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author	John Tsiombikas <nuclear@member.fsf.org>
date	Thu, 18 Jun 2015 03:12:30 +0300
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1 /*

2 libvmath - a vector math library

5 This program is free software: you can redistribute it and/or modify

6 it under the terms of the GNU Lesser General Public License as published

7 by the Free Software Foundation, either version 3 of the License, or

8 (at your option) any later version.

10 This program is distributed in the hope that it will be useful,

11 but WITHOUT ANY WARRANTY; without even the implied warranty of

12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

13 GNU Lesser General Public License for more details.

15 You should have received a copy of the GNU Lesser General Public License

16 along with this program. If not, see <http://www.gnu.org/licenses/>.

17 */

18 #include "vector.h"

19 #include "vmath.h"

21 // ---------- Vector2 -----------

23 Vector2::Vector2(scalar_t x, scalar_t y)

24 {

25 this->x = x;

26 this->y = y;

27 }

29 Vector2::Vector2(const vec2_t &vec)

30 {

31 x = vec.x;

32 y = vec.y;

33 }

35 Vector2::Vector2(const Vector3 &vec)

36 {

37 x = vec.x;

38 y = vec.y;

39 }

41 Vector2::Vector2(const Vector4 &vec)

42 {

43 x = vec.x;

44 y = vec.y;

45 }

47 void Vector2::normalize()

48 {

49 scalar_t len = length();

50 x /= len;

51 y /= len;

52 }

54 Vector2 Vector2::normalized() const

55 {

56 scalar_t len = length();

57 return Vector2(x / len, y / len);

58 }

60 void Vector2::transform(const Matrix3x3 &mat)

61 {

62 scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2];

63 y = mat[1][0] * x + mat[1][1] * y + mat[1][2];

64 x = nx;

65 }

67 Vector2 Vector2::transformed(const Matrix3x3 &mat) const

68 {

69 Vector2 vec;

70 vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2];

71 vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2];

72 return vec;

73 }

75 void Vector2::rotate(scalar_t angle)

76 {

77 *this = Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);

78 }

80 Vector2 Vector2::rotated(scalar_t angle) const

81 {

82 return Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);

83 }

85 Vector2 Vector2::reflection(const Vector2 &normal) const

86 {

87 return 2.0 * dot_product(*this, normal) * normal - *this;

88 }

90 Vector2 Vector2::refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const

91 {

92 // quick and dirty implementation :)

93 Vector3 v3refr = Vector3(this->x, this->y, 1.0).refraction(Vector3(this->x, this->y, 1), src_ior, dst_ior);

94 return Vector2(v3refr.x, v3refr.y);

95 }

97 /*

98 std::ostream &operator <<(std::ostream &out, const Vector2 &vec)

99 {

100 out << "[" << vec.x << " " << vec.y << "]";

101 return out;

102 }

103 */

104

105

106 // --------- Vector3 ----------

107

108 Vector3::Vector3(scalar_t x, scalar_t y, scalar_t z)

109 {

110 this->x = x;

111 this->y = y;

112 this->z = z;

113 }

114

115 Vector3::Vector3(const vec3_t &vec)

116 {

117 x = vec.x;

118 y = vec.y;

119 z = vec.z;

120 }

121

122 Vector3::Vector3(const Vector2 &vec)

123 {

124 x = vec.x;

125 y = vec.y;

126 z = 1;

127 }

128

129 Vector3::Vector3(const Vector4 &vec)

130 {

131 x = vec.x;

132 y = vec.y;

133 z = vec.z;

134 }

135

136 Vector3::Vector3(const SphVector &sph)

137 {

138 *this = sph;

139 }

140

141 Vector3 &Vector3::operator =(const SphVector &sph)

142 {

143 x = sph.r * cos(sph.theta) * sin(sph.phi);

144 z = sph.r * sin(sph.theta) * sin(sph.phi);

145 y = sph.r * cos(sph.phi);

146 return *this;

147 }

148

149 void Vector3::normalize()

150 {

151 scalar_t len = length();

152 x /= len;

153 y /= len;

154 z /= len;

155 }

156

157 Vector3 Vector3::normalized() const

158 {

159 scalar_t len = length();

160 return Vector3(x / len, y / len, z / len);

161 }

162

163 Vector3 Vector3::reflection(const Vector3 &normal) const

164 {

165 return 2.0 * dot_product(*this, normal) * normal - *this;

166 }

167

168 Vector3 Vector3::refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const

169 {

170 return refraction(normal, src_ior / dst_ior);

171 }

172

173 Vector3 Vector3::refraction(const Vector3 &normal, scalar_t ior) const

174 {

175 scalar_t cos_inc = dot_product(*this, -normal);

176

177 scalar_t radical = 1.0 + SQ(ior) * (SQ(cos_inc) - 1.0);

178

179 if(radical < 0.0) { // total internal reflection

180 return -reflection(normal);

181 }

182

183 scalar_t beta = ior * cos_inc - sqrt(radical);

184

185 return *this * ior + normal * beta;

186 }

187

188 void Vector3::transform(const Matrix3x3 &mat)

189 {

190 scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;

191 scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;

192 z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;

193 x = nx;

194 y = ny;

195 }

196

197 Vector3 Vector3::transformed(const Matrix3x3 &mat) const

198 {

199 Vector3 vec;

200 vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;

201 vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;

202 vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;

203 return vec;

204 }

205

206 void Vector3::transform(const Matrix4x4 &mat)

207 {

208 scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];

209 scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];

210 z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];

211 x = nx;

212 y = ny;

213 }

214

215 Vector3 Vector3::transformed(const Matrix4x4 &mat) const

216 {

217 Vector3 vec;

218 vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];

219 vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];

220 vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];

221 return vec;

222 }

223

224 void Vector3::transform(const Quaternion &quat)

225 {

226 Quaternion vq(0.0f, *this);

227 vq = quat * vq * quat.inverse();

228 *this = vq.v;

229 }

230

231 Vector3 Vector3::transformed(const Quaternion &quat) const

232 {

233 Quaternion vq(0.0f, *this);

234 vq = quat * vq * quat.inverse();

235 return vq.v;

236 }

237

238 void Vector3::rotate(const Vector3 &euler)

239 {

240 Matrix4x4 rot;

241 rot.set_rotation(euler);

242 transform(rot);

243 }

244

245 Vector3 Vector3::rotated(const Vector3 &euler) const

246 {

247 Matrix4x4 rot;

248 rot.set_rotation(euler);

249 return transformed(rot);

250 }

251

252 /*

253 std::ostream &operator <<(std::ostream &out, const Vector3 &vec)

254 {

255 out << "[" << vec.x << " " << vec.y << " " << vec.z << "]";

256 return out;

257 }

258 */

259

260

261 // -------------- Vector4 --------------

262 Vector4::Vector4(scalar_t x, scalar_t y, scalar_t z, scalar_t w)

263 {

264 this->x = x;

265 this->y = y;

266 this->z = z;

267 this->w = w;

268 }

269

270 Vector4::Vector4(const vec4_t &vec)

271 {

272 x = vec.x;

273 y = vec.y;

274 z = vec.z;

275 w = vec.w;

276 }

277

278 Vector4::Vector4(const Vector2 &vec)

279 {

280 x = vec.x;

281 y = vec.y;

282 z = 1;

283 w = 1;

284 }

285

286 Vector4::Vector4(const Vector3 &vec)

287 {

288 x = vec.x;

289 y = vec.y;

290 z = vec.z;

291 w = 1;

292 }

293

294 void Vector4::normalize()

295 {

296 scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);

297 x /= len;

298 y /= len;

299 z /= len;

300 w /= len;

301 }

302

303 Vector4 Vector4::normalized() const

304 {

305 scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);

306 return Vector4(x / len, y / len, z / len, w / len);

307 }

308

309 void Vector4::transform(const Matrix4x4 &mat)

310 {

311 scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;

312 scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;

313 scalar_t nz = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;

314 w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;

315 x = nx;

316 y = ny;

317 z = nz;

318 }

319

320 Vector4 Vector4::transformed(const Matrix4x4 &mat) const

321 {

322 Vector4 vec;

323 vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;

324 vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;

325 vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;

326 vec.w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;

327 return vec;

328 }

329

330 // TODO: implement 4D vector reflection

331 Vector4 Vector4::reflection(const Vector4 &normal) const

332 {

333 return *this;

334 }

335

336 // TODO: implement 4D vector refraction

337 Vector4 Vector4::refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const

338 {

339 return *this;

340 }

341

342 /*

343 std::ostream &operator <<(std::ostream &out, const Vector4 &vec)

344 {

345 out << "[" << vec.x << " " << vec.y << " " << vec.z << " " << vec.w << "]";

346 return out;

347 }

348 */