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 TF_VECTOR3_H
#define TF_VECTOR3_H
 
 
#include "Scalar.h"
#include "MinMax.h"
 
namespace tf{
 
#define Vector3Data Vector3DoubleData
#define Vector3DataName "Vector3DoubleData"
 
 
 
 
ATTRIBUTE_ALIGNED16(class) Vector3
{
public:
 
#if defined (__SPU__) && defined (__CELLOS_LV2__)
                tfScalar        m_floats[4];
public:
        TFSIMD_FORCE_INLINE const vec_float4&   get128() const
        {
                return *((const vec_float4*)&m_floats[0]);
        }
public:
#else //__CELLOS_LV2__ __SPU__
#ifdef TF_USE_SSE // _WIN32
        union {
                __m128 mVec128;
                tfScalar        m_floats[4];
        };
        TFSIMD_FORCE_INLINE     __m128  get128() const
        {
                return mVec128;
        }
        TFSIMD_FORCE_INLINE     void    set128(__m128 v128)
        {
                mVec128 = v128;
        }
#else
        tfScalar        m_floats[4];
#endif
#endif //__CELLOS_LV2__ __SPU__
 
        public:
 
        TFSIMD_FORCE_INLINE Vector3() {}
 
 
        TFSIMD_FORCE_INLINE Vector3(const tfScalar& x, const tfScalar& y, const tfScalar& z)
        {
                m_floats[0] = x;
                m_floats[1] = y;
                m_floats[2] = z;
                m_floats[3] = tfScalar(0.);
        }
 
        TFSIMD_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;
        }
 
 
        TFSIMD_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;
        }
        TFSIMD_FORCE_INLINE Vector3& operator*=(const tfScalar& s)
        {
                m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
                return *this;
        }
 
        TFSIMD_FORCE_INLINE Vector3& operator/=(const tfScalar& s) 
        {
                tfFullAssert(s != tfScalar(0.0));
                return *this *= tfScalar(1.0) / s;
        }
 
        TFSIMD_FORCE_INLINE tfScalar 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];
        }
 
        TFSIMD_FORCE_INLINE tfScalar length2() const
        {
                return dot(*this);
        }
 
        TFSIMD_FORCE_INLINE tfScalar length() const
        {
                return tfSqrt(length2());
        }
 
        TFSIMD_FORCE_INLINE tfScalar distance2(const Vector3& v) const;
 
        TFSIMD_FORCE_INLINE tfScalar distance(const Vector3& v) const;
 
        TFSIMD_FORCE_INLINE Vector3& normalize() 
        {
                return *this /= length();
        }
 
        TFSIMD_FORCE_INLINE Vector3 normalized() const;
 
        TFSIMD_FORCE_INLINE Vector3 rotate( const Vector3& wAxis, const tfScalar angle ) const;
 
        TFSIMD_FORCE_INLINE tfScalar angle(const Vector3& v) const 
        {
                tfScalar s = tfSqrt(length2() * v.length2());
                tfFullAssert(s != tfScalar(0.0));
                return tfAcos(dot(v) / s);
        }
        TFSIMD_FORCE_INLINE Vector3 absolute() const 
        {
                return Vector3(
                        tfFabs(m_floats[0]), 
                        tfFabs(m_floats[1]), 
                        tfFabs(m_floats[2]));
        }
        TFSIMD_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]);
        }
 
        TFSIMD_FORCE_INLINE tfScalar 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]);
        }
 
        TFSIMD_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);
        }
 
        TFSIMD_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);
        }
 
        TFSIMD_FORCE_INLINE int furthestAxis() const
        {
                return absolute().minAxis();
        }
 
        TFSIMD_FORCE_INLINE int closestAxis() const 
        {
                return absolute().maxAxis();
        }
 
        TFSIMD_FORCE_INLINE void setInterpolate3(const Vector3& v0, const Vector3& v1, tfScalar rt)
        {
                tfScalar s = tfScalar(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];
        }
 
        TFSIMD_FORCE_INLINE Vector3 lerp(const Vector3& v, const tfScalar& 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);
        }
 
        TFSIMD_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;
        }
 
                TFSIMD_FORCE_INLINE const tfScalar& getX() const { return m_floats[0]; }
                TFSIMD_FORCE_INLINE const tfScalar& getY() const { return m_floats[1]; }
                TFSIMD_FORCE_INLINE const tfScalar& getZ() const { return m_floats[2]; }
                TFSIMD_FORCE_INLINE void        setX(tfScalar x) { m_floats[0] = x;}
                TFSIMD_FORCE_INLINE void        setY(tfScalar y) { m_floats[1] = y;}
                TFSIMD_FORCE_INLINE void        setZ(tfScalar z) {m_floats[2] = z;}
                TFSIMD_FORCE_INLINE void        setW(tfScalar w) { m_floats[3] = w;}
                TFSIMD_FORCE_INLINE const tfScalar& x() const { return m_floats[0]; }
                TFSIMD_FORCE_INLINE const tfScalar& y() const { return m_floats[1]; }
                TFSIMD_FORCE_INLINE const tfScalar& z() const { return m_floats[2]; }
                TFSIMD_FORCE_INLINE const tfScalar& w() const { return m_floats[3]; }
 
        //TFSIMD_FORCE_INLINE tfScalar&       operator[](int i)       { return (&m_floats[0])[i];       }      
        //TFSIMD_FORCE_INLINE const tfScalar& operator[](int i) const { return (&m_floats[0])[i]; }
        TFSIMD_FORCE_INLINE     operator       tfScalar *()       { return &m_floats[0]; }
        TFSIMD_FORCE_INLINE     operator const tfScalar *() const { return &m_floats[0]; }
 
        TFSIMD_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]));
        }
 
        TFSIMD_FORCE_INLINE     bool    operator!=(const Vector3& other) const
        {
                return !(*this == other);
        }
 
                TFSIMD_FORCE_INLINE void        setMax(const Vector3& other)
                {
                        tfSetMax(m_floats[0], other.m_floats[0]);
                        tfSetMax(m_floats[1], other.m_floats[1]);
                        tfSetMax(m_floats[2], other.m_floats[2]);
                        tfSetMax(m_floats[3], other.w());
                }
                TFSIMD_FORCE_INLINE void        setMin(const Vector3& other)
                {
                        tfSetMin(m_floats[0], other.m_floats[0]);
                        tfSetMin(m_floats[1], other.m_floats[1]);
                        tfSetMin(m_floats[2], other.m_floats[2]);
                        tfSetMin(m_floats[3], other.w());
                }
 
                TFSIMD_FORCE_INLINE void        setValue(const tfScalar& x, const tfScalar& y, const tfScalar& z)
                {
                        m_floats[0]=x;
                        m_floats[1]=y;
                        m_floats[2]=z;
                        m_floats[3] = tfScalar(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(tfScalar(0.),tfScalar(0.),tfScalar(0.));
                }
 
                TFSIMD_FORCE_INLINE bool isZero() const 
                {
                        return m_floats[0] == tfScalar(0) && m_floats[1] == tfScalar(0) && m_floats[2] == tfScalar(0);
                }
 
                TFSIMD_FORCE_INLINE bool fuzzyZero() const 
                {
                        return length2() < TFSIMD_EPSILON;
                }
 
                TFSIMD_FORCE_INLINE     void    serialize(struct        Vector3Data& dataOut) const;
 
                TFSIMD_FORCE_INLINE     void    deSerialize(const struct        Vector3Data& dataIn);
 
                TFSIMD_FORCE_INLINE     void    serializeFloat(struct   Vector3FloatData& dataOut) const;
 
                TFSIMD_FORCE_INLINE     void    deSerializeFloat(const struct   Vector3FloatData& dataIn);
 
                TFSIMD_FORCE_INLINE     void    serializeDouble(struct  Vector3DoubleData& dataOut) const;
 
                TFSIMD_FORCE_INLINE     void    deSerializeDouble(const struct  Vector3DoubleData& dataIn);
 
};
 
TFSIMD_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]);
}
 
TFSIMD_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]);
}
 
TFSIMD_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]);
}
TFSIMD_FORCE_INLINE Vector3 
operator-(const Vector3& v)
{
        return Vector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
}
 
TFSIMD_FORCE_INLINE Vector3 
operator*(const Vector3& v, const tfScalar& s)
{
        return Vector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
}
 
TFSIMD_FORCE_INLINE Vector3 
operator*(const tfScalar& s, const Vector3& v)
{ 
        return v * s; 
}
 
TFSIMD_FORCE_INLINE Vector3
operator/(const Vector3& v, const tfScalar& s)
{
        tfFullAssert(s != tfScalar(0.0));
        return v * (tfScalar(1.0) / s);
}
 
TFSIMD_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]);
}
 
TFSIMD_FORCE_INLINE tfScalar 
tfDot(const Vector3& v1, const Vector3& v2) 
{ 
        return v1.dot(v2); 
}
 
 
TFSIMD_FORCE_INLINE tfScalar
tfDistance2(const Vector3& v1, const Vector3& v2) 
{ 
        return v1.distance2(v2); 
}
 
 
TFSIMD_FORCE_INLINE tfScalar
tfDistance(const Vector3& v1, const Vector3& v2) 
{ 
        return v1.distance(v2); 
}
 
TFSIMD_FORCE_INLINE tfScalar
tfAngle(const Vector3& v1, const Vector3& v2) 
{ 
        return v1.angle(v2); 
}
 
TFSIMD_FORCE_INLINE Vector3 
tfCross(const Vector3& v1, const Vector3& v2) 
{ 
        return v1.cross(v2); 
}
 
TFSIMD_FORCE_INLINE tfScalar
tfTriple(const Vector3& v1, const Vector3& v2, const Vector3& v3)
{
        return v1.triple(v2, v3);
}
 
TFSIMD_FORCE_INLINE Vector3 
lerp(const Vector3& v1, const Vector3& v2, const tfScalar& t)
{
        return v1.lerp(v2, t);
}
 
 
 
TFSIMD_FORCE_INLINE tfScalar Vector3::distance2(const Vector3& v) const
{
        return (v - *this).length2();
}
 
TFSIMD_FORCE_INLINE tfScalar Vector3::distance(const Vector3& v) const
{
        return (v - *this).length();
}
 
TFSIMD_FORCE_INLINE Vector3 Vector3::normalized() const
{
        return *this / length();
} 
 
TFSIMD_FORCE_INLINE Vector3 Vector3::rotate( const Vector3& wAxis, const tfScalar 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 * tfCos( angle ) + y * tfSin( angle ) );
}
 
class tfVector4 : public Vector3
{
public:
 
        TFSIMD_FORCE_INLINE tfVector4() {}
 
 
        TFSIMD_FORCE_INLINE tfVector4(const tfScalar& x, const tfScalar& y, const tfScalar& z,const tfScalar& w) 
                : Vector3(x,y,z)
        {
                m_floats[3] = w;
        }
 
 
        TFSIMD_FORCE_INLINE tfVector4 absolute4() const 
        {
                return tfVector4(
                        tfFabs(m_floats[0]), 
                        tfFabs(m_floats[1]), 
                        tfFabs(m_floats[2]),
                        tfFabs(m_floats[3]));
        }
 
 
 
        tfScalar        getW() const { return m_floats[3];}
 
 
                TFSIMD_FORCE_INLINE int maxAxis4() const
        {
                int maxIndex = -1;
                tfScalar maxVal = tfScalar(-TF_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;
                        maxVal = m_floats[3];
                }
                
                
                
 
                return maxIndex;
 
        }
 
 
        TFSIMD_FORCE_INLINE int minAxis4() const
        {
                int minIndex = -1;
                tfScalar minVal = tfScalar(TF_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;
                        minVal = m_floats[3];
                }
                
                return minIndex;
 
        }
 
 
        TFSIMD_FORCE_INLINE int closestAxis4() const 
        {
                return absolute4().maxAxis4();
        }
 
        
 
 
/*              void getValue(tfScalar *m) const 
                {
                        m[0] = m_floats[0];
                        m[1] = m_floats[1];
                        m[2] =m_floats[2];
                }
*/
                TFSIMD_FORCE_INLINE void        setValue(const tfScalar& x, const tfScalar& y, const tfScalar& z,const tfScalar& w)
                {
                        m_floats[0]=x;
                        m_floats[1]=y;
                        m_floats[2]=z;
                        m_floats[3]=w;
                }
 
 
};
 
 
TFSIMD_FORCE_INLINE void        tfSwapScalarEndian(const tfScalar& sourceVal, tfScalar& 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];
}
TFSIMD_FORCE_INLINE void        tfSwapVector3Endian(const Vector3& sourceVec, Vector3& destVec)
{
        for (int i=0;i<4;i++)
        {
                tfSwapScalarEndian(sourceVec[i],destVec[i]);
        }
 
}
 
TFSIMD_FORCE_INLINE void        tfUnSwapVector3Endian(Vector3& vector)
{
 
        Vector3 swappedVec;
        for (int i=0;i<4;i++)
        {
                tfSwapScalarEndian(vector[i],swappedVec[i]);
        }
        vector = swappedVec;
}
 
TFSIMD_FORCE_INLINE void tfPlaneSpace1 (const Vector3& n, Vector3& p, Vector3& q)
{
  if (tfFabs(n.z()) > TFSIMDSQRT12) {
    // choose p in y-z plane
    tfScalar a = n[1]*n[1] + n[2]*n[2];
    tfScalar k = tfRecipSqrt (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
    tfScalar a = n.x()*n.x() + n.y()*n.y();
    tfScalar k = tfRecipSqrt (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];
 
};
 
TFSIMD_FORCE_INLINE     void    Vector3::serializeFloat(struct  Vector3FloatData& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = float(m_floats[i]);
}
 
TFSIMD_FORCE_INLINE void        Vector3::deSerializeFloat(const struct  Vector3FloatData& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = tfScalar(dataIn.m_floats[i]);
}
 
 
TFSIMD_FORCE_INLINE     void    Vector3::serializeDouble(struct Vector3DoubleData& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = double(m_floats[i]);
}
 
TFSIMD_FORCE_INLINE void        Vector3::deSerializeDouble(const struct Vector3DoubleData& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = tfScalar(dataIn.m_floats[i]);
}
 
 
TFSIMD_FORCE_INLINE     void    Vector3::serialize(struct       Vector3Data& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = m_floats[i];
}
 
TFSIMD_FORCE_INLINE void        Vector3::deSerialize(const struct       Vector3Data& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = dataIn.m_floats[i];
}
 
}
 
#endif //TFSIMD__VECTOR3_H