v3dmath.h

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#ifndef LL_V3DMATH_H
#define LL_V3DMATH_H

#include "llerror.h"
#include "v3math.h"

class LLVector3d
{
        public:
                F64 mdV[3];

                const static LLVector3d zero;
                const static LLVector3d x_axis;
                const static LLVector3d y_axis;
                const static LLVector3d z_axis;
                const static LLVector3d x_axis_neg;
                const static LLVector3d y_axis_neg;
                const static LLVector3d z_axis_neg;

                inline LLVector3d();                                                    // Initializes LLVector3d to (0, 0, 0)
                inline LLVector3d(const F64 x, const F64 y, const F64 z);                       // Initializes LLVector3d to (x. y, z)
                inline explicit LLVector3d(const F64 *vec);                             // Initializes LLVector3d to (vec[0]. vec[1], vec[2])
                inline explicit LLVector3d(const LLVector3 &vec);
                LLVector3d(const LLSD& sd)
                {
                        setValue(sd);
                }

                void setValue(const LLSD& sd)
                {
                        mdV[0] = sd[0].asReal();
                        mdV[1] = sd[1].asReal();
                        mdV[2] = sd[2].asReal();
                }

                const LLVector3d& operator=(const LLSD& sd)
                {
                        setValue(sd);
                        return *this;
                }

                LLSD getValue() const
                {
                        LLSD ret;
                        ret[0] = mdV[0];
                        ret[1] = mdV[1];
                        ret[2] = mdV[2];
                        return ret;
                }

                inline BOOL isFinite() const;                                                                   // checks to see if all values of LLVector3d are finite
                BOOL            clamp(const F64 min, const F64 max);            // Clamps all values to (min,max), returns TRUE if data changed
                BOOL            abs();                                          // sets all values to absolute value of original value (first octant), returns TRUE if changed

                inline const LLVector3d&        clearVec();                                             // Clears LLVector3d to (0, 0, 0, 1)
                inline const LLVector3d&        zeroVec();                                              // Zero LLVector3d to (0, 0, 0, 0)
                inline const LLVector3d&        setVec(const F64 x, const F64 y, const F64 z);  // Sets LLVector3d to (x, y, z, 1)
                inline const LLVector3d&        setVec(const LLVector3d &vec);  // Sets LLVector3d to vec
                inline const LLVector3d&        setVec(const F64 *vec);                 // Sets LLVector3d to vec
                inline const LLVector3d&        setVec(const LLVector3 &vec);

                F64             magVec() const;                         // Returns magnitude of LLVector3d
                F64             magVecSquared() const;          // Returns magnitude squared of LLVector3d
                inline F64              normVec();                                      // Normalizes and returns the magnitude of LLVector3d

                const LLVector3d&       rotVec(const F64 angle, const LLVector3d &vec); // Rotates about vec by angle radians
                const LLVector3d&       rotVec(const F64 angle, const F64 x, const F64 y, const F64 z);         // Rotates about x,y,z by angle radians
                const LLVector3d&       rotVec(const LLMatrix3 &mat);                           // Rotates by LLMatrix4 mat
                const LLVector3d&       rotVec(const LLQuaternion &q);                          // Rotates by LLQuaternion q

                BOOL isNull() const;                    // Returns TRUE if vector has a _very_small_ length
                BOOL isExactlyZero() const              { return !mdV[VX] && !mdV[VY] && !mdV[VZ]; }

                const LLVector3d&       operator=(const LLVector4 &a);

                F64 operator[](int idx) const { return mdV[idx]; }
                F64 &operator[](int idx) { return mdV[idx]; }

                friend LLVector3d operator+(const LLVector3d &a, const LLVector3d &b);  // Return vector a + b
                friend LLVector3d operator-(const LLVector3d &a, const LLVector3d &b);  // Return vector a minus b
                friend F64 operator*(const LLVector3d &a, const LLVector3d &b);         // Return a dot b
                friend LLVector3d operator%(const LLVector3d &a, const LLVector3d &b);  // Return a cross b
                friend LLVector3d operator*(const LLVector3d &a, const F64 k);                          // Return a times scaler k
                friend LLVector3d operator/(const LLVector3d &a, const F64 k);                          // Return a divided by scaler k
                friend LLVector3d operator*(const F64 k, const LLVector3d &a);                          // Return a times scaler k
                friend bool operator==(const LLVector3d &a, const LLVector3d &b);               // Return a == b
                friend bool operator!=(const LLVector3d &a, const LLVector3d &b);               // Return a != b

                friend const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b);        // Return vector a + b
                friend const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b);        // Return vector a minus b
                friend const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b);        // Return a cross b
                friend const LLVector3d& operator*=(LLVector3d &a, const F64 k);                                // Return a times scaler k
                friend const LLVector3d& operator/=(LLVector3d &a, const F64 k);                                // Return a divided by scaler k

                friend LLVector3d operator-(const LLVector3d &a);                                       // Return vector -a

                friend std::ostream&     operator<<(std::ostream& s, const LLVector3d &a);              // Stream a

                static BOOL parseVector3d(const char* buf, LLVector3d* value);

};

typedef LLVector3d LLGlobalVec;

const LLVector3d &LLVector3d::setVec(const LLVector3 &vec)
{
        mdV[0] = vec.mV[0];
        mdV[1] = vec.mV[1];
        mdV[2] = vec.mV[2];
        return *this;
}


inline LLVector3d::LLVector3d(void)
{
        mdV[0] = 0.f;
        mdV[1] = 0.f;
        mdV[2] = 0.f;
}

inline LLVector3d::LLVector3d(const F64 x, const F64 y, const F64 z)
{
        mdV[VX] = x;
        mdV[VY] = y;
        mdV[VZ] = z;
}

inline LLVector3d::LLVector3d(const F64 *vec)
{
        mdV[VX] = vec[VX];
        mdV[VY] = vec[VY];
        mdV[VZ] = vec[VZ];
}

inline LLVector3d::LLVector3d(const LLVector3 &vec)
{
        mdV[VX] = vec.mV[VX];
        mdV[VY] = vec.mV[VY];
        mdV[VZ] = vec.mV[VZ];
}

/*
inline LLVector3d::LLVector3d(const LLVector3d &copy)
{
        mdV[VX] = copy.mdV[VX];
        mdV[VY] = copy.mdV[VY];
        mdV[VZ] = copy.mdV[VZ];
}
*/

// Destructors

// checker
inline BOOL LLVector3d::isFinite() const
{
        return (llfinite(mdV[VX]) && llfinite(mdV[VY]) && llfinite(mdV[VZ]));
}


// Clear and Assignment Functions

inline const LLVector3d&        LLVector3d::clearVec(void)
{
        mdV[0] = 0.f;
        mdV[1] = 0.f;
        mdV[2]= 0.f;
        return (*this);
}

inline const LLVector3d&        LLVector3d::zeroVec(void)
{
        mdV[0] = 0.f;
        mdV[1] = 0.f;
        mdV[2] = 0.f;
        return (*this);
}

inline const LLVector3d&        LLVector3d::setVec(const F64 x, const F64 y, const F64 z)
{
        mdV[VX] = x;
        mdV[VY] = y;
        mdV[VZ] = z;
        return (*this);
}

inline const LLVector3d&        LLVector3d::setVec(const LLVector3d &vec)
{
        mdV[0] = vec.mdV[0];
        mdV[1] = vec.mdV[1];
        mdV[2] = vec.mdV[2];
        return (*this);
}

inline const LLVector3d&        LLVector3d::setVec(const F64 *vec)
{
        mdV[0] = vec[0];
        mdV[1] = vec[1];
        mdV[2] = vec[2];
        return (*this);
}

inline F64 LLVector3d::normVec(void)
{
        F64 mag = fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
        F64 oomag;

        if (mag > FP_MAG_THRESHOLD)
        {
                oomag = 1.f/mag;
                mdV[0] *= oomag;
                mdV[1] *= oomag;
                mdV[2] *= oomag;
        }
        else
        {
                mdV[0] = 0.f;
                mdV[1] = 0.f;
                mdV[2] = 0.f;
                mag = 0;
        }
        return (mag);
}

// LLVector3d Magnitude and Normalization Functions

inline F64      LLVector3d::magVec(void) const
{
        return fsqrtf(mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2]);
}

inline F64      LLVector3d::magVecSquared(void) const
{
        return mdV[0]*mdV[0] + mdV[1]*mdV[1] + mdV[2]*mdV[2];
}

inline LLVector3d operator+(const LLVector3d &a, const LLVector3d &b)
{
        LLVector3d c(a);
        return c += b;
}

inline LLVector3d operator-(const LLVector3d &a, const LLVector3d &b)
{
        LLVector3d c(a);
        return c -= b;
}

inline F64  operator*(const LLVector3d &a, const LLVector3d &b)
{
        return (a.mdV[0]*b.mdV[0] + a.mdV[1]*b.mdV[1] + a.mdV[2]*b.mdV[2]);
}

inline LLVector3d operator%(const LLVector3d &a, const LLVector3d &b)
{
        return LLVector3d( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1] );
}

inline LLVector3d operator/(const LLVector3d &a, const F64 k)
{
        F64 t = 1.f / k;
        return LLVector3d( a.mdV[0] * t, a.mdV[1] * t, a.mdV[2] * t );
}

inline LLVector3d operator*(const LLVector3d &a, const F64 k)
{
        return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k );
}

inline LLVector3d operator*(F64 k, const LLVector3d &a)
{
        return LLVector3d( a.mdV[0] * k, a.mdV[1] * k, a.mdV[2] * k );
}

inline bool operator==(const LLVector3d &a, const LLVector3d &b)
{
        return (  (a.mdV[0] == b.mdV[0])
                        &&(a.mdV[1] == b.mdV[1])
                        &&(a.mdV[2] == b.mdV[2]));
}

inline bool operator!=(const LLVector3d &a, const LLVector3d &b)
{
        return (  (a.mdV[0] != b.mdV[0])
                        ||(a.mdV[1] != b.mdV[1])
                        ||(a.mdV[2] != b.mdV[2]));
}

inline const LLVector3d& operator+=(LLVector3d &a, const LLVector3d &b)
{
        a.mdV[0] += b.mdV[0];
        a.mdV[1] += b.mdV[1];
        a.mdV[2] += b.mdV[2];
        return a;
}

inline const LLVector3d& operator-=(LLVector3d &a, const LLVector3d &b)
{
        a.mdV[0] -= b.mdV[0];
        a.mdV[1] -= b.mdV[1];
        a.mdV[2] -= b.mdV[2];
        return a;
}

inline const LLVector3d& operator%=(LLVector3d &a, const LLVector3d &b)
{
        LLVector3d ret( a.mdV[1]*b.mdV[2] - b.mdV[1]*a.mdV[2], a.mdV[2]*b.mdV[0] - b.mdV[2]*a.mdV[0], a.mdV[0]*b.mdV[1] - b.mdV[0]*a.mdV[1]);
        a = ret;
        return a;
}

inline const LLVector3d& operator*=(LLVector3d &a, const F64 k)
{
        a.mdV[0] *= k;
        a.mdV[1] *= k;
        a.mdV[2] *= k;
        return a;
}

inline const LLVector3d& operator/=(LLVector3d &a, const F64 k)
{
        F64 t = 1.f / k;
        a.mdV[0] *= t;
        a.mdV[1] *= t;
        a.mdV[2] *= t;
        return a;
}

inline LLVector3d operator-(const LLVector3d &a)
{
        return LLVector3d( -a.mdV[0], -a.mdV[1], -a.mdV[2] );
}

inline F64      dist_vec(const LLVector3d &a, const LLVector3d &b)
{
        F64 x = a.mdV[0] - b.mdV[0];
        F64 y = a.mdV[1] - b.mdV[1];
        F64 z = a.mdV[2] - b.mdV[2];
        return fsqrtf( x*x + y*y + z*z );
}

inline F64      dist_vec_squared(const LLVector3d &a, const LLVector3d &b)
{
        F64 x = a.mdV[0] - b.mdV[0];
        F64 y = a.mdV[1] - b.mdV[1];
        F64 z = a.mdV[2] - b.mdV[2];
        return x*x + y*y + z*z;
}

inline F64      dist_vec_squared2D(const LLVector3d &a, const LLVector3d &b)
{
        F64 x = a.mdV[0] - b.mdV[0];
        F64 y = a.mdV[1] - b.mdV[1];
        return x*x + y*y;
}

inline LLVector3d lerp(const LLVector3d &a, const LLVector3d &b, const F64 u)
{
        return LLVector3d(
                a.mdV[VX] + (b.mdV[VX] - a.mdV[VX]) * u,
                a.mdV[VY] + (b.mdV[VY] - a.mdV[VY]) * u,
                a.mdV[VZ] + (b.mdV[VZ] - a.mdV[VZ]) * u);
}


inline BOOL     LLVector3d::isNull() const
{
        if ( F_APPROXIMATELY_ZERO > mdV[VX]*mdV[VX] + mdV[VY]*mdV[VY] + mdV[VZ]*mdV[VZ] )
        {
                return TRUE;
        }
        return FALSE;
}


inline F64 angle_between(const LLVector3d& a, const LLVector3d& b)
{
        LLVector3d an = a;
        LLVector3d bn = b;
        an.normVec();
        bn.normVec();
        F64 cosine = an * bn;
        F64 angle = (cosine >= 1.0f) ? 0.0f :
                                (cosine <= -1.0f) ? F_PI :
                                acos(cosine);
        return angle;
}

inline BOOL are_parallel(const LLVector3d &a, const LLVector3d &b, const F64 epsilon)
{
        LLVector3d an = a;
        LLVector3d bn = b;
        an.normVec();
        bn.normVec();
        F64 dot = an * bn;
        if ( (1.0f - fabs(dot)) < epsilon)
        {
                return TRUE;
        }
        return FALSE;

}

inline LLVector3d projected_vec(const LLVector3d &a, const LLVector3d &b)
{
        LLVector3d project_axis = b;
        project_axis.normVec();
        return project_axis * (a * project_axis);
}

#endif // LL_V3DMATH_H

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