451 lines
11 KiB
C++
451 lines
11 KiB
C++
/* Copyright (C) 2017 Eric Wasylishen
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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See file, 'COPYING', for details.
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*/
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#ifndef __COMMON_QVEC_HH__
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#define __COMMON_QVEC_HH__
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#include <initializer_list>
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#include <cassert>
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#include <cmath>
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#include <string>
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#ifndef qmax // FIXME: Remove this ifdef
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#define qmax(a,b) (((a)>(b)) ? (a) : (b))
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#define qmin(a,b) (((a)>(b)) ? (b) : (a))
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#define qclamp(val, min, max) (qmax(qmin((val), (max)), (min)))
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#endif
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template <int N, class T>
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class qvec {
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protected:
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T v[N];
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public:
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qvec() {
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for (int i=0; i<N; i++)
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v[i] = 0;
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}
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qvec(const T &a) {
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for (int i=0; i<N; i++)
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v[i] = a;
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}
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qvec(const T &a, const T &b) {
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v[0] = a;
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if (1 < N)
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v[1] = b;
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for (int i=2; i<N; i++)
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v[i] = 0;
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}
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qvec(const T &a, const T &b, const T &c) {
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v[0] = a;
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if (1 < N)
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v[1] = b;
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if (2 < N)
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v[2] = c;
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for (int i=3; i<N; i++)
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v[i] = 0;
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}
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qvec(const T &a, const T &b, const T &c, const T &d) {
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v[0] = a;
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if (1 < N)
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v[1] = b;
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if (2 < N)
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v[2] = c;
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if (3 < N)
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v[3] = d;
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for (int i=4; i<N; i++)
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v[i] = 0;
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}
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/**
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* Casting from another vector type of the same length
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*/
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template <class T2>
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qvec(const qvec<N, T2> &other) {
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for (int i=0; i<N; i++)
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v[i] = static_cast<T>(other[i]);
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}
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template <int N2>
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qvec(const qvec<N2, T> &other) {
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const int minSize = qmin(N,N2);
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// truncates if `other` is longer than `this`
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for (int i=0; i<minSize; i++)
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v[i] = other[i];
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// zero-fill if `other` is smaller than `this`
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for (int i=minSize; i<N; i++)
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v[i] = 0;
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}
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bool operator==(const qvec<N,T> &other) const {
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for (int i=0; i<N; i++)
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if (v[i] != other.v[i])
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return false;
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return true;
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}
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T operator[](const int idx) const {
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assert(idx >= 0 && idx < N);
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return v[idx];
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}
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T &operator[](const int idx) {
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assert(idx >= 0 && idx < N);
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return v[idx];
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}
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void operator+=(const qvec<N,T> &other) {
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for (int i=0; i<N; i++)
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v[i] += other.v[i];
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}
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void operator-=(const qvec<N,T> &other) {
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for (int i=0; i<N; i++)
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v[i] -= other.v[i];
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}
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void operator*=(const T &scale) {
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for (int i=0; i<N; i++)
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v[i] *= scale;
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}
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void operator/=(const T &scale) {
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for (int i=0; i<N; i++)
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v[i] /= scale;
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}
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qvec<N,T> operator+(const qvec<N,T> &other) const {
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qvec<N,T> res(*this);
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res += other;
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return res;
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}
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qvec<N,T> operator-(const qvec<N,T> &other) const {
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qvec<N,T> res(*this);
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res -= other;
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return res;
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}
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qvec<N,T> operator*(const T &scale) const {
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qvec<N,T> res(*this);
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res *= scale;
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return res;
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}
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qvec<N,T> operator/(const T &scale) const {
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qvec<N,T> res(*this);
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res /= scale;
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return res;
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}
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};
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namespace qv {
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template <class T>
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qvec<3,T> cross(const qvec<3,T> &v1, const qvec<3,T> &v2) {
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return qvec<3,T>(v1[1] * v2[2] - v1[2] * v2[1],
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v1[2] * v2[0] - v1[0] * v2[2],
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v1[0] * v2[1] - v1[1] * v2[0]);
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}
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template <int N, class T>
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T dot(const qvec<N,T> &v1, const qvec<N,T> &v2) {
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T result = 0;
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for (int i=0; i<N; i++) {
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result += v1[i] * v2[i];
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}
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return result;
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}
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template <int N, class T>
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qvec<N,T> floor(const qvec<N,T> &v1) {
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qvec<N,T> res;
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for (int i=0; i<N; i++) {
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res[i] = std::floor(v1[i]);
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}
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return res;
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}
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template <int N, class T>
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qvec<N,T> pow(const qvec<N,T> &v1, const qvec<N,T> &v2) {
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qvec<N,T> res;
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for (int i=0; i<N; i++) {
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res[i] = std::pow(v1[i], v2[i]);
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}
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return res;
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}
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template <int N, class T>
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qvec<N,T> min(const qvec<N,T> &v1, const qvec<N,T> &v2) {
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qvec<N,T> res;
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for (int i=0; i<N; i++) {
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res[i] = qmin(v1[i], v2[i]);
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}
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return res;
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}
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template <int N, class T>
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qvec<N,T> max(const qvec<N,T> &v1, const qvec<N,T> &v2) {
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qvec<N,T> res;
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for (int i=0; i<N; i++) {
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res[i] = qmax(v1[i], v2[i]);
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}
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return res;
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}
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template <int N, class T>
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T length2(const qvec<N,T> &v1) {
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T len2 = 0;
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for (int i=0; i<N; i++) {
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len2 += (v1[i] * v1[i]);
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}
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return len2;
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}
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template <int N, class T>
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T length(const qvec<N,T> &v1) {
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return std::sqrt(length2(v1));
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}
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template <int N, class T>
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qvec<N,T> normalize(const qvec<N,T> &v1) {
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return v1 / length(v1);
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}
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template <int N, class T>
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T distance(const qvec<N,T> &v1, const qvec<N,T> &v2) {
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return length(v2 - v1);
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}
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std::string to_string(const qvec<3,float> &v1);
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template <int N, class T>
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bool epsilonEqual(const qvec<N,T> &v1, const qvec<N,T> &v2, T epsilon) {
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for (int i=0; i<N; i++) {
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T diff = v1[i] - v2[i];
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if (fabs(diff) > epsilon)
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return false;
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}
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return true;
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}
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};
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using qvec2f = qvec<2, float>;
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using qvec3f = qvec<3, float>;
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using qvec4f = qvec<4, float>;
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using qvec2d = qvec<2, double>;
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using qvec3d = qvec<3, double>;
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using qvec4d = qvec<4, double>;
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using qvec2i = qvec<2, int>;
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template <class T>
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class qplane3 {
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private:
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qvec<3, T> m_normal;
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T m_dist;
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public:
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qplane3(const qvec<3, T> &normal, const T &dist)
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: m_normal(normal),
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m_dist(dist) {}
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T distAbove(const qvec<3, T> &pt) const { return qv::dot(pt, m_normal) - m_dist; }
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const qvec<3, T> &normal() const { return m_normal; }
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const T dist() const { return m_dist; }
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const qvec<4, T> vec4() const { return qvec<4, T>(m_normal[0], m_normal[1], m_normal[2], m_dist); }
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};
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using qplane3f = qplane3<float>;
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using qplane3d = qplane3<double>;
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/**
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* M row, N column matrix.
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*/
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template <int M, int N, class T>
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class qmat {
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public:
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/**
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* Column-major order. [ (row0,col0), (row1,col0), .. ]
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*/
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T m_values[M*N];
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public:
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/**
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* Identity matrix if square, otherwise fill with 0
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*/
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qmat() {
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for (int i=0; i<M*N; i++)
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m_values[i] = 0;
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if (M == N) {
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// identity matrix
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for (int i=0; i<N; i++) {
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this->at(i,i) = 1;
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}
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}
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}
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/**
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* Fill with a value
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*/
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qmat(T val) {
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for (int i=0; i<M*N; i++)
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m_values[i] = val;
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}
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// copy constructor
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qmat(const qmat<M,N,T> &other) {
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for (int i=0; i<M*N; i++)
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this->m_values[i] = other.m_values[i];
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}
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/**
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* Casting from another matrix type of the same size
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*/
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template <class T2>
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qmat(const qmat<M, N, T2> &other) {
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for (int i=0; i<M*N; i++)
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this->m_values[i] = static_cast<T>(other.m_values[i]);
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}
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// initializer list, column-major order
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qmat(std::initializer_list<T> list) {
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assert(list.size() == M*N);
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const T *listPtr = list.begin();
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for (int i=0; i<M*N; i++) {
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this->m_values[i] = listPtr[i];
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}
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}
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bool operator==(const qmat<M,N,T> &other) const {
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for (int i=0; i<M*N; i++)
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if (this->m_values[i] != other.m_values[i])
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return false;
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return true;
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}
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// access to elements
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T& at(int row, int col) {
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assert(row >= 0 && row < M);
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assert(col >= 0 && col < N);
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return m_values[col * M + row];
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}
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T at(int row, int col) const {
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assert(row >= 0 && row < M);
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assert(col >= 0 && col < N);
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return m_values[col * M + row];
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}
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// hacky accessor for mat[col][row] access
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const T* operator[](int col) const {
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assert(col >= 0 && col < N);
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return &m_values[col * M];
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}
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T* operator[](int col) {
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assert(col >= 0 && col < N);
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return &m_values[col * M];
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}
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// multiplication by a vector
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qvec<M,T> operator*(const qvec<N, T> &vec) const {
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qvec<M,T> res(0);
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for (int i=0; i<M; i++) { // for each row
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for (int j=0; j<N; j++) { // for each col
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res[i] += this->at(i, j) * vec[j];
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}
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}
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return res;
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}
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// multiplication by a matrix
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template<int P>
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qmat<M,P,T> operator*(const qmat<N, P, T> &other) const {
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qmat<M,P,T> res;
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for (int i=0; i<M; i++) {
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for (int j=0; j<P; j++) {
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T val = 0;
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for (int k=0; k<N; k++) {
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val += this->at(i,k) * other.at(k,j);
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}
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res.at(i,j) = val;
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}
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}
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return res;
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}
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// multiplication by a scalar
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qmat<M,N,T> operator*(const T scalar) const {
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qmat<M,N,T> res(*this);
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for (int i=0; i<M*N; i++) {
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res.m_values[i] *= scalar;
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}
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return res;
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}
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};
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using qmat2x2f = qmat<2, 2, float>;
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using qmat2x3f = qmat<2, 3, float>;
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using qmat2x4f = qmat<2, 4, float>;
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using qmat3x2f = qmat<3, 2, float>;
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using qmat3x3f = qmat<3, 3, float>;
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using qmat3x4f = qmat<3, 4, float>;
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using qmat4x2f = qmat<4, 2, float>;
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using qmat4x3f = qmat<4, 3, float>;
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using qmat4x4f = qmat<4, 4, float>;
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using qmat2x2d = qmat<2, 2, double>;
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using qmat2x3d = qmat<2, 3, double>;
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using qmat2x4d = qmat<2, 4, double>;
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using qmat3x2d = qmat<3, 2, double>;
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using qmat3x3d = qmat<3, 3, double>;
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using qmat3x4d = qmat<3, 4, double>;
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using qmat4x2d = qmat<4, 2, double>;
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using qmat4x3d = qmat<4, 3, double>;
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using qmat4x4d = qmat<4, 4, double>;
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namespace qv {
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/**
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* These return a matrix filled with NaN if there is no inverse.
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*/
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qmat4x4f inverse(const qmat4x4f &input);
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qmat4x4d inverse(const qmat4x4d &input);
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qmat2x2f inverse(const qmat2x2f &input);
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};
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#endif /* __COMMON_QVEC_HH__ */
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