TaoDeVector3.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deVector3_h
#define _deVector3_h

class deVector3
{
public:
  inline deVector3() { zero(); }
  
  inline deVector3(deFloat v0, deFloat v1, deFloat v2)
  { _data[0] = v0; _data[1] = v1; _data[2] = v2; }
  
  inline deVector3(deVector3 const & orig) {
    for (size_t ii(0); ii < DE_VECTOR3_SIZE; ++ii)
      _data[ii] = orig._data[ii];
  }
  
  deFloat& operator[](const deInt i) { return _data[i]; }
  const deFloat& operator[](const deInt i) const { return _data[i]; }
  operator deFloat*() { return _data; }
  operator const deFloat*() const { return _data; }
  deFloat& elementAt(const deInt i) { return _data[i]; }
  const deFloat& elementAt(const deInt i) const { return _data[i]; }

  DE_MATH_API void operator=(const deVector3& v);
  DE_MATH_API deInt operator==(const deVector3& v) const;
  DE_MATH_API void operator+=(const deVector3& v);
  DE_MATH_API void operator-=(const deVector3& v);
  DE_MATH_API void operator*=(const deVector3& v);
  DE_MATH_API void operator*=(const deFloat s);
  DE_MATH_API void operator+=(const deFloat s);

  DE_MATH_API void zero();

  DE_MATH_API deFloat dot(const deVector3& v) const;
  DE_MATH_API deFloat magnitude() const;
  DE_MATH_API void normalize();
  DE_MATH_API void set(const deFloat x, const deFloat y, const deFloat z);
  DE_MATH_API void set(const deFloat* v);
  DE_MATH_API void get(deFloat* v) const;

  DE_MATH_API void minimum(const deVector3& v);
  DE_MATH_API void maximum(const deVector3& v);

  DE_MATH_API void negate(const deVector3& v);
  DE_MATH_API void add(const deVector3& v1, const deVector3& v2);
  DE_MATH_API void subtract(const deVector3& v1, const deVector3& v2);
  DE_MATH_API void multiply(const deVector3& v1, const deVector3& v2);
  DE_MATH_API void multiply(const deVector3& v, const deFloat s);
  DE_MATH_API void add(const deVector3& v, const deFloat s);
  DE_MATH_API void crossMultiply(const deVector3& v1, const deVector3& v2);
  DE_MATH_API void multiply(const deMatrix3& m, const deVector3& v);
  DE_MATH_API void transposedMultiply(const deMatrix3& m, const deVector3& v);
  DE_MATH_API void multiply(const deTransform& t, const deVector3& v);
  DE_MATH_API void inversedMultiply(const deTransform& t, const deVector3& v);
  DE_MATH_API void diagonal(const deMatrix3& m);
  DE_MATH_API void column(const deMatrix3& m, const deInt col);
  DE_MATH_API void angularError(const deMatrix3& R, const deMatrix3& Rd);
  DE_MATH_API void eulerXYZ(const deMatrix3& m);
  DE_MATH_API void eulerZYX(const deMatrix3& m);
  DE_MATH_API void eulerZYX(const deMatrix3& m, const deVector3& v);
  DE_MATH_API void eulerZYX(const deQuaternion& q);
  DE_MATH_API void backSub(const deMatrix3& LU, const deVector3& y);
  DE_MATH_API void multiply(const deQuaternion& q, const deVector3& v);
  DE_MATH_API void inversedMultiply(const deQuaternion& q, const deVector3& v);
  DE_MATH_API void column(const deQuaternion& q, const deInt col);
  // dPhi = Einv ( q - qd) = -2*q_tilde^T qd <-- since (q_tilde^T q) = 0
  // E = 0.5*q_tilde
  // Einv = (EtE)inv Et = 4Et = 2*qtilde^T <-- since (q_tilde^T q_tilde) = I
  // q_tilde = [ -x -y -z; w -z  y; z  w -x; -y  x  w ] 
  // q_tilde^T = [ -x  w  z -y; -y -z  w  x; -z  y -x  w ]         
  DE_MATH_API void angularError(const deQuaternion& q, const deQuaternion& qd);
  DE_MATH_API void multiply(const deFrame& f, const deVector3& v);
  DE_MATH_API void inversedMultiply(const deFrame& f, const deVector3& v);

  // this = v + t * (vg - v)
  DE_MATH_API void lerp(const deVector3& v, const deVector3& vg, const deFloat t);

private:
  deFloat _data[DE_VECTOR3_SIZE];
};

#endif // _deVector3_h