melodic/include/tf2/LinearMath/Vector3.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
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"
 
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.);
                }
 
                void    getSkewSymmetricMatrix(Vector3* v0,Vector3* v1,Vector3* v2) const
                {
                        v0->setValue(0.         ,-z()           ,y());
                        v1->setValue(z()        ,0.                     ,-x());
                        v2->setValue(-y()       ,x()    ,0.);
                }
 
                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]));
        }
 
 
 
        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  = (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