nuclear@10: /*
nuclear@10: libvmath - a vector math library
nuclear@10: Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
nuclear@10: 
nuclear@10: This program is free software: you can redistribute it and/or modify
nuclear@10: it under the terms of the GNU Lesser General Public License as published
nuclear@10: by the Free Software Foundation, either version 3 of the License, or
nuclear@10: (at your option) any later version.
nuclear@10: 
nuclear@10: This program is distributed in the hope that it will be useful,
nuclear@10: but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@10: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
nuclear@10: GNU Lesser General Public License for more details.
nuclear@10: 
nuclear@10: You should have received a copy of the GNU Lesser General Public License
nuclear@10: along with this program.  If not, see <http://www.gnu.org/licenses/>.
nuclear@10: */
nuclear@10: #include "vector.h"
nuclear@10: #include "vmath.h"
nuclear@10: 
nuclear@10: // ---------- Vector2 -----------
nuclear@10: 
nuclear@10: Vector2::Vector2(scalar_t x, scalar_t y)
nuclear@10: {
nuclear@10: 	this->x = x;
nuclear@10: 	this->y = y;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2::Vector2(const vec2_t &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2::Vector2(const Vector3 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2::Vector2(const Vector4 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector2::normalize()
nuclear@10: {
nuclear@10: 	scalar_t len = length();
nuclear@10: 	x /= len;
nuclear@10: 	y /= len;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2 Vector2::normalized() const
nuclear@10: {
nuclear@10: 	scalar_t len = length();
nuclear@10: 	return Vector2(x / len, y / len);
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector2::transform(const Matrix3x3 &mat)
nuclear@10: {
nuclear@10: 	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2];
nuclear@10: 	y = mat[1][0] * x + mat[1][1] * y + mat[1][2];
nuclear@10: 	x = nx;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2 Vector2::transformed(const Matrix3x3 &mat) const
nuclear@10: {
nuclear@10: 	Vector2 vec;
nuclear@10: 	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2];
nuclear@10: 	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2];
nuclear@10: 	return vec;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector2::rotate(scalar_t angle)
nuclear@10: {
nuclear@10: 	*this = Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2 Vector2::rotated(scalar_t angle) const
nuclear@10: {
nuclear@10: 	return Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2 Vector2::reflection(const Vector2 &normal) const
nuclear@10: {
nuclear@10: 	return 2.0 * dot_product(*this, normal) * normal - *this;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector2 Vector2::refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const
nuclear@10: {
nuclear@10: 	// quick and dirty implementation :)
nuclear@10: 	Vector3 v3refr = Vector3(this->x, this->y, 1.0).refraction(Vector3(this->x, this->y, 1), src_ior, dst_ior);
nuclear@10: 	return Vector2(v3refr.x, v3refr.y);
nuclear@10: }
nuclear@10: 
nuclear@10: /*
nuclear@10: std::ostream &operator <<(std::ostream &out, const Vector2 &vec)
nuclear@10: {
nuclear@10: 	out << "[" << vec.x << " " << vec.y << "]";
nuclear@10: 	return out;
nuclear@10: }
nuclear@10: */
nuclear@10: 
nuclear@10: 
nuclear@10: // --------- Vector3 ----------
nuclear@10: 
nuclear@10: Vector3::Vector3(scalar_t x, scalar_t y, scalar_t z)
nuclear@10: {
nuclear@10: 	this->x = x;
nuclear@10: 	this->y = y;
nuclear@10: 	this->z = z;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3::Vector3(const vec3_t &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = vec.z;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3::Vector3(const Vector2 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = 1;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3::Vector3(const Vector4 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = vec.z;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3::Vector3(const SphVector &sph)
nuclear@10: {
nuclear@10: 	*this = sph;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 &Vector3::operator =(const SphVector &sph)
nuclear@10: {
nuclear@10: 	x = sph.r * cos(sph.theta) * sin(sph.phi);
nuclear@10: 	z = sph.r * sin(sph.theta) * sin(sph.phi);
nuclear@10: 	y = sph.r * cos(sph.phi);
nuclear@10: 	return *this;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector3::normalize()
nuclear@10: {
nuclear@10: 	scalar_t len = length();
nuclear@10: 	x /= len;
nuclear@10: 	y /= len;
nuclear@10: 	z /= len;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::normalized() const
nuclear@10: {
nuclear@10: 	scalar_t len = length();
nuclear@10: 	return Vector3(x / len, y / len, z / len);
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::reflection(const Vector3 &normal) const
nuclear@10: {
nuclear@10: 	return 2.0 * dot_product(*this, normal) * normal - *this;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const
nuclear@10: {
nuclear@10: 	return refraction(normal, src_ior / dst_ior);
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::refraction(const Vector3 &normal, scalar_t ior) const
nuclear@10: {
nuclear@10: 	scalar_t cos_inc = dot_product(*this, -normal);
nuclear@10: 
nuclear@10: 	scalar_t radical = 1.0 + SQ(ior) * (SQ(cos_inc) - 1.0);
nuclear@10: 
nuclear@10: 	if(radical < 0.0) {		// total internal reflection
nuclear@10: 		return -reflection(normal);
nuclear@10: 	}
nuclear@10: 
nuclear@10: 	scalar_t beta = ior * cos_inc - sqrt(radical);
nuclear@10: 
nuclear@10: 	return *this * ior + normal * beta;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector3::transform(const Matrix3x3 &mat)
nuclear@10: {
nuclear@10: 	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;
nuclear@10: 	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;
nuclear@10: 	z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;
nuclear@10: 	x = nx;
nuclear@10: 	y = ny;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::transformed(const Matrix3x3 &mat) const
nuclear@10: {
nuclear@10: 	Vector3 vec;
nuclear@10: 	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;
nuclear@10: 	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;
nuclear@10: 	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;
nuclear@10: 	return vec;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector3::transform(const Matrix4x4 &mat)
nuclear@10: {
nuclear@10: 	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];
nuclear@10: 	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];
nuclear@10: 	z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];
nuclear@10: 	x = nx;
nuclear@10: 	y = ny;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::transformed(const Matrix4x4 &mat) const
nuclear@10: {
nuclear@10: 	Vector3 vec;
nuclear@10: 	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];
nuclear@10: 	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];
nuclear@10: 	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];
nuclear@10: 	return vec;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector3::transform(const Quaternion &quat)
nuclear@10: {
nuclear@10: 	Quaternion vq(0.0f, *this);
nuclear@10: 	vq = quat * vq * quat.inverse();
nuclear@10: 	*this = vq.v;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::transformed(const Quaternion &quat) const
nuclear@10: {
nuclear@10: 	Quaternion vq(0.0f, *this);
nuclear@10: 	vq = quat * vq * quat.inverse();
nuclear@10: 	return vq.v;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector3::rotate(const Vector3 &euler)
nuclear@10: {
nuclear@10: 	Matrix4x4 rot;
nuclear@10: 	rot.set_rotation(euler);
nuclear@10: 	transform(rot);
nuclear@10: }
nuclear@10: 
nuclear@10: Vector3 Vector3::rotated(const Vector3 &euler) const
nuclear@10: {
nuclear@10: 	Matrix4x4 rot;
nuclear@10: 	rot.set_rotation(euler);
nuclear@10: 	return transformed(rot);
nuclear@10: }
nuclear@10: 
nuclear@10: /*
nuclear@10: std::ostream &operator <<(std::ostream &out, const Vector3 &vec)
nuclear@10: {
nuclear@10: 	out << "[" << vec.x << " " << vec.y << " " << vec.z << "]";
nuclear@10: 	return out;
nuclear@10: }
nuclear@10: */
nuclear@10: 
nuclear@10: 
nuclear@10: // -------------- Vector4 --------------
nuclear@10: Vector4::Vector4(scalar_t x, scalar_t y, scalar_t z, scalar_t w)
nuclear@10: {
nuclear@10: 	this->x = x;
nuclear@10: 	this->y = y;
nuclear@10: 	this->z = z;
nuclear@10: 	this->w = w;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector4::Vector4(const vec4_t &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = vec.z;
nuclear@10: 	w = vec.w;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector4::Vector4(const Vector2 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = 1;
nuclear@10: 	w = 1;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector4::Vector4(const Vector3 &vec)
nuclear@10: {
nuclear@10: 	x = vec.x;
nuclear@10: 	y = vec.y;
nuclear@10: 	z = vec.z;
nuclear@10: 	w = 1;
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector4::normalize()
nuclear@10: {
nuclear@10: 	scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);
nuclear@10: 	x /= len;
nuclear@10: 	y /= len;
nuclear@10: 	z /= len;
nuclear@10: 	w /= len;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector4 Vector4::normalized() const
nuclear@10: {
nuclear@10: 	scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);
nuclear@10: 	return Vector4(x / len, y / len, z / len, w / len);
nuclear@10: }
nuclear@10: 
nuclear@10: void Vector4::transform(const Matrix4x4 &mat)
nuclear@10: {
nuclear@10: 	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;
nuclear@10: 	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;
nuclear@10: 	scalar_t nz = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;
nuclear@10: 	w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;
nuclear@10: 	x = nx;
nuclear@10: 	y = ny;
nuclear@10: 	z = nz;
nuclear@10: }
nuclear@10: 
nuclear@10: Vector4 Vector4::transformed(const Matrix4x4 &mat) const
nuclear@10: {
nuclear@10: 	Vector4 vec;
nuclear@10: 	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;
nuclear@10: 	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;
nuclear@10: 	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;
nuclear@10: 	vec.w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;
nuclear@10: 	return vec;
nuclear@10: }
nuclear@10: 
nuclear@10: // TODO: implement 4D vector reflection
nuclear@10: Vector4 Vector4::reflection(const Vector4 &normal) const
nuclear@10: {
nuclear@10: 	return *this;
nuclear@10: }
nuclear@10: 
nuclear@10: // TODO: implement 4D vector refraction
nuclear@10: Vector4 Vector4::refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const
nuclear@10: {
nuclear@10: 	return *this;
nuclear@10: }
nuclear@10: 
nuclear@10: /*
nuclear@10: std::ostream &operator <<(std::ostream &out, const Vector4 &vec)
nuclear@10: {
nuclear@10: 	out << "[" << vec.x << " " << vec.y << " " << vec.z << " " << vec.w << "]";
nuclear@10: 	return out;
nuclear@10: }
nuclear@10: */