Vector3& v) const
{
return (v - *this).length2();
}
TF2SIMD_FORCE_INLINE tf2Scalar Vector3::distance(const Vector3& v) const
{
return (v - *this).length();
}
TF2SIMD_FORCE_INLINE Vector3 Vector3::normalized() const
{
return *this / length();
}
TF2SIMD_FORCE_INLINE Vector3 Vector3::rotate( const Vector3& wAxis, const tf2Scalar angle ) const
{
// wAxis must be a unit lenght vector
Vector3 o = wAxis * wAxis.dot( *this );
Vector3 x = *this - o;
Vector3 y;
y = wAxis.cross( *this );
return ( o + x * tf2Cos( angle ) + y * tf2Sin( angle ) );
}
class tf2Vector4 : public Vector3
{
public:
TF2SIMD_FORCE_INLINE tf2Vector4() {}
TF2SIMD_FORCE_INLINE tf2Vector4(const tf2Scalar& x, const tf2Scalar& y, const tf2Scalar& z,const tf2Scalar& w)
: Vector3(x,y,z)
{
m_floats[3] = w;
}
TF2SIMD_FORCE_INLINE tf2Vector4 absolute4() const
{
return tf2Vector4(
tf2Fabs(m_floats[0]),
tf2Fabs(m_floats[1]),
tf2Fabs(m_floats[2]),
tf2Fabs(m_floats[3]));
}
TF2_PUBLIC
tf2Scalar getW() const { return m_floats[3];}
TF2SIMD_FORCE_INLINE int maxAxis4() const
{
int maxIndex = -1;
tf2Scalar maxVal = tf2Scalar(-TF2_LARGE_FLOAT);
if (m_floats[0] > maxVal)
{
maxIndex = 0;
maxVal = m_floats[0];
}
if (m_floats[1] > maxVal)
{
maxIndex = 1;
maxVal = m_floats[1];
}
if (m_floats[2] > maxVal)
{
maxIndex = 2;
maxVal =m_floats[2];
}
if (m_floats[3] > maxVal)
{
maxIndex = 3;
}
return maxIndex;
}
TF2SIMD_FORCE_INLINE int minAxis4() const
{
int minIndex = -1;
tf2Scalar minVal = tf2Scalar(TF2_LARGE_FLOAT);
if (m_floats[0] < minVal)
{
minIndex = 0;
minVal = m_floats[0];
}
if (m_floats[1] < minVal)
{
minIndex = 1;
minVal = m_floats[1];
}
if (m_floats[2] < minVal)
{
minIndex = 2;
minVal =m_floats[2];
}
if (m_floats[3] < minVal)
{
minIndex = 3;
}
return minIndex;
}
TF2SIMD_FORCE_INLINE int closestAxis4() const
{
return absolute4().maxAxis4();
}
/* void getValue(tf2Scalar *m) const
{
m[0] = m_floats[0];
m[1] = m_floats[1];
m[2] =m_floats[2];
}
*/
TF2SIMD_FORCE_INLINE void setValue(const tf2Scalar& x, const tf2Scalar& y, const tf2Scalar& z,const tf2Scalar& w)
{
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
m_floats[3]=w;
}
};
TF2SIMD_FORCE_INLINE void tf2SwapScalarEndian(const tf2Scalar& sourceVal, tf2Scalar& destVal)
{
unsigned char* dest = (unsigned char*) &destVal;
const unsigned char* src = reinterpret_cast<const unsigned char*>(&sourceVal);
dest[0] = src[7];
dest[1] = src[6];
dest[2] = src[5];
dest[3] = src[4];
dest[4] = src[3];
dest[5] = src[2];
dest[6] = src[1];
dest[7] = src[0];
}
TF2SIMD_FORCE_INLINE void tf2SwapVector3Endian(const Vector3& sourceVec, Vector3& destVec)
{
for (int i=0;i<4;i++)
{
tf2SwapScalarEndian(sourceVec[i],destVec[i]);
}
}
TF2SIMD_FORCE_INLINE void tf2UnSwapVector3Endian(Vector3& vector)
{
Vector3 swappedVec;
for (int i=0;i<4;i++)
{
tf2SwapScalarEndian(vector[i],swappedVec[i]);
}
vector = swappedVec;
}
TF2SIMD_FORCE_INLINE void tf2PlaneSpace1 (const Vector3& n, Vector3& p, Vector3& q)
{
if (tf2Fabs(n.z()) > TF2SIMDSQRT12) {
// choose p in y-z plane
tf2Scalar a = n[1]*n[1] + n[2]*n[2];
tf2Scalar k = tf2RecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
tf2Scalar a = n.x()*n.x() + n.y()*n.y();
tf2Scalar k = tf2RecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}
struct Vector3FloatData
{
float m_floats[4];
};
struct Vector3DoubleData
{
double m_floats[4];
};
TF2SIMD_FORCE_INLINE void Vector3::serializeFloat(struct Vector3FloatData& dataOut) const
{
for (int i=0;i<4;i++)
dataOut.m_floats[i] = float(m_floats[i]);
}
TF2SIMD_FORCE_INLINE void Vector3::deSerializeFloat(const struct Vector3FloatData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = tf2Scalar(dataIn.m_floats[i]);
}
TF2SIMD_FORCE_INLINE void Vector3::serializeDouble(struct Vector3DoubleData& dataOut) const
{
for (int i=0;i<4;i++)
dataOut.m_floats[i] = double(m_floats[i]);
}
TF2SIMD_FORCE_INLINE void Vector3::deSerializeDouble(const struct Vector3DoubleData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = tf2Scalar(dataIn.m_floats[i]);
}
TF2SIMD_FORCE_INLINE void Vector3::serialize(struct Vector3Data& dataOut) const
{
for (int i=0;i<4;i++)
dataOut.m_floats[i] = m_floats[i];
}
TF2SIMD_FORCE_INLINE void Vector3::deSerialize(const struct Vector3Data& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = dataIn.m_floats[i];
}
}
#endif //TF2_VECTOR3_H