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Differential D1358 Diff 4476 extern/audaspace/include/util/Math3D.h

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extern/audaspace/include/util/Math3D.h

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/*******************************************************************************
* Copyright 2009-2015 Jörg Müller
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
#pragma once
/**
* @file Math3D.h
* @ingroup util
* Defines the Vector3 and Quaternion classes.
*/
#include "Audaspace.h"
#include <cmath>
#include <cstring>
AUD_NAMESPACE_BEGIN
/**
* This class represents a 3 dimensional vector.
*/
class AUD_API Vector3
{
private:
/**
* The vector components.
*/
union
{
float m_v[3];
struct
{
float m_x;
float m_y;
float m_z;
};
};
public:
/**
* Creates a new 3 dimensional vector.
* \param x The x component.
* \param y The y component.
* \param z The z component.
*/
inline Vector3(float x = 0, float y = 0, float z = 0) :
m_x(x), m_y(y), m_z(z)
{
}
/**
* Retrieves the x component of the vector.
* \return The x component.
*/
inline const float& x() const
{
return m_x;
}
/**
* Retrieves the y component of the vector.
* \return The y component.
*/
inline const float& y() const
{
return m_y;
}
/**
* Retrieves the z component of the vector.
* \return The z component.
*/
inline const float& z() const
{
return m_z;
}
/**
* Retrieves the components of the vector.
* \param destination Where the 3 float values should be saved to.
*/
inline void get(float* destination) const
{
std::memcpy(destination, m_v, sizeof(m_v));
}
/**
* Retrieves the components of the vector.
* \return The components as float[3].
*/
inline float* get()
{
return m_v;
}
/**
* Retrieves the components of the vector.
* \return The components as float[3].
*/
inline const float* get() const
{
return m_v;
}
/**
* Retrieves the length of the vector.
* \return The length of the vector.
*/
inline float length() const
{
return std::sqrt(m_x*m_x + m_y*m_y + m_z*m_z);
}
/**
* Retrieves the cross product.
* \param op The second operand.
* \return The cross product of the two vectors.
*/
inline Vector3 cross(const Vector3& op) const
{
return Vector3(m_y * op.m_z - m_z * op.m_y,
m_z * op.m_x - m_x * op.m_z,
m_x * op.m_y - m_y * op.m_x);
}
/**
* Retrieves the dot product.
* \param op The second operand.
* \return The dot product of the two vectors.
*/
inline float operator*(const Vector3& op) const
{
return m_x * op.m_x + m_y * op.m_y + m_z * op.m_z;
}
/**
* Retrieves the product with a scalar.
* \param op The second operand.
* \return The scaled vector.
*/
inline Vector3 operator*(const float& op) const
{
return Vector3(m_x * op, m_y * op, m_z * op);
}
/**
* Adds two vectors.
* \param op The second operand.
* \return The sum vector.
*/
inline Vector3 operator+(const Vector3& op) const
{
return Vector3(m_x + op.m_x, m_y + op.m_y, m_z + op.m_z);
}
/**
* Subtracts two vectors.
* \param op The second operand.
* \return The difference vector.
*/
inline Vector3 operator-(const Vector3& op) const
{
return Vector3(m_x - op.m_x, m_y - op.m_y, m_z - op.m_z);
}
/**
* Negates the vector.
* \return The vector facing in the opposite direction.
*/
inline Vector3 operator-() const
{
return Vector3(-m_x, -m_y, -m_z);
}
/**
* Subtracts the second vector.
* \param op The second operand.
* \return The difference vector.
*/
inline Vector3& operator-=(const Vector3& op)
{
m_x -= op.m_x;
m_y -= op.m_y;
m_z -= op.m_z;
return *this;
}
};
/**
* This class represents a quaternion used for 3D rotations.
*/
class AUD_API Quaternion
{
private:
/**
* The quaternion components.
*/
union
{
float m_v[4];
struct
{
float m_w;
float m_x;
float m_y;
float m_z;
};
};
public:
/**
* Creates a new quaternion.
* \param w The w component.
* \param x The x component.
* \param y The y component.
* \param z The z component.
*/
inline Quaternion(float w = 1, float x = 0, float y = 0, float z = 0) :
m_w(w), m_x(x), m_y(y), m_z(z)
{
}
/**
* Retrieves the w component of the quarternion.
* \return The w component.
*/
inline const float& w() const
{
return m_w;
}
/**
* Retrieves the x component of the quarternion.
* \return The x component.
*/
inline const float& x() const
{
return m_x;
}
/**
* Retrieves the y component of the quarternion.
* \return The y component.
*/
inline const float& y() const
{
return m_y;
}
/**
* Retrieves the z component of the quarternion.
* \return The z component.
*/
inline const float& z() const
{
return m_z;
}
/**
* Retrieves the components of the vector.
* \param destination Where the 4 float values should be saved to.
*/
inline void get(float* destination) const
{
std::memcpy(destination, m_v, sizeof(m_v));
}
/**
* Retrieves the components of the vector.
* \return The components as float[4].
*/
inline float* get()
{
return m_v;
}
/**
* Retrieves the components of the vector.
* \return The components as float[4].
*/
inline const float* get() const
{
return m_v;
}
/**
* When the quaternion represents an orientation, this returns the negative
* z axis vector.
* \return The negative z axis vector.
*/
inline Vector3 getLookAt() const
{
return Vector3(-2 * (m_w * m_y + m_x * m_z),
2 * (m_x * m_w - m_z * m_y),
2 * (m_x * m_x + m_y * m_y) - 1);
}
/**
* When the quaternion represents an orientation, this returns the y axis
* vector.
* \return The y axis vector.
*/
inline Vector3 getUp() const
{
return Vector3(2 * (m_x * m_y - m_w * m_z),
1 - 2 * (m_x * m_x + m_z * m_z),
2 * (m_w * m_x + m_y * m_z));
}
};
AUD_NAMESPACE_END