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# csgeom/vector4.h

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    00001 /*
    00002     Copyright (C) 1998,1999,2000 by Jorrit Tyberghein
    00003     Largely rewritten by Ivan Avramovic <ivan@avramovic.com>
    00004     Extended (and some methods removed) to 4 component by Marten Svanfeldt
    00005     Templatized by Frank Richter
    00006
    00007     This library is free software; you can redistribute it and/or
    00008     modify it under the terms of the GNU Library General Public
    00009     License as published by the Free Software Foundation; either
    00010     version 2 of the License, or (at your option) any later version.
    00011
    00012     This library is distributed in the hope that it will be useful,
    00013     but WITHOUT ANY WARRANTY; without even the implied warranty of
    00014     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    00015     Library General Public License for more details.
    00016
    00017     You should have received a copy of the GNU Library General Public
    00018     License along with this library; if not, write to the Free
    00019     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
    00020 */
    00021
    00022 #ifndef __CS_VECTOR4_H__
    00023 #define __CS_VECTOR4_H__
    00024
    00032 #include "csextern.h"
    00033 #include "csgeom/vector3.h"
    00034 #include "csutil/csstring.h"
    00035
    00039 template<typename T>
    00040 class csVector4T
    00041 {
    00042 public:
    00043 #if !defined(__STRICT_ANSI__) && !defined(SWIG)
    00044   union
    00045   {
    00046     struct
    00047     {
    00048 #endif
    00050       T x;
    00052       T y;
    00054       T z;
    00056       T w;
    00057 #if !defined(__STRICT_ANSI__) && !defined(SWIG)
    00058     };
    00060     T m[4];
    00061   };
    00062 #endif
    00063   /* Note: Since T is used in an union above it have to be an aggregate
    00064    * type (C++ Std 8.5.1).
    00065    * This implies that T cannot have custom constructor, base classes,
    00066    * or virtual functions. This applies to all of Ts members recursivly.
    00067    */
    00068
    00073   csVector4T () {}
    00074
    00080   csVector4T (const T& m) : x(m), y(m), z(m), w(m) {}
    00081
    00083   csVector4T (const T& ix, const T& iy, const T& iz = T(0),
    00084     const T& iw = T(1))
    00085         : x(ix), y(iy), z(iz), w(iw) {}
    00086
    00088   csVector4T (const csVector4T& v) : x(v.x), y(v.y), z(v.z), w(v.w) {}
    00089
    00091   csVector4T (const csVector3 &v) : x(v.x), y(v.y), z(v.z), w(1.0f) {}
    00092
    00094   template<typename T2>
    00095   csVector4T& operator= (const csVector4T<T2>& other)
    00096   {
    00097     x = other.x;
    00098     y = other.y;
    00099     z = other.z;
    00100     w = other.w;
    00101     return *this;
    00102   }
    00103
    00105   csString Description() const
    00106   {
    00107     csString str;
    00108     str << x << "," << y << "," << z << "," << w;
    00109     return str;
    00110   }
    00111
    00113   inline friend csVector4T operator+ (const csVector4T& v1,
    00114     const csVector4T& v2)
    00115   { return csVector4T(v1.x+v2.x, v1.y+v2.y, v1.z+v2.z, v1.w+v2.w); }
    00116
    00118   inline friend csVector4T operator- (const csVector4T& v1,
    00119     const csVector4T& v2)
    00120   { return csVector4T(v1.x-v2.x, v1.y-v2.y, v1.z-v2.z, v1.w-v2.w); }
    00121
    00122
    00124   inline friend float operator* (const csVector4T& v1,
    00125     const csVector4T& v2)
    00126   { return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w; }
    00127
    00129   inline friend csVector4T operator% (const csVector4T& v1,
    00130     const csVector4T& v2)
    00131   {
    00132     return csVector4T<T> (
    00133       (v1.x*v2.y-v1.y*v2.x) + (v1.x*v2.z-v1.z*v2.x) + (v1.y*v2.z-v1.z*v2.y),
    00134       (v1.z*v2.y-v1.y*v2.z) + (v1.y*v2.w-v1.w*v2.y) + (v1.z*v2.w-v1.w*v2.z),
    00135       (v1.x*v2.z-v1.z*v2.x) + (v1.w*v2.x-v1.x*v2.w) + (v1.z*v2.w-v1.w*v2.z),
    00136       (v1.y*v2.x-v1.x*v2.y) + (v1.w*v2.x-v1.x*v2.w) + (v1.w*v2.y-v1.y*v2.w) );
    00137   }
    00138
    00140   void Cross (const csVector4T & v1, const csVector4T & v2)
    00141   {
    00142     x = (v1.x*v2.y-v1.y*v2.x) + (v1.x*v2.z-v1.z*v2.x) + (v1.y*v2.z-v1.z*v2.y);
    00143     y = (v1.z*v2.y-v1.y*v2.z) + (v1.y*v2.w-v1.w*v2.y) + (v1.z*v2.w-v1.w*v2.z);
    00144     z = (v1.x*v2.z-v1.z*v2.x) + (v1.w*v2.x-v1.x*v2.w) + (v1.z*v2.w-v1.w*v2.z);
    00145     w = (v1.y*v2.x-v1.x*v2.y) + (v1.w*v2.x-v1.x*v2.w) + (v1.w*v2.y-v1.y*v2.w);
    00146   }
    00147
    00149   inline friend csVector4T operator* (const csVector4T& v, T f)
    00150   { return csVector4T(v.x*f, v.y*f, v.z*f, v.w*f); }
    00151
    00153   inline friend csVector4T operator* (float f, const csVector4T& v)
    00154   { return csVector4T(v.x*f, v.y*f, v.z*f, v.w*f); }
    00155
    00157   inline friend csVector4T operator* (const csVector4T& v, int f)
    00158   { T _f = f; return v * _f; }
    00159
    00161   inline friend csVector4T operator* (int f, const csVector4T& v)
    00162   { T _f = f; return v * _f; }
    00163
    00165   inline friend csVector4T operator/ (const csVector4T& v, T f)
    00166   { f = 1.0f/f; return csVector4T(v.x*f, v.y*f, v.z*f, v.w*f); }
    00167
    00169   inline friend csVector4T operator/ (const csVector4T& v, int f)
    00170   { T _f = f; return v / _f; }
    00171
    00173   inline friend bool operator== (const csVector4T& v1, const csVector4T& v2)
    00174   { return v1.x==v2.x && v1.y==v2.y && v1.z==v2.z && v1.w==v2.w; }
    00175
    00177   inline friend bool operator!= (const csVector4T& v1, const csVector4T& v2)
    00178   { return v1.x!=v2.x || v1.y!=v2.y || v1.z!=v2.z || v1.w!=v2.w; }
    00179
    00181   inline friend csVector4T operator>> (const csVector4T& v1, const csVector4T& v2)
    00182   { return v2*(v1*v2)/(v2*v2); }
    00183
    00185   inline friend csVector4T operator<< (const csVector4T& v1, const csVector4T& v2)
    00186   { return v1*(v1*v2)/(v1*v1); }
    00187
    00189   inline friend bool operator< (const csVector4T& v, float f)
    00190   { return ABS(v.x)<f && ABS(v.y)<f && ABS(v.z)<f && ABS(v.w)<f; }
    00191
    00193   inline friend bool operator> (float f, const csVector4T& v)
    00194   { return ABS(v.x)<f && ABS(v.y)<f && ABS(v.z)<f && ABS(v.w)<f; }
    00195
    00197 #ifdef __STRICT_ANSI__
    00198   inline float operator[] (size_t n) const
    00199   { return (n&2)?((n&1)?w:z):((n&1)?y:x); }
    00200 #else
    00201   inline float operator[] (size_t n) const { return m[n]; }
    00202 #endif
    00203
    00205 #ifdef __STRICT_ANSI__
    00206   inline float & operator[] (size_t n)
    00207   { return (n&2)?((n&1)?w:z):((n&1)?y:x); }
    00208 #else
    00209   inline float & operator[] (size_t n) { return m[n]; }
    00210 #endif
    00211
    00213   inline csVector4T& operator+= (const csVector4T& v)
    00214   {
    00215     x += v.x;
    00216     y += v.y;
    00217     z += v.z;
    00218     w += v.w;
    00219
    00220     return *this;
    00221   }
    00222
    00224   inline csVector4T& operator-= (const csVector4T& v)
    00225   {
    00226     x -= v.x;
    00227     y -= v.y;
    00228     z -= v.z;
    00229     w -= v.w;
    00230
    00231     return *this;
    00232   }
    00233
    00235   inline csVector4T& operator*= (T f)
    00236   { x *= f; y *= f; z *= f; w *= f; return *this; }
    00237
    00239   inline csVector4T& operator/= (T f)
    00240   { f = 1.0f / f; x *= f; y *= f; z *= f; w *= f; return *this; }
    00241
    00243   inline csVector4T operator+ () const { return *this; }
    00244
    00246   inline csVector4T operator- () const { return csVector4(-x,-y,-z, -w); }
    00247
    00249   inline void Set (T sx, T sy, T sz, T sw)
    00250   { x = sx; y = sy; z = sz; w = sw; }
    00251
    00253   inline void Set (csVector4T const& v) { x = v.x; y = v.y; z = v.z; w = v.w; }
    00254
    00256   inline void Set (T const* v) { x = v[0]; y = v[1]; z = v[2]; w = v[3]; }
    00257
    00259   inline void Set (T v) { x = y = z = w = v; }
    00260
    00262   inline void Get (T* v) { v[0] = x; v[1] = y; v[2] = z; v[3] = w; }
    00263
    00265   T Norm () const { return sqrtf (x * x + y * y + z * z + w * w); }
    00266
    00268   T SquaredNorm () const
    00269   { return x * x + y * y + z * z + w * w; }
    00270
    00276   csVector4T Unit () const { return (*this)/(this->Norm()); }
    00277
    00279   inline static T Norm (const csVector4T& v) { return v.Norm(); }
    00280
    00282   inline static csVector4T Unit (const csVector4T& v) { return v.Unit(); }
    00283
    00285   void Normalize ()
    00286   {
    00287     T sqlen = x * x + y * y + z * z + w * w;
    00288     if (sqlen < SMALL_EPSILON) return ;
    00289
    00290     T invlen = csQisqrt (sqlen);
    00291     *this *= invlen;
    00292   }
    00293
    00294
    00296   inline bool IsZero (T precision = SMALL_EPSILON) const
    00297   { return (ABS(x) < precision) && (ABS(y) < precision)
    00298             && (ABS(z) < precision) &&  (ABS(w) < precision);
    00299   }
    00300 };
    00301
    00305 class csVector4 : public csVector4T<float>
    00306 {
    00307 public:
    00312   csVector4 () {}
    00313
    00319   csVector4 (const float& m) : csVector4T<float> (m) {}
    00320
    00322   csVector4 (float ix, float iy, float iz = 0, float iw = 1)
    00323         : csVector4T<float> (ix, iy, iz, iw) {}
    00324
    00326   csVector4 (const csVector4& v) : csVector4T<float> (v) {}
    00327
    00329   csVector4 (const csVector4T<float>& v) : csVector4T<float> (v) {}
    00330
    00332   csVector4 (const csVector3 &v) :
    00333     csVector4T<float> (v.x, v.y, v.z, 1.0f) {}
    00334
    00336   csVector4& operator= (const csVector4T<float>& other)
    00337   {
    00338     Set (other.x, other.y, other.z, other.w);
    00339     return *this;
    00340   }
    00341
    00343   csVector4& operator= (const csVector3& other)
    00344   {
    00345     Set (other.x, other.y, other.z, 1.0f);
    00346     return *this;
    00347   }
    00348 };
    00349
    00352 #endif // __CS_VECTOR3_H__