00001
00002
00003
00004 #ifndef COURNIA_VECTOR_H
00005 #define COURNIA_VECTOR_H 1
00006
00007 #include <iostream>
00008 #include <cassert>
00009 #include "mathematics.h"
00010
00012 namespace math {
00013 class vector3;
00014 }
00015
00017 math::vector3 operator* ( real_t lhs, const math::vector3& rhs );
00018 std::ostream& operator<< ( std::ostream& o, const math::vector3& vec );
00019
00020 namespace math {
00021 math::vector3 cross( const math::vector3& lhs, const math::vector3& rhs );
00022 void add( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00023 void subtract( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00024 void multiply( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00025 void divide( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00026 void multiply( math::vector3& dest, const math::vector3& lhs, real_t rhs );
00027 void multiply( math::vector3& dest, real_t rhs, const math::vector3& lhs );
00028 real_t dot( const math::vector3& lhs, const math::vector3& rhs );
00029 }
00030
00032 class math::vector3
00033 {
00034 private:
00035 real_t m_data[ 3 ];
00036
00038
00045 friend math::vector3 operator* ( real_t lhs, const math::vector3& rhs );
00046
00048
00053 friend std::ostream& operator<< ( std::ostream& o, const math::vector3& vec );
00054
00056
00061 friend math::vector3 math::cross( const math::vector3& lhs, const math::vector3& rhs );
00062
00064
00073 friend void math::add( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00074
00076
00085 friend void math::subtract( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00086
00088
00096 friend void math::multiply( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00097
00099
00108 friend void math::divide( math::vector3& dest, const math::vector3& lhs, const math::vector3& rhs );
00109
00111
00121 friend void math::multiply( math::vector3& dest, const math::vector3& lhs, real_t rhs );
00122
00124
00134 friend void math::multiply( math::vector3& dest, real_t rhs, const math::vector3& lhs );
00135
00136
00138
00143 friend real_t math::dot( const math::vector3& lhs, const math::vector3& rhs );
00144
00145 public:
00147
00150 vector3( void ) {
00151 m_data[ 0 ] = 0.0;
00152 m_data[ 1 ] = 0.0;
00153 m_data[ 2 ] = 0.0;
00154 }
00155
00157
00160 vector3( real_t x_, real_t y_, real_t z_ ) {
00161 m_data[ 0 ] = x_;
00162 m_data[ 1 ] = y_;
00163 m_data[ 2 ] = z_;
00164 }
00165
00167
00171 vector3( real_t *r3 ) {
00172 m_data[ 0 ] = r3[ 0 ];
00173 m_data[ 1 ] = r3[ 1 ];
00174 m_data[ 2 ] = r3[ 2 ];
00175 }
00176
00178 vector3( const math::vector3& p ) {
00179 m_data[ 0 ] = p.m_data[ 0 ];
00180 m_data[ 1 ] = p.m_data[ 1 ];
00181 m_data[ 2 ] = p.m_data[ 2 ];
00182 }
00183
00185 inline math::vector3& operator= ( const math::vector3& p ) {
00186 m_data[ 0 ] = p.m_data[ 0 ];
00187 m_data[ 1 ] = p.m_data[ 1 ];
00188 m_data[ 2 ] = p.m_data[ 2 ];
00189 return *this;
00190 }
00191
00193 inline void set( real_t x_, real_t y_, real_t z_ ) {
00194 m_data[ 0 ] = x_;
00195 m_data[ 1 ] = y_;
00196 m_data[ 2 ] = z_;
00197 }
00198
00200
00206 inline real_t operator( ) ( unsigned int index ) const {
00207 assert( index < 3 );
00208 return m_data[ index ];
00209 }
00210
00212
00217 inline real_t& operator( ) ( unsigned int index ) {
00218 assert( index < 3 );
00219 return m_data[ index ];
00220 }
00221
00223
00229 inline math::vector3 operator+ ( const math::vector3& rhs ) const {
00230 return math::vector3(
00231 (m_data[ 0 ] + rhs.m_data[ 0 ]),
00232 (m_data[ 1 ] + rhs.m_data[ 1 ]),
00233 (m_data[ 2 ] + rhs.m_data[ 2 ])
00234 );
00235 }
00236
00238
00244 inline math::vector3 operator- ( const math::vector3& rhs ) const {
00245 return math::vector3(
00246 (m_data[ 0 ] - rhs.m_data[ 0 ]),
00247 (m_data[ 1 ] - rhs.m_data[ 1 ]),
00248 (m_data[ 2 ] - rhs.m_data[ 2 ])
00249 );
00250 }
00251
00253
00258 inline math::vector3 operator* ( const math::vector3& rhs ) const {
00259 return math::vector3(
00260 (m_data[ 0 ] * rhs.m_data[ 0 ]),
00261 (m_data[ 1 ] * rhs.m_data[ 1 ]),
00262 (m_data[ 2 ] * rhs.m_data[ 2 ])
00263 );
00264 }
00265
00267
00273 inline math::vector3 operator/ ( const math::vector3& rhs ) const {
00274 return math::vector3(
00275 (m_data[ 0 ] / rhs.m_data[ 0 ]),
00276 (m_data[ 1 ] / rhs.m_data[ 1 ]),
00277 (m_data[ 2 ] / rhs.m_data[ 2 ])
00278 );
00279 }
00280
00282
00285 inline math::vector3 operator- ( void ) const {
00286 return math::vector3(
00287 (m_data[ 0 ] * -1.0),
00288 (m_data[ 1 ] * -1.0),
00289 (m_data[ 2 ] * -1.0)
00290 );
00291 }
00292
00294
00301 inline math::vector3 operator* ( real_t rhs ) const {
00302 return math::vector3(
00303 (m_data[ 0 ] * rhs),
00304 (m_data[ 1 ] * rhs),
00305 (m_data[ 2 ] * rhs)
00306 );
00307 }
00308
00310
00316 inline math::vector3 operator/ ( real_t rhs ) const {
00317 return math::vector3(
00318 (m_data[ 0 ] / rhs),
00319 (m_data[ 1 ] / rhs),
00320 (m_data[ 2 ] / rhs)
00321 );
00322 }
00323
00325
00328 inline void operator-= ( const math::vector3& v ) {
00329 m_data[ 0 ] -= v.m_data[ 0 ];
00330 m_data[ 1 ] -= v.m_data[ 1 ];
00331 m_data[ 2 ] -= v.m_data[ 2 ];
00332 }
00333
00335
00338 inline void operator+= ( const math::vector3& v ) {
00339 m_data[ 0 ] += v.m_data[ 0 ];
00340 m_data[ 1 ] += v.m_data[ 1 ];
00341 m_data[ 2 ] += v.m_data[ 2 ];
00342 }
00343
00345
00349 inline void operator*= ( const math::vector3 &rhs ) {
00350 m_data[ 0 ] *= rhs.m_data[ 0 ];
00351 m_data[ 1 ] *= rhs.m_data[ 1 ];
00352 m_data[ 2 ] *= rhs.m_data[ 2 ];
00353 }
00354
00356
00361 inline void operator/= ( const math::vector3 &rhs ) {
00362 m_data[ 0 ] /= rhs.m_data[ 0 ];
00363 m_data[ 1 ] /= rhs.m_data[ 1 ];
00364 m_data[ 2 ] /= rhs.m_data[ 2 ];
00365 }
00366
00368
00372 inline void operator-= ( real_t rhs ) {
00373 m_data[ 0 ] -= rhs;
00374 m_data[ 1 ] -= rhs;
00375 m_data[ 2 ] -= rhs;
00376 }
00377
00379
00383 inline void operator+= ( real_t rhs ) {
00384 m_data[ 0 ] += rhs;
00385 m_data[ 1 ] += rhs;
00386 m_data[ 2 ] += rhs;
00387 }
00388
00390
00394 inline void operator*= ( real_t rhs ) {
00395 m_data[ 0 ] *= rhs;
00396 m_data[ 1 ] *= rhs;
00397 m_data[ 2 ] *= rhs;
00398 }
00399
00401
00406 inline void operator/= ( real_t rhs ) {
00407 m_data[ 0 ] /= rhs;
00408 m_data[ 1 ] /= rhs;
00409 m_data[ 2 ] /= rhs;
00410 }
00411
00413 inline real_t x( void ) const {
00414 return m_data[ 0 ];
00415 }
00416
00418 inline real_t y( void ) const {
00419 return m_data[ 1 ];
00420 }
00421
00423 inline real_t z( void ) const {
00424 return m_data[ 2 ];
00425 }
00426
00428 inline void x( real_t x_ ) {
00429 m_data[ 0 ] = x_;
00430 }
00431
00433 inline void y( real_t y_ ) {
00434 m_data[ 1 ] = y_;
00435 }
00436
00438 inline void z( real_t z_ ) {
00439 m_data[ 2 ] = z_;
00440 }
00441
00443
00446 inline double length( void ) const {
00447 return std::sqrt( (m_data[ 0 ] * m_data[ 0 ]) +
00448 (m_data[ 1 ] * m_data[ 1 ]) +
00449 (m_data[ 2 ] * m_data[ 2 ])
00450 );
00451 }
00452
00454
00457 inline void normalize( void ) {
00458 double len = length( );
00459 if( !math::equals( len, 0.0 ) ) {
00460 m_data[ 0 ] /= len;
00461 m_data[ 1 ] /= len;
00462 m_data[ 2 ] /= len;
00463 }
00464 }
00465
00467
00471 inline void negate( void )
00472 {
00473 m_data[ 0 ] *= -1.0;
00474 m_data[ 1 ] *= -1.0;
00475 m_data[ 2 ] *= -1.0;
00476 }
00477
00479
00484 inline bool operator== ( const math::vector3& rhs ) const {
00485 return (math::equals( m_data[ 0 ], rhs.m_data[ 0 ] ) &&
00486 math::equals( m_data[ 1 ], rhs.m_data[ 1 ] ) &&
00487 math::equals( m_data[ 2 ], rhs.m_data[ 2 ] )
00488 );
00489 }
00490
00492
00497 inline bool operator!= ( const math::vector3& rhs ) const {
00498 return !(math::equals( m_data[ 0 ], rhs.m_data[ 0 ] ) &&
00499 math::equals( m_data[ 1 ], rhs.m_data[ 1 ] ) &&
00500 math::equals( m_data[ 2 ], rhs.m_data[ 2 ] )
00501 );
00502 }
00503
00505
00508 inline operator const real_t*( void ) const {
00509 return m_data;
00510 }
00511
00513 static const vector3 ZERO;
00514 static const vector3 X_AXIS;
00515 static const vector3 Y_AXIS;
00516 static const vector3 Z_AXIS;
00517 };
00518
00519 #endif
