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/*
===========================================================================
Doom 3 BFG Edition GPL Source Code
Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below.
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
===========================================================================
*/
#ifndef __MATH_VECTOR_H__
#define __MATH_VECTOR_H__
/*
===============================================================================
Vector classes
===============================================================================
*/
#include "../containers/Array.h" // for idTupleSize
#define VECTOR_EPSILON 0.001f
class idAngles;
class idPolar3;
class idMat3;
//===============================================================
//
// idVec2 - 2D vector
//
//===============================================================
class idVec2 {
public:
float x;
float y;
idVec2();
explicit idVec2( const float x, const float y );
void Set( const float x, const float y );
void Zero();
float operator[]( int index ) const;
float & operator[]( int index );
idVec2 operator-() const;
float operator*( const idVec2 &a ) const;
idVec2 operator*( const float a ) const;
idVec2 operator/( const float a ) const;
idVec2 operator+( const idVec2 &a ) const;
idVec2 operator-( const idVec2 &a ) const;
idVec2 & operator+=( const idVec2 &a );
idVec2 & operator-=( const idVec2 &a );
idVec2 & operator/=( const idVec2 &a );
idVec2 & operator/=( const float a );
idVec2 & operator*=( const float a );
friend idVec2 operator*( const float a, const idVec2 b );
idVec2 Scale( const idVec2 &a ) const;
bool Compare( const idVec2 &a ) const; // exact compare, no epsilon
bool Compare( const idVec2 &a, const float epsilon ) const; // compare with epsilon
bool operator==( const idVec2 &a ) const; // exact compare, no epsilon
bool operator!=( const idVec2 &a ) const; // exact compare, no epsilon
float Length() const;
float LengthFast() const;
float LengthSqr() const;
float Normalize(); // returns length
float NormalizeFast(); // returns length
idVec2 Truncate( float length ) const; // cap length
void Clamp( const idVec2 &min, const idVec2 &max );
void Snap(); // snap to closest integer value
void SnapInt(); // snap towards integer (floor)
int GetDimension() const;
const float * ToFloatPtr() const;
float * ToFloatPtr();
const char * ToString( int precision = 2 ) const;
void Lerp( const idVec2 &v1, const idVec2 &v2, const float l );
};
extern idVec2 vec2_origin;
#define vec2_zero vec2_origin
ID_INLINE idVec2::idVec2() {
}
ID_INLINE idVec2::idVec2( const float x, const float y ) {
this->x = x;
this->y = y;
}
ID_INLINE void idVec2::Set( const float x, const float y ) {
this->x = x;
this->y = y;
}
ID_INLINE void idVec2::Zero() {
x = y = 0.0f;
}
ID_INLINE bool idVec2::Compare( const idVec2 &a ) const {
return ( ( x == a.x ) && ( y == a.y ) );
}
ID_INLINE bool idVec2::Compare( const idVec2 &a, const float epsilon ) const {
if ( idMath::Fabs( x - a.x ) > epsilon ) {
return false;
}
if ( idMath::Fabs( y - a.y ) > epsilon ) {
return false;
}
return true;
}
ID_INLINE bool idVec2::operator==( const idVec2 &a ) const {
return Compare( a );
}
ID_INLINE bool idVec2::operator!=( const idVec2 &a ) const {
return !Compare( a );
}
ID_INLINE float idVec2::operator[]( int index ) const {
return ( &x )[ index ];
}
ID_INLINE float& idVec2::operator[]( int index ) {
return ( &x )[ index ];
}
ID_INLINE float idVec2::Length() const {
return ( float )idMath::Sqrt( x * x + y * y );
}
ID_INLINE float idVec2::LengthFast() const {
float sqrLength;
sqrLength = x * x + y * y;
return sqrLength * idMath::InvSqrt( sqrLength );
}
ID_INLINE float idVec2::LengthSqr() const {
return ( x * x + y * y );
}
ID_INLINE float idVec2::Normalize() {
float sqrLength, invLength;
sqrLength = x * x + y * y;
invLength = idMath::InvSqrt( sqrLength );
x *= invLength;
y *= invLength;
return invLength * sqrLength;
}
ID_INLINE float idVec2::NormalizeFast() {
float lengthSqr, invLength;
lengthSqr = x * x + y * y;
invLength = idMath::InvSqrt( lengthSqr );
x *= invLength;
y *= invLength;
return invLength * lengthSqr;
}
ID_INLINE idVec2 idVec2::Truncate( float length ) const {
if ( length < idMath::FLT_SMALLEST_NON_DENORMAL ) {
return vec2_zero;
} else {
float length2 = LengthSqr();
if ( length2 > length * length ) {
float ilength = length * idMath::InvSqrt( length2 );
return *this * ilength;
}
}
return *this;
}
ID_INLINE void idVec2::Clamp( const idVec2 &min, const idVec2 &max ) {
if ( x < min.x ) {
x = min.x;
} else if ( x > max.x ) {
x = max.x;
}
if ( y < min.y ) {
y = min.y;
} else if ( y > max.y ) {
y = max.y;
}
}
ID_INLINE void idVec2::Snap() {
x = floor( x + 0.5f );
y = floor( y + 0.5f );
}
ID_INLINE void idVec2::SnapInt() {
x = float( int( x ) );
y = float( int( y ) );
}
ID_INLINE idVec2 idVec2::operator-() const {
return idVec2( -x, -y );
}
ID_INLINE idVec2 idVec2::operator-( const idVec2 &a ) const {
return idVec2( x - a.x, y - a.y );
}
ID_INLINE float idVec2::operator*( const idVec2 &a ) const {
return x * a.x + y * a.y;
}
ID_INLINE idVec2 idVec2::operator*( const float a ) const {
return idVec2( x * a, y * a );
}
ID_INLINE idVec2 idVec2::operator/( const float a ) const {
float inva = 1.0f / a;
return idVec2( x * inva, y * inva );
}
ID_INLINE idVec2 operator*( const float a, const idVec2 b ) {
return idVec2( b.x * a, b.y * a );
}
ID_INLINE idVec2 idVec2::operator+( const idVec2 &a ) const {
return idVec2( x + a.x, y + a.y );
}
ID_INLINE idVec2 &idVec2::operator+=( const idVec2 &a ) {
x += a.x;
y += a.y;
return *this;
}
ID_INLINE idVec2 &idVec2::operator/=( const idVec2 &a ) {
x /= a.x;
y /= a.y;
return *this;
}
ID_INLINE idVec2 &idVec2::operator/=( const float a ) {
float inva = 1.0f / a;
x *= inva;
y *= inva;
return *this;
}
ID_INLINE idVec2 &idVec2::operator-=( const idVec2 &a ) {
x -= a.x;
y -= a.y;
return *this;
}
ID_INLINE idVec2 &idVec2::operator*=( const float a ) {
x *= a;
y *= a;
return *this;
}
ID_INLINE idVec2 idVec2::Scale( const idVec2 &a ) const {
return idVec2( x * a.x, y * a.y );
}
ID_INLINE int idVec2::GetDimension() const {
return 2;
}
ID_INLINE const float *idVec2::ToFloatPtr() const {
return &x;
}
ID_INLINE float *idVec2::ToFloatPtr() {
return &x;
}
//===============================================================
//
// idVec3 - 3D vector
//
//===============================================================
class idVec3 {
public:
float x;
float y;
float z;
idVec3();
explicit idVec3( const float xyz ) { Set( xyz, xyz, xyz ); }
explicit idVec3( const float x, const float y, const float z );
void Set( const float x, const float y, const float z );
void Zero();
float operator[]( const int index ) const;
float & operator[]( const int index );
idVec3 operator-() const;
idVec3 & operator=( const idVec3 &a ); // required because of a msvc 6 & 7 bug
float operator*( const idVec3 &a ) const;
idVec3 operator*( const float a ) const;
idVec3 operator/( const float a ) const;
idVec3 operator+( const idVec3 &a ) const;
idVec3 operator-( const idVec3 &a ) const;
idVec3 & operator+=( const idVec3 &a );
idVec3 & operator-=( const idVec3 &a );
idVec3 & operator/=( const idVec3 &a );
idVec3 & operator/=( const float a );
idVec3 & operator*=( const float a );
friend idVec3 operator*( const float a, const idVec3 b );
bool Compare( const idVec3 &a ) const; // exact compare, no epsilon
bool Compare( const idVec3 &a, const float epsilon ) const; // compare with epsilon
bool operator==( const idVec3 &a ) const; // exact compare, no epsilon
bool operator!=( const idVec3 &a ) const; // exact compare, no epsilon
bool FixDegenerateNormal(); // fix degenerate axial cases
bool FixDenormals(); // change tiny numbers to zero
idVec3 Cross( const idVec3 &a ) const;
idVec3 & Cross( const idVec3 &a, const idVec3 &b );
float Length() const;
float LengthSqr() const;
float LengthFast() const;
float Normalize(); // returns length
float NormalizeFast(); // returns length
idVec3 Truncate( float length ) const; // cap length
void Clamp( const idVec3 &min, const idVec3 &max );
void Snap(); // snap to closest integer value
void SnapInt(); // snap towards integer (floor)
int GetDimension() const;
float ToYaw() const;
float ToPitch() const;
idAngles ToAngles() const;
idPolar3 ToPolar() const;
idMat3 ToMat3() const; // vector should be normalized
const idVec2 & ToVec2() const;
idVec2 & ToVec2();
const float * ToFloatPtr() const;
float * ToFloatPtr();
const char * ToString( int precision = 2 ) const;
void NormalVectors( idVec3 &left, idVec3 &down ) const; // vector should be normalized
void OrthogonalBasis( idVec3 &left, idVec3 &up ) const;
void ProjectOntoPlane( const idVec3 &normal, const float overBounce = 1.0f );
bool ProjectAlongPlane( const idVec3 &normal, const float epsilon, const float overBounce = 1.0f );
void ProjectSelfOntoSphere( const float radius );
void Lerp( const idVec3 &v1, const idVec3 &v2, const float l );
void SLerp( const idVec3 &v1, const idVec3 &v2, const float l );
};
extern idVec3 vec3_origin;
#define vec3_zero vec3_origin
ID_INLINE idVec3::idVec3() {
}
ID_INLINE idVec3::idVec3( const float x, const float y, const float z ) {
this->x = x;
this->y = y;
this->z = z;
}
ID_INLINE float idVec3::operator[]( const int index ) const {
return ( &x )[ index ];
}
ID_INLINE float &idVec3::operator[]( const int index ) {
return ( &x )[ index ];
}
ID_INLINE void idVec3::Set( const float x, const float y, const float z ) {
this->x = x;
this->y = y;
this->z = z;
}
ID_INLINE void idVec3::Zero() {
x = y = z = 0.0f;
}
ID_INLINE idVec3 idVec3::operator-() const {
return idVec3( -x, -y, -z );
}
ID_INLINE idVec3 &idVec3::operator=( const idVec3 &a ) {
x = a.x;
y = a.y;
z = a.z;
return *this;
}
ID_INLINE idVec3 idVec3::operator-( const idVec3 &a ) const {
return idVec3( x - a.x, y - a.y, z - a.z );
}
ID_INLINE float idVec3::operator*( const idVec3 &a ) const {
return x * a.x + y * a.y + z * a.z;
}
ID_INLINE idVec3 idVec3::operator*( const float a ) const {
return idVec3( x * a, y * a, z * a );
}
ID_INLINE idVec3 idVec3::operator/( const float a ) const {
float inva = 1.0f / a;
return idVec3( x * inva, y * inva, z * inva );
}
ID_INLINE idVec3 operator*( const float a, const idVec3 b ) {
return idVec3( b.x * a, b.y * a, b.z * a );
}
ID_INLINE idVec3 idVec3::operator+( const idVec3 &a ) const {
return idVec3( x + a.x, y + a.y, z + a.z );
}
ID_INLINE idVec3 &idVec3::operator+=( const idVec3 &a ) {
x += a.x;
y += a.y;
z += a.z;
return *this;
}
ID_INLINE idVec3 &idVec3::operator/=( const idVec3 &a ) {
x /= a.x;
y /= a.y;
z /= a.z;
return *this;
}
ID_INLINE idVec3 &idVec3::operator/=( const float a ) {
float inva = 1.0f / a;
x *= inva;
y *= inva;
z *= inva;
return *this;
}
ID_INLINE idVec3 &idVec3::operator-=( const idVec3 &a ) {
x -= a.x;
y -= a.y;
z -= a.z;
return *this;
}
ID_INLINE idVec3 &idVec3::operator*=( const float a ) {
x *= a;
y *= a;
z *= a;
return *this;
}
ID_INLINE bool idVec3::Compare( const idVec3 &a ) const {
return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) );
}
ID_INLINE bool idVec3::Compare( const idVec3 &a, const float epsilon ) const {
if ( idMath::Fabs( x - a.x ) > epsilon ) {
return false;
}
if ( idMath::Fabs( y - a.y ) > epsilon ) {
return false;
}
if ( idMath::Fabs( z - a.z ) > epsilon ) {
return false;
}
return true;
}
ID_INLINE bool idVec3::operator==( const idVec3 &a ) const {
return Compare( a );
}
ID_INLINE bool idVec3::operator!=( const idVec3 &a ) const {
return !Compare( a );
}
ID_INLINE float idVec3::NormalizeFast() {
float sqrLength, invLength;
sqrLength = x * x + y * y + z * z;
invLength = idMath::InvSqrt( sqrLength );
x *= invLength;
y *= invLength;
z *= invLength;
return invLength * sqrLength;
}
ID_INLINE bool idVec3::FixDegenerateNormal() {
if ( x == 0.0f ) {
if ( y == 0.0f ) {
if ( z > 0.0f ) {
if ( z != 1.0f ) {
z = 1.0f;
return true;
}
} else {
if ( z != -1.0f ) {
z = -1.0f;
return true;
}
}
return false;
} else if ( z == 0.0f ) {
if ( y > 0.0f ) {
if ( y != 1.0f ) {
y = 1.0f;
return true;
}
} else {
if ( y != -1.0f ) {
y = -1.0f;
return true;
}
}
return false;
}
} else if ( y == 0.0f ) {
if ( z == 0.0f ) {
if ( x > 0.0f ) {
if ( x != 1.0f ) {
x = 1.0f;
return true;
}
} else {
if ( x != -1.0f ) {
x = -1.0f;
return true;
}
}
return false;
}
}
if ( idMath::Fabs( x ) == 1.0f ) {
if ( y != 0.0f || z != 0.0f ) {
y = z = 0.0f;
return true;
}
return false;
} else if ( idMath::Fabs( y ) == 1.0f ) {
if ( x != 0.0f || z != 0.0f ) {
x = z = 0.0f;
return true;
}
return false;
} else if ( idMath::Fabs( z ) == 1.0f ) {
if ( x != 0.0f || y != 0.0f ) {
x = y = 0.0f;
return true;
}
return false;
}
return false;
}
ID_INLINE bool idVec3::FixDenormals() {
bool denormal = false;
if ( fabs( x ) < 1e-30f ) {
x = 0.0f;
denormal = true;
}
if ( fabs( y ) < 1e-30f ) {
y = 0.0f;
denormal = true;
}
if ( fabs( z ) < 1e-30f ) {
z = 0.0f;
denormal = true;
}
return denormal;
}
ID_INLINE idVec3 idVec3::Cross( const idVec3 &a ) const {
return idVec3( y * a.z - z * a.y, z * a.x - x * a.z, x * a.y - y * a.x );
}
ID_INLINE idVec3 &idVec3::Cross( const idVec3 &a, const idVec3 &b ) {
x = a.y * b.z - a.z * b.y;
y = a.z * b.x - a.x * b.z;
z = a.x * b.y - a.y * b.x;
return *this;
}
ID_INLINE float idVec3::Length() const {
return ( float )idMath::Sqrt( x * x + y * y + z * z );
}
ID_INLINE float idVec3::LengthSqr() const {
return ( x * x + y * y + z * z );
}
ID_INLINE float idVec3::LengthFast() const {
float sqrLength;
sqrLength = x * x + y * y + z * z;
return sqrLength * idMath::InvSqrt( sqrLength );
}
ID_INLINE float idVec3::Normalize() {
float sqrLength, invLength;
sqrLength = x * x + y * y + z * z;
invLength = idMath::InvSqrt( sqrLength );
x *= invLength;
y *= invLength;
z *= invLength;
return invLength * sqrLength;
}
ID_INLINE idVec3 idVec3::Truncate( float length ) const {
if ( length < idMath::FLT_SMALLEST_NON_DENORMAL ) {
return vec3_zero;
} else {
float length2 = LengthSqr();
if ( length2 > length * length ) {
float ilength = length * idMath::InvSqrt( length2 );
return *this * ilength;
}
}
return *this;
}
ID_INLINE void idVec3::Clamp( const idVec3 &min, const idVec3 &max ) {
if ( x < min.x ) {
x = min.x;
} else if ( x > max.x ) {
x = max.x;
}
if ( y < min.y ) {
y = min.y;
} else if ( y > max.y ) {
y = max.y;
}
if ( z < min.z ) {
z = min.z;
} else if ( z > max.z ) {
z = max.z;
}
}
ID_INLINE void idVec3::Snap() {
x = floor( x + 0.5f );
y = floor( y + 0.5f );
z = floor( z + 0.5f );
}
ID_INLINE void idVec3::SnapInt() {
x = float( int( x ) );
y = float( int( y ) );
z = float( int( z ) );
}
ID_INLINE int idVec3::GetDimension() const {
return 3;
}
ID_INLINE const idVec2 &idVec3::ToVec2() const {
return *reinterpret_cast<const idVec2 *>(this);
}
ID_INLINE idVec2 &idVec3::ToVec2() {
return *reinterpret_cast<idVec2 *>(this);
}
ID_INLINE const float *idVec3::ToFloatPtr() const {
return &x;
}
ID_INLINE float *idVec3::ToFloatPtr() {
return &x;
}
ID_INLINE void idVec3::NormalVectors( idVec3 &left, idVec3 &down ) const {
float d;
d = x * x + y * y;
if ( !d ) {
left[0] = 1;
left[1] = 0;
left[2] = 0;
} else {
d = idMath::InvSqrt( d );
left[0] = -y * d;
left[1] = x * d;
left[2] = 0;
}
down = left.Cross( *this );
}
ID_INLINE void idVec3::OrthogonalBasis( idVec3 &left, idVec3 &up ) const {
float l, s;
if ( idMath::Fabs( z ) > 0.7f ) {
l = y * y + z * z;
s = idMath::InvSqrt( l );
up[0] = 0;
up[1] = z * s;
up[2] = -y * s;
left[0] = l * s;
left[1] = -x * up[2];
left[2] = x * up[1];
}
else {
l = x * x + y * y;
s = idMath::InvSqrt( l );
left[0] = -y * s;
left[1] = x * s;
left[2] = 0;
up[0] = -z * left[1];
up[1] = z * left[0];
up[2] = l * s;
}
}
ID_INLINE void idVec3::ProjectOntoPlane( const idVec3 &normal, const float overBounce ) {
float backoff;
backoff = *this * normal;
if ( overBounce != 1.0 ) {
if ( backoff < 0 ) {
backoff *= overBounce;
} else {
backoff /= overBounce;
}
}
*this -= backoff * normal;
}
ID_INLINE bool idVec3::ProjectAlongPlane( const idVec3 &normal, const float epsilon, const float overBounce ) {
idVec3 cross;
float len;
cross = this->Cross( normal ).Cross( (*this) );
// normalize so a fixed epsilon can be used
cross.Normalize();
len = normal * cross;
if ( idMath::Fabs( len ) < epsilon ) {
return false;
}
cross *= overBounce * ( normal * (*this) ) / len;
(*this) -= cross;
return true;
}
//===============================================================
//
// idTupleSize< idVec3 > - Specialization to get the size
// of an idVec3 generically.
//
//===============================================================
template<>
struct idTupleSize< idVec3 > {
enum { value = 3 };
};
//===============================================================
//
// idVec4 - 4D vector
//
//===============================================================
class idVec4 {
public:
float x;
float y;
float z;
float w;
idVec4() { }
explicit idVec4( const float x ) { Set( x, x, x, x ); }
explicit idVec4( const float x, const float y, const float z, const float w ) { Set( x, y, z, w ); }
void Set( const float x, const float y, const float z, const float w );
void Zero();
float operator[]( const int index ) const;
float & operator[]( const int index );
idVec4 operator-() const;
float operator*( const idVec4 &a ) const;
idVec4 operator*( const float a ) const;
idVec4 operator/( const float a ) const;
idVec4 operator+( const idVec4 &a ) const;
idVec4 operator-( const idVec4 &a ) const;
idVec4 & operator+=( const idVec4 &a );
idVec4 & operator-=( const idVec4 &a );
idVec4 & operator/=( const idVec4 &a );
idVec4 & operator/=( const float a );
idVec4 & operator*=( const float a );
friend idVec4 operator*( const float a, const idVec4 b );
idVec4 Multiply( const idVec4 & a ) const;
bool Compare( const idVec4 &a ) const; // exact compare, no epsilon
bool Compare( const idVec4 &a, const float epsilon ) const; // compare with epsilon
bool operator==( const idVec4 &a ) const; // exact compare, no epsilon
bool operator!=( const idVec4 &a ) const; // exact compare, no epsilon
float Length() const;
float LengthSqr() const;
float Normalize(); // returns length
float NormalizeFast(); // returns length
int GetDimension() const;
const idVec2 & ToVec2() const;
idVec2 & ToVec2();
const idVec3 & ToVec3() const;
idVec3 & ToVec3();
const float * ToFloatPtr() const;
float * ToFloatPtr();
const char * ToString( int precision = 2 ) const;
void Lerp( const idVec4 &v1, const idVec4 &v2, const float l );
};
extern idVec4 vec4_origin;
#define vec4_zero vec4_origin
ID_INLINE void idVec4::Set( const float x, const float y, const float z, const float w ) {
this->x = x;
this->y = y;
this->z = z;
this->w = w;
}
ID_INLINE void idVec4::Zero() {
x = y = z = w = 0.0f;
}
ID_INLINE float idVec4::operator[]( int index ) const {
return ( &x )[ index ];
}
ID_INLINE float& idVec4::operator[]( int index ) {
return ( &x )[ index ];
}
ID_INLINE idVec4 idVec4::operator-() const {
return idVec4( -x, -y, -z, -w );
}
ID_INLINE idVec4 idVec4::operator-( const idVec4 &a ) const {
return idVec4( x - a.x, y - a.y, z - a.z, w - a.w );
}
ID_INLINE float idVec4::operator*( const idVec4 &a ) const {
return x * a.x + y * a.y + z * a.z + w * a.w;
}
ID_INLINE idVec4 idVec4::operator*( const float a ) const {
return idVec4( x * a, y * a, z * a, w * a );
}
ID_INLINE idVec4 idVec4::operator/( const float a ) const {
float inva = 1.0f / a;
return idVec4( x * inva, y * inva, z * inva, w * inva );
}
ID_INLINE idVec4 operator*( const float a, const idVec4 b ) {
return idVec4( b.x * a, b.y * a, b.z * a, b.w * a );
}
ID_INLINE idVec4 idVec4::operator+( const idVec4 &a ) const {
return idVec4( x + a.x, y + a.y, z + a.z, w + a.w );
}
ID_INLINE idVec4 &idVec4::operator+=( const idVec4 &a ) {
x += a.x;
y += a.y;
z += a.z;
w += a.w;
return *this;
}
ID_INLINE idVec4 &idVec4::operator/=( const idVec4 &a ) {
x /= a.x;
y /= a.y;
z /= a.z;
w /= a.w;
return *this;
}
ID_INLINE idVec4 &idVec4::operator/=( const float a ) {
float inva = 1.0f / a;
x *= inva;
y *= inva;
z *= inva;
w *= inva;
return *this;
}
ID_INLINE idVec4 &idVec4::operator-=( const idVec4 &a ) {
x -= a.x;
y -= a.y;
z -= a.z;
w -= a.w;
return *this;
}
ID_INLINE idVec4 &idVec4::operator*=( const float a ) {
x *= a;
y *= a;
z *= a;
w *= a;
return *this;
}
ID_INLINE idVec4 idVec4::Multiply( const idVec4 & a ) const {
return idVec4( x * a.x, y * a.y, z * a.z, w * a.w );
}
ID_INLINE bool idVec4::Compare( const idVec4 &a ) const {
return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) && w == a.w );
}
ID_INLINE bool idVec4::Compare( const idVec4 &a, const float epsilon ) const {
if ( idMath::Fabs( x - a.x ) > epsilon ) {
return false;
}
if ( idMath::Fabs( y - a.y ) > epsilon ) {
return false;
}
if ( idMath::Fabs( z - a.z ) > epsilon ) {
return false;
}
if ( idMath::Fabs( w - a.w ) > epsilon ) {
return false;
}
return true;
}
ID_INLINE bool idVec4::operator==( const idVec4 &a ) const {
return Compare( a );
}
ID_INLINE bool idVec4::operator!=( const idVec4 &a ) const {
return !Compare( a );
}
ID_INLINE float idVec4::Length() const {
return ( float )idMath::Sqrt( x * x + y * y + z * z + w * w );
}
ID_INLINE float idVec4::LengthSqr() const {
return ( x * x + y * y + z * z + w * w );
}
ID_INLINE float idVec4::Normalize() {
float sqrLength, invLength;
sqrLength = x * x + y * y + z * z + w * w;
invLength = idMath::InvSqrt( sqrLength );
x *= invLength;
y *= invLength;
z *= invLength;
w *= invLength;
return invLength * sqrLength;
}
ID_INLINE float idVec4::NormalizeFast() {
float sqrLength, invLength;
sqrLength = x * x + y * y + z * z + w * w;
invLength = idMath::InvSqrt( sqrLength );
x *= invLength;
y *= invLength;
z *= invLength;
w *= invLength;
return invLength * sqrLength;
}
ID_INLINE int idVec4::GetDimension() const {
return 4;
}
ID_INLINE const idVec2 &idVec4::ToVec2() const {
return *reinterpret_cast<const idVec2 *>(this);
}
ID_INLINE idVec2 &idVec4::ToVec2() {
return *reinterpret_cast<idVec2 *>(this);
}
ID_INLINE const idVec3 &idVec4::ToVec3() const {
return *reinterpret_cast<const idVec3 *>(this);
}
ID_INLINE idVec3 &idVec4::ToVec3() {
return *reinterpret_cast<idVec3 *>(this);
}
ID_INLINE const float *idVec4::ToFloatPtr() const {
return &x;
}
ID_INLINE float *idVec4::ToFloatPtr() {
return &x;
}
//===============================================================
//
// idVec5 - 5D vector
//
//===============================================================
class idVec5 {
public:
float x;
float y;
float z;
float s;
float t;
idVec5();
explicit idVec5( const idVec3 &xyz, const idVec2 &st );
explicit idVec5( const float x, const float y, const float z, const float s, const float t );
float operator[]( int index ) const;
float & operator[]( int index );
idVec5 & operator=( const idVec3 &a );
int GetDimension() const;
const idVec3 & ToVec3() const;
idVec3 & ToVec3();
const float * ToFloatPtr() const;
float * ToFloatPtr();
const char * ToString( int precision = 2 ) const;
void Lerp( const idVec5 &v1, const idVec5 &v2, const float l );
};
extern idVec5 vec5_origin;
#define vec5_zero vec5_origin
ID_INLINE idVec5::idVec5() {
}
ID_INLINE idVec5::idVec5( const idVec3 &xyz, const idVec2 &st ) {
x = xyz.x;
y = xyz.y;
z = xyz.z;
s = st[0];
t = st[1];
}
ID_INLINE idVec5::idVec5( const float x, const float y, const float z, const float s, const float t ) {
this->x = x;
this->y = y;
this->z = z;
this->s = s;
this->t = t;
}
ID_INLINE float idVec5::operator[]( int index ) const {
return ( &x )[ index ];
}
ID_INLINE float& idVec5::operator[]( int index ) {
return ( &x )[ index ];
}
ID_INLINE idVec5 &idVec5::operator=( const idVec3 &a ) {
x = a.x;
y = a.y;
z = a.z;
s = t = 0;
return *this;
}
ID_INLINE int idVec5::GetDimension() const {
return 5;
}
ID_INLINE const idVec3 &idVec5::ToVec3() const {
return *reinterpret_cast<const idVec3 *>(this);
}
ID_INLINE idVec3 &idVec5::ToVec3() {
return *reinterpret_cast<idVec3 *>(this);
}
ID_INLINE const float *idVec5::ToFloatPtr() const {
return &x;
}
ID_INLINE float *idVec5::ToFloatPtr() {
return &x;
}
//===============================================================
//
// idVec6 - 6D vector
//
//===============================================================
class idVec6 {
public:
idVec6();
explicit idVec6( const float *a );
explicit idVec6( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
void Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
void Zero();
float operator[]( const int index ) const;
float & operator[]( const int index );
idVec6 operator-() const;
idVec6 operator*( const float a ) const;
idVec6 operator/( const float a ) const;
float operator*( const idVec6 &a ) const;
idVec6 operator-( const idVec6 &a ) const;
idVec6 operator+( const idVec6 &a ) const;
idVec6 & operator*=( const float a );
idVec6 & operator/=( const float a );
idVec6 & operator+=( const idVec6 &a );
idVec6 & operator-=( const idVec6 &a );
friend idVec6 operator*( const float a, const idVec6 b );
bool Compare( const idVec6 &a ) const; // exact compare, no epsilon
bool Compare( const idVec6 &a, const float epsilon ) const; // compare with epsilon
bool operator==( const idVec6 &a ) const; // exact compare, no epsilon
bool operator!=( const idVec6 &a ) const; // exact compare, no epsilon
float Length() const;
float LengthSqr() const;
float Normalize(); // returns length
float NormalizeFast(); // returns length
int GetDimension() const;
const idVec3 & SubVec3( int index ) const;
idVec3 & SubVec3( int index );
const float * ToFloatPtr() const;
float * ToFloatPtr();
const char * ToString( int precision = 2 ) const;
private:
float p[6];
};
extern idVec6 vec6_origin;
#define vec6_zero vec6_origin
extern idVec6 vec6_infinity;
ID_INLINE idVec6::idVec6() {
}
ID_INLINE idVec6::idVec6( const float *a ) {
memcpy( p, a, 6 * sizeof( float ) );
}
ID_INLINE idVec6::idVec6( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
p[0] = a1;
p[1] = a2;
p[2] = a3;
p[3] = a4;
p[4] = a5;
p[5] = a6;
}
ID_INLINE idVec6 idVec6::operator-() const {
return idVec6( -p[0], -p[1], -p[2], -p[3], -p[4], -p[5] );
}
ID_INLINE float idVec6::operator[]( const int index ) const {
return p[index];
}
ID_INLINE float &idVec6::operator[]( const int index ) {
return p[index];
}
ID_INLINE idVec6 idVec6::operator*( const float a ) const {
return idVec6( p[0]*a, p[1]*a, p[2]*a, p[3]*a, p[4]*a, p[5]*a );
}
ID_INLINE float idVec6::operator*( const idVec6 &a ) const {
return p[0] * a[0] + p[1] * a[1] + p[2] * a[2] + p[3] * a[3] + p[4] * a[4] + p[5] * a[5];
}
ID_INLINE idVec6 idVec6::operator/( const float a ) const {
float inva;
assert( a != 0.0f );
inva = 1.0f / a;
return idVec6( p[0]*inva, p[1]*inva, p[2]*inva, p[3]*inva, p[4]*inva, p[5]*inva );
}
ID_INLINE idVec6 idVec6::operator+( const idVec6 &a ) const {
return idVec6( p[0] + a[0], p[1] + a[1], p[2] + a[2], p[3] + a[3], p[4] + a[4], p[5] + a[5] );
}
ID_INLINE idVec6 idVec6::operator-( const idVec6 &a ) const {
return idVec6( p[0] - a[0], p[1] - a[1], p[2] - a[2], p[3] - a[3], p[4] - a[4], p[5] - a[5] );
}
ID_INLINE idVec6 &idVec6::operator*=( const float a ) {
p[0] *= a;
p[1] *= a;
p[2] *= a;
p[3] *= a;
p[4] *= a;
p[5] *= a;
return *this;
}
ID_INLINE idVec6 &idVec6::operator/=( const float a ) {
float inva;
assert( a != 0.0f );
inva = 1.0f / a;
p[0] *= inva;
p[1] *= inva;
p[2] *= inva;
p[3] *= inva;
p[4] *= inva;
p[5] *= inva;
return *this;
}
ID_INLINE idVec6 &idVec6::operator+=( const idVec6 &a ) {
p[0] += a[0];
p[1] += a[1];
p[2] += a[2];
p[3] += a[3];
p[4] += a[4];
p[5] += a[5];
return *this;
}
ID_INLINE idVec6 &idVec6::operator-=( const idVec6 &a ) {
p[0] -= a[0];
p[1] -= a[1];
p[2] -= a[2];
p[3] -= a[3];
p[4] -= a[4];
p[5] -= a[5];
return *this;
}
ID_INLINE idVec6 operator*( const float a, const idVec6 b ) {
return b * a;
}
ID_INLINE bool idVec6::Compare( const idVec6 &a ) const {
return ( ( p[0] == a[0] ) && ( p[1] == a[1] ) && ( p[2] == a[2] ) &&
( p[3] == a[3] ) && ( p[4] == a[4] ) && ( p[5] == a[5] ) );
}
ID_INLINE bool idVec6::Compare( const idVec6 &a, const float epsilon ) const {
if ( idMath::Fabs( p[0] - a[0] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( p[1] - a[1] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( p[2] - a[2] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( p[3] - a[3] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( p[4] - a[4] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( p[5] - a[5] ) > epsilon ) {
return false;
}
return true;
}
ID_INLINE bool idVec6::operator==( const idVec6 &a ) const {
return Compare( a );
}
ID_INLINE bool idVec6::operator!=( const idVec6 &a ) const {
return !Compare( a );
}
ID_INLINE void idVec6::Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
p[0] = a1;
p[1] = a2;
p[2] = a3;
p[3] = a4;
p[4] = a5;
p[5] = a6;
}
ID_INLINE void idVec6::Zero() {
p[0] = p[1] = p[2] = p[3] = p[4] = p[5] = 0.0f;
}
ID_INLINE float idVec6::Length() const {
return ( float )idMath::Sqrt( p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5] );
}
ID_INLINE float idVec6::LengthSqr() const {
return ( p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5] );
}
ID_INLINE float idVec6::Normalize() {
float sqrLength, invLength;
sqrLength = p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5];
invLength = idMath::InvSqrt( sqrLength );
p[0] *= invLength;
p[1] *= invLength;
p[2] *= invLength;
p[3] *= invLength;
p[4] *= invLength;
p[5] *= invLength;
return invLength * sqrLength;
}
ID_INLINE float idVec6::NormalizeFast() {
float sqrLength, invLength;
sqrLength = p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5];
invLength = idMath::InvSqrt( sqrLength );
p[0] *= invLength;
p[1] *= invLength;
p[2] *= invLength;
p[3] *= invLength;
p[4] *= invLength;
p[5] *= invLength;
return invLength * sqrLength;
}
ID_INLINE int idVec6::GetDimension() const {
return 6;
}
ID_INLINE const idVec3 &idVec6::SubVec3( int index ) const {
return *reinterpret_cast<const idVec3 *>(p + index * 3);
}
ID_INLINE idVec3 &idVec6::SubVec3( int index ) {
return *reinterpret_cast<idVec3 *>(p + index * 3);
}
ID_INLINE const float *idVec6::ToFloatPtr() const {
return p;
}
ID_INLINE float *idVec6::ToFloatPtr() {
return p;
}
//===============================================================
//
// idPolar3
//
//===============================================================
class idPolar3 {
public:
float radius, theta, phi;
idPolar3();
explicit idPolar3( const float radius, const float theta, const float phi );
void Set( const float radius, const float theta, const float phi );
float operator[]( const int index ) const;
float & operator[]( const int index );
idPolar3 operator-() const;
idPolar3 & operator=( const idPolar3 &a );
idVec3 ToVec3() const;
};
ID_INLINE idPolar3::idPolar3() {
}
ID_INLINE idPolar3::idPolar3( const float radius, const float theta, const float phi ) {
assert( radius > 0 );
this->radius = radius;
this->theta = theta;
this->phi = phi;
}
ID_INLINE void idPolar3::Set( const float radius, const float theta, const float phi ) {
assert( radius > 0 );
this->radius = radius;
this->theta = theta;
this->phi = phi;
}
ID_INLINE float idPolar3::operator[]( const int index ) const {
return ( &radius )[ index ];
}
ID_INLINE float &idPolar3::operator[]( const int index ) {
return ( &radius )[ index ];
}
ID_INLINE idPolar3 idPolar3::operator-() const {
return idPolar3( radius, -theta, -phi );
}
ID_INLINE idPolar3 &idPolar3::operator=( const idPolar3 &a ) {
radius = a.radius;
theta = a.theta;
phi = a.phi;
return *this;
}
ID_INLINE idVec3 idPolar3::ToVec3() const {
float sp, cp, st, ct;
idMath::SinCos( phi, sp, cp );
idMath::SinCos( theta, st, ct );
return idVec3( cp * radius * ct, cp * radius * st, radius * sp );
}
/*
===============================================================================
Old 3D vector macros, should no longer be used.
===============================================================================
*/
#define VectorMA( v, s, b, o ) ((o)[0]=(v)[0]+(b)[0]*(s),(o)[1]=(v)[1]+(b)[1]*(s),(o)[2]=(v)[2]+(b)[2]*(s))
#endif /* !__MATH_VECTOR_H__ */
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