1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/libs/vmath/vector.cc	Sun Sep 29 08:20:19 2013 +0300
     1.3 @@ -0,0 +1,326 @@
     1.4 +#include "vector.h"
     1.5 +#include "vmath.h"
     1.6 +
     1.7 +// ---------- Vector2 -----------
     1.8 +
     1.9 +Vector2::Vector2(scalar_t x, scalar_t y)
    1.10 +{
    1.11 +	this->x = x;
    1.12 +	this->y = y;
    1.13 +}
    1.14 +
    1.15 +Vector2::Vector2(const vec2_t &vec)
    1.16 +{
    1.17 +	x = vec.x;
    1.18 +	y = vec.y;
    1.19 +}
    1.20 +
    1.21 +Vector2::Vector2(const Vector3 &vec)
    1.22 +{
    1.23 +	x = vec.x;
    1.24 +	y = vec.y;
    1.25 +}
    1.26 +
    1.27 +Vector2::Vector2(const Vector4 &vec)
    1.28 +{
    1.29 +	x = vec.x;
    1.30 +	y = vec.y;
    1.31 +}
    1.32 +
    1.33 +void Vector2::normalize()
    1.34 +{
    1.35 +	scalar_t len = length();
    1.36 +	x /= len;
    1.37 +	y /= len;
    1.38 +}
    1.39 +
    1.40 +Vector2 Vector2::normalized() const
    1.41 +{
    1.42 +	scalar_t len = length();
    1.43 +	return Vector2(x / len, y / len);
    1.44 +}
    1.45 +
    1.46 +void Vector2::transform(const Matrix3x3 &mat)
    1.47 +{
    1.48 +	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2];
    1.49 +	y = mat[1][0] * x + mat[1][1] * y + mat[1][2];
    1.50 +	x = nx;
    1.51 +}
    1.52 +
    1.53 +Vector2 Vector2::transformed(const Matrix3x3 &mat) const
    1.54 +{
    1.55 +	Vector2 vec;
    1.56 +	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2];
    1.57 +	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2];
    1.58 +	return vec;
    1.59 +}
    1.60 +
    1.61 +void Vector2::rotate(scalar_t angle)
    1.62 +{
    1.63 +	*this = Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);
    1.64 +}
    1.65 +
    1.66 +Vector2 Vector2::rotated(scalar_t angle) const
    1.67 +{
    1.68 +	return Vector2(cos(angle) * x - sin(angle) * y, sin(angle) * x + cos(angle) * y);
    1.69 +}
    1.70 +
    1.71 +Vector2 Vector2::reflection(const Vector2 &normal) const
    1.72 +{
    1.73 +	return 2.0 * dot_product(*this, normal) * normal - *this;
    1.74 +}
    1.75 +
    1.76 +Vector2 Vector2::refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const
    1.77 +{
    1.78 +	// quick and dirty implementation :)
    1.79 +	Vector3 v3refr = Vector3(this->x, this->y, 1.0).refraction(Vector3(this->x, this->y, 1), src_ior, dst_ior);
    1.80 +	return Vector2(v3refr.x, v3refr.y);
    1.81 +}
    1.82 +
    1.83 +std::ostream &operator <<(std::ostream &out, const Vector2 &vec)
    1.84 +{
    1.85 +	out << "[" << vec.x << " " << vec.y << "]";
    1.86 +	return out;
    1.87 +}
    1.88 +
    1.89 +
    1.90 +
    1.91 +// --------- Vector3 ----------
    1.92 +
    1.93 +Vector3::Vector3(scalar_t x, scalar_t y, scalar_t z)
    1.94 +{
    1.95 +	this->x = x;
    1.96 +	this->y = y;
    1.97 +	this->z = z;
    1.98 +}
    1.99 +
   1.100 +Vector3::Vector3(const vec3_t &vec)
   1.101 +{
   1.102 +	x = vec.x;
   1.103 +	y = vec.y;
   1.104 +	z = vec.z;
   1.105 +}
   1.106 +
   1.107 +Vector3::Vector3(const Vector2 &vec)
   1.108 +{
   1.109 +	x = vec.x;
   1.110 +	y = vec.y;
   1.111 +	z = 1;
   1.112 +}
   1.113 +
   1.114 +Vector3::Vector3(const Vector4 &vec)
   1.115 +{
   1.116 +	x = vec.x;
   1.117 +	y = vec.y;
   1.118 +	z = vec.z;
   1.119 +}
   1.120 +
   1.121 +Vector3::Vector3(const SphVector &sph)
   1.122 +{
   1.123 +	*this = sph;
   1.124 +}
   1.125 +
   1.126 +Vector3 &Vector3::operator =(const SphVector &sph)
   1.127 +{
   1.128 +	x = sph.r * cos(sph.theta) * sin(sph.phi);
   1.129 +	z = sph.r * sin(sph.theta) * sin(sph.phi);
   1.130 +	y = sph.r * cos(sph.phi);
   1.131 +	return *this;
   1.132 +}
   1.133 +
   1.134 +void Vector3::normalize()
   1.135 +{
   1.136 +	scalar_t len = length();
   1.137 +	x /= len;
   1.138 +	y /= len;
   1.139 +	z /= len;
   1.140 +}
   1.141 +
   1.142 +Vector3 Vector3::normalized() const
   1.143 +{
   1.144 +	scalar_t len = length();
   1.145 +	return Vector3(x / len, y / len, z / len);
   1.146 +}
   1.147 +
   1.148 +Vector3 Vector3::reflection(const Vector3 &normal) const
   1.149 +{
   1.150 +	return 2.0 * dot_product(*this, normal) * normal - *this;
   1.151 +}
   1.152 +
   1.153 +Vector3 Vector3::refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const
   1.154 +{
   1.155 +	return refraction(normal, src_ior / dst_ior);
   1.156 +}
   1.157 +
   1.158 +Vector3 Vector3::refraction(const Vector3 &normal, scalar_t ior) const
   1.159 +{
   1.160 +	scalar_t cos_inc = dot_product(*this, -normal);
   1.161 +
   1.162 +	scalar_t radical = 1.0 + SQ(ior) * (SQ(cos_inc) - 1.0);
   1.163 +
   1.164 +	if(radical < 0.0) {		// total internal reflection
   1.165 +		return -reflection(normal);
   1.166 +	}
   1.167 +
   1.168 +	scalar_t beta = ior * cos_inc - sqrt(radical);
   1.169 +
   1.170 +	return *this * ior + normal * beta;
   1.171 +}
   1.172 +
   1.173 +void Vector3::transform(const Matrix3x3 &mat)
   1.174 +{
   1.175 +	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;
   1.176 +	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;
   1.177 +	z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;
   1.178 +	x = nx;
   1.179 +	y = ny;
   1.180 +}
   1.181 +
   1.182 +Vector3 Vector3::transformed(const Matrix3x3 &mat) const
   1.183 +{
   1.184 +	Vector3 vec;
   1.185 +	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z;
   1.186 +	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z;
   1.187 +	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z;
   1.188 +	return vec;
   1.189 +}
   1.190 +
   1.191 +void Vector3::transform(const Matrix4x4 &mat)
   1.192 +{
   1.193 +	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];
   1.194 +	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];
   1.195 +	z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];
   1.196 +	x = nx;
   1.197 +	y = ny;
   1.198 +}
   1.199 +
   1.200 +Vector3 Vector3::transformed(const Matrix4x4 &mat) const
   1.201 +{
   1.202 +	Vector3 vec;
   1.203 +	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3];
   1.204 +	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3];
   1.205 +	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3];
   1.206 +	return vec;
   1.207 +}
   1.208 +
   1.209 +void Vector3::transform(const Quaternion &quat)
   1.210 +{
   1.211 +	Quaternion vq(0.0f, *this);
   1.212 +	vq = quat * vq * quat.inverse();
   1.213 +	*this = vq.v;
   1.214 +}
   1.215 +
   1.216 +Vector3 Vector3::transformed(const Quaternion &quat) const
   1.217 +{
   1.218 +	Quaternion vq(0.0f, *this);
   1.219 +	vq = quat * vq * quat.inverse();
   1.220 +	return vq.v;
   1.221 +}
   1.222 +
   1.223 +void Vector3::rotate(const Vector3 &euler)
   1.224 +{
   1.225 +	Matrix4x4 rot;
   1.226 +	rot.set_rotation(euler);
   1.227 +	transform(rot);
   1.228 +}
   1.229 +
   1.230 +Vector3 Vector3::rotated(const Vector3 &euler) const
   1.231 +{
   1.232 +	Matrix4x4 rot;
   1.233 +	rot.set_rotation(euler);
   1.234 +	return transformed(rot);
   1.235 +}
   1.236 +
   1.237 +std::ostream &operator <<(std::ostream &out, const Vector3 &vec)
   1.238 +{
   1.239 +	out << "[" << vec.x << " " << vec.y << " " << vec.z << "]";
   1.240 +	return out;
   1.241 +}
   1.242 +
   1.243 +
   1.244 +// -------------- Vector4 --------------
   1.245 +Vector4::Vector4(scalar_t x, scalar_t y, scalar_t z, scalar_t w)
   1.246 +{
   1.247 +	this->x = x;
   1.248 +	this->y = y;
   1.249 +	this->z = z;
   1.250 +	this->w = w;
   1.251 +}
   1.252 +
   1.253 +Vector4::Vector4(const vec4_t &vec)
   1.254 +{
   1.255 +	x = vec.x;
   1.256 +	y = vec.y;
   1.257 +	z = vec.z;
   1.258 +	w = vec.w;
   1.259 +}
   1.260 +
   1.261 +Vector4::Vector4(const Vector2 &vec)
   1.262 +{
   1.263 +	x = vec.x;
   1.264 +	y = vec.y;
   1.265 +	z = 1;
   1.266 +	w = 1;
   1.267 +}
   1.268 +
   1.269 +Vector4::Vector4(const Vector3 &vec)
   1.270 +{
   1.271 +	x = vec.x;
   1.272 +	y = vec.y;
   1.273 +	z = vec.z;
   1.274 +	w = 1;
   1.275 +}
   1.276 +
   1.277 +void Vector4::normalize()
   1.278 +{
   1.279 +	scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);
   1.280 +	x /= len;
   1.281 +	y /= len;
   1.282 +	z /= len;
   1.283 +	w /= len;
   1.284 +}
   1.285 +
   1.286 +Vector4 Vector4::normalized() const
   1.287 +{
   1.288 +	scalar_t len = (scalar_t)sqrt(x*x + y*y + z*z + w*w);
   1.289 +	return Vector4(x / len, y / len, z / len, w / len);
   1.290 +}
   1.291 +
   1.292 +void Vector4::transform(const Matrix4x4 &mat)
   1.293 +{
   1.294 +	scalar_t nx = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;
   1.295 +	scalar_t ny = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;
   1.296 +	scalar_t nz = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;
   1.297 +	w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;
   1.298 +	x = nx;
   1.299 +	y = ny;
   1.300 +	z = nz;
   1.301 +}
   1.302 +
   1.303 +Vector4 Vector4::transformed(const Matrix4x4 &mat) const
   1.304 +{
   1.305 +	Vector4 vec;
   1.306 +	vec.x = mat[0][0] * x + mat[0][1] * y + mat[0][2] * z + mat[0][3] * w;
   1.307 +	vec.y = mat[1][0] * x + mat[1][1] * y + mat[1][2] * z + mat[1][3] * w;
   1.308 +	vec.z = mat[2][0] * x + mat[2][1] * y + mat[2][2] * z + mat[2][3] * w;
   1.309 +	vec.w = mat[3][0] * x + mat[3][1] * y + mat[3][2] * z + mat[3][3] * w;
   1.310 +	return vec;
   1.311 +}
   1.312 +
   1.313 +// TODO: implement 4D vector reflection
   1.314 +Vector4 Vector4::reflection(const Vector4 &normal) const
   1.315 +{
   1.316 +	return *this;
   1.317 +}
   1.318 +
   1.319 +// TODO: implement 4D vector refraction
   1.320 +Vector4 Vector4::refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const
   1.321 +{
   1.322 +	return *this;
   1.323 +}
   1.324 +
   1.325 +std::ostream &operator <<(std::ostream &out, const Vector4 &vec)
   1.326 +{
   1.327 +	out << "[" << vec.x << " " << vec.y << " " << vec.z << " " << vec.w << "]";
   1.328 +	return out;
   1.329 +}