v4math.h

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#ifndef LL_V4MATH_H
#define LL_V4MATH_H

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

class LLMatrix3;
class LLMatrix4;
class LLQuaternion;

//  LLVector4 = |x y z w|

static const U32 LENGTHOFVECTOR4 = 4;

class LLVector4
{
        public:
                F32 mV[LENGTHOFVECTOR4];
                LLVector4();                                            // Initializes LLVector4 to (0, 0, 0, 1)
                explicit LLVector4(const F32 *vec);                     // Initializes LLVector4 to (vec[0]. vec[1], vec[2], vec[3])
                explicit LLVector4(const F64 *vec);                     // Initialized LLVector4 to ((F32) vec[0], (F32) vec[1], (F32) vec[3], (F32) vec[4]);
                explicit LLVector4(const LLVector3 &vec);                       // Initializes LLVector4 to (vec, 1)
                explicit LLVector4(const LLVector3 &vec, F32 w);        // Initializes LLVector4 to (vec, w)
                LLVector4(F32 x, F32 y, F32 z);         // Initializes LLVector4 to (x. y, z, 1)
                LLVector4(F32 x, F32 y, F32 z, F32 w);

                LLSD getValue() const
                {
                        LLSD ret;
                        ret[0] = mV[0];
                        ret[1] = mV[1];
                        ret[2] = mV[2];
                        ret[3] = mV[3];
                        return ret;
                }

                inline BOOL isFinite() const;                                                                   // checks to see if all values of LLVector3 are finite

                inline void     clearVec();                                                     // Clears LLVector4 to (0, 0, 0, 1)
                inline void     zeroVec();                                                      // zero LLVector4 to (0, 0, 0, 0)
                inline void     setVec(F32 x, F32 y, F32 z);            // Sets LLVector4 to (x, y, z, 1)
                inline void     setVec(F32 x, F32 y, F32 z, F32 w);     // Sets LLVector4 to (x, y, z, w)
                inline void     setVec(const LLVector4 &vec);           // Sets LLVector4 to vec
                inline void     setVec(const LLVector3 &vec, F32 w = 1.f); // Sets LLVector4 to LLVector3 vec
                inline void     setVec(const F32 *vec);                         // Sets LLVector4 to vec

                F32                     magVec() const;                         // Returns magnitude of LLVector4
                F32                     magVecSquared() const;          // Returns magnitude squared of LLVector4
                F32                     normVec();                                      // Normalizes and returns the magnitude of LLVector4

                // Sets all values to absolute value of their original values
                // Returns TRUE if data changed
                BOOL abs();
                
                BOOL isExactlyClear() const             { return (mV[VW] == 1.0f) && !mV[VX] && !mV[VY] && !mV[VZ]; }
                BOOL isExactlyZero() const              { return !mV[VW] && !mV[VX] && !mV[VY] && !mV[VZ]; }

                const LLVector4&        rotVec(F32 angle, const LLVector4 &vec);        // Rotates about vec by angle radians
                const LLVector4&        rotVec(F32 angle, F32 x, F32 y, F32 z);         // Rotates about x,y,z by angle radians
                const LLVector4&        rotVec(const LLMatrix4 &mat);                           // Rotates by MAT4 mat
                const LLVector4&        rotVec(const LLQuaternion &q);                          // Rotates by QUAT q

                const LLVector4&        scaleVec(const LLVector4& vec); // Scales component-wise by vec

                F32 operator[](int idx) const { return mV[idx]; }
                F32 &operator[](int idx) { return mV[idx]; }
        
                friend std::ostream&     operator<<(std::ostream& s, const LLVector4 &a);               // Print a
                friend LLVector4 operator+(const LLVector4 &a, const LLVector4 &b);     // Return vector a + b
                friend LLVector4 operator-(const LLVector4 &a, const LLVector4 &b);     // Return vector a minus b
                friend F32  operator*(const LLVector4 &a, const LLVector4 &b);          // Return a dot b
                friend LLVector4 operator%(const LLVector4 &a, const LLVector4 &b);     // Return a cross b
                friend LLVector4 operator/(const LLVector4 &a, F32 k);                          // Return a divided by scaler k
                friend LLVector4 operator*(const LLVector4 &a, F32 k);                          // Return a times scaler k
                friend LLVector4 operator*(F32 k, const LLVector4 &a);                          // Return a times scaler k
                friend bool operator==(const LLVector4 &a, const LLVector4 &b);         // Return a == b
                friend bool operator!=(const LLVector4 &a, const LLVector4 &b);         // Return a != b

                friend const LLVector4& operator+=(LLVector4 &a, const LLVector4 &b);   // Return vector a + b
                friend const LLVector4& operator-=(LLVector4 &a, const LLVector4 &b);   // Return vector a minus b
                friend const LLVector4& operator%=(LLVector4 &a, const LLVector4 &b);   // Return a cross b
                friend const LLVector4& operator*=(LLVector4 &a, F32 k);                                // Return a times scaler k
                friend const LLVector4& operator/=(LLVector4 &a, F32 k);                                // Return a divided by scaler k

                friend LLVector4 operator-(const LLVector4 &a);                                 // Return vector -a
};

// Non-member functions 
F32 angle_between(const LLVector4 &a, const LLVector4 &b);              // Returns angle (radians) between a and b
BOOL are_parallel(const LLVector4 &a, const LLVector4 &b, F32 epsilon=F_APPROXIMATELY_ZERO);            // Returns TRUE if a and b are very close to parallel
F32     dist_vec(const LLVector4 &a, const LLVector4 &b);                       // Returns distance between a and b
F32     dist_vec_squared(const LLVector4 &a, const LLVector4 &b);       // Returns distance squared between a and b
LLVector3       vec4to3(const LLVector4 &vec);
LLVector4       vec3to4(const LLVector3 &vec);
LLVector4 lerp(const LLVector4 &a, const LLVector4 &b, F32 u); // Returns a vector that is a linear interpolation between a and b

// Constructors

inline LLVector4::LLVector4(void)
{
        mV[VX] = 0.f;
        mV[VY] = 0.f;
        mV[VZ] = 0.f;
        mV[VW] = 1.f;
}

inline LLVector4::LLVector4(F32 x, F32 y, F32 z)
{
        mV[VX] = x;
        mV[VY] = y;
        mV[VZ] = z;
        mV[VW] = 1.f;
}

inline LLVector4::LLVector4(F32 x, F32 y, F32 z, F32 w)
{
        mV[VX] = x;
        mV[VY] = y;
        mV[VZ] = z;
        mV[VW] = w;
}

inline LLVector4::LLVector4(const F32 *vec)
{
        mV[VX] = vec[VX];
        mV[VY] = vec[VY];
        mV[VZ] = vec[VZ];
        mV[VW] = vec[VW];
}

inline LLVector4::LLVector4(const F64 *vec)
{
        mV[VX] = (F32) vec[VX];
        mV[VY] = (F32) vec[VY];
        mV[VZ] = (F32) vec[VZ];
        mV[VW] = (F32) vec[VW];
}

inline LLVector4::LLVector4(const LLVector3 &vec)
{
        mV[VX] = vec.mV[VX];
        mV[VY] = vec.mV[VY];
        mV[VZ] = vec.mV[VZ];
        mV[VW] = 1.f;
}

inline LLVector4::LLVector4(const LLVector3 &vec, F32 w)
{
        mV[VX] = vec.mV[VX];
        mV[VY] = vec.mV[VY];
        mV[VZ] = vec.mV[VZ];
        mV[VW] = w;
}


inline BOOL LLVector4::isFinite() const
{
        return (llfinite(mV[VX]) && llfinite(mV[VY]) && llfinite(mV[VZ]) && llfinite(mV[VW]));
}

// Clear and Assignment Functions

inline void     LLVector4::clearVec(void)
{
        mV[VX] = 0.f;
        mV[VY] = 0.f;
        mV[VZ] = 0.f;
        mV[VW] = 1.f;
}

inline void     LLVector4::zeroVec(void)
{
        mV[VX] = 0.f;
        mV[VY] = 0.f;
        mV[VZ] = 0.f;
        mV[VW] = 0.f;
}

inline void     LLVector4::setVec(F32 x, F32 y, F32 z)
{
        mV[VX] = x;
        mV[VY] = y;
        mV[VZ] = z;
        mV[VW] = 1.f;
}

inline void     LLVector4::setVec(F32 x, F32 y, F32 z, F32 w)
{
        mV[VX] = x;
        mV[VY] = y;
        mV[VZ] = z;
        mV[VW] = w;
}

inline void     LLVector4::setVec(const LLVector4 &vec)
{
        mV[VX] = vec.mV[VX];
        mV[VY] = vec.mV[VY];
        mV[VZ] = vec.mV[VZ];
        mV[VW] = vec.mV[VW];
}

inline void     LLVector4::setVec(const LLVector3 &vec, F32 w)
{
        mV[VX] = vec.mV[VX];
        mV[VY] = vec.mV[VY];
        mV[VZ] = vec.mV[VZ];
        mV[VW] = w;
}

inline void     LLVector4::setVec(const F32 *vec)
{
        mV[VX] = vec[VX];
        mV[VY] = vec[VY];
        mV[VZ] = vec[VZ];
        mV[VW] = vec[VW];
}

// LLVector4 Magnitude and Normalization Functions

inline F32              LLVector4::magVec(void) const
{
        return fsqrtf(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
}

inline F32              LLVector4::magVecSquared(void) const
{
        return mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ];
}

// LLVector4 Operators

inline LLVector4 operator+(const LLVector4 &a, const LLVector4 &b)
{
        LLVector4 c(a);
        return c += b;
}

inline LLVector4 operator-(const LLVector4 &a, const LLVector4 &b)
{
        LLVector4 c(a);
        return c -= b;
}

inline F32  operator*(const LLVector4 &a, const LLVector4 &b)
{
        return (a.mV[VX]*b.mV[VX] + a.mV[VY]*b.mV[VY] + a.mV[VZ]*b.mV[VZ]);
}

inline LLVector4 operator%(const LLVector4 &a, const LLVector4 &b)
{
        return LLVector4(a.mV[VY]*b.mV[VZ] - b.mV[VY]*a.mV[VZ], a.mV[VZ]*b.mV[VX] - b.mV[VZ]*a.mV[VX], a.mV[VX]*b.mV[VY] - b.mV[VX]*a.mV[VY]);
}

inline LLVector4 operator/(const LLVector4 &a, F32 k)
{
        F32 t = 1.f / k;
        return LLVector4( a.mV[VX] * t, a.mV[VY] * t, a.mV[VZ] * t );
}


inline LLVector4 operator*(const LLVector4 &a, F32 k)
{
        return LLVector4( a.mV[VX] * k, a.mV[VY] * k, a.mV[VZ] * k );
}

inline LLVector4 operator*(F32 k, const LLVector4 &a)
{
        return LLVector4( a.mV[VX] * k, a.mV[VY] * k, a.mV[VZ] * k );
}

inline bool operator==(const LLVector4 &a, const LLVector4 &b)
{
        return (  (a.mV[VX] == b.mV[VX])
                        &&(a.mV[VY] == b.mV[VY])
                        &&(a.mV[VZ] == b.mV[VZ]));
}

inline bool operator!=(const LLVector4 &a, const LLVector4 &b)
{
        return (  (a.mV[VX] != b.mV[VX])
                        ||(a.mV[VY] != b.mV[VY])
                        ||(a.mV[VZ] != b.mV[VZ]));
}

inline const LLVector4& operator+=(LLVector4 &a, const LLVector4 &b)
{
        a.mV[VX] += b.mV[VX];
        a.mV[VY] += b.mV[VY];
        a.mV[VZ] += b.mV[VZ];
        return a;
}

inline const LLVector4& operator-=(LLVector4 &a, const LLVector4 &b)
{
        a.mV[VX] -= b.mV[VX];
        a.mV[VY] -= b.mV[VY];
        a.mV[VZ] -= b.mV[VZ];
        return a;
}

inline const LLVector4& operator%=(LLVector4 &a, const LLVector4 &b)
{
        LLVector4 ret(a.mV[VY]*b.mV[VZ] - b.mV[VY]*a.mV[VZ], a.mV[VZ]*b.mV[VX] - b.mV[VZ]*a.mV[VX], a.mV[VX]*b.mV[VY] - b.mV[VX]*a.mV[VY]);
        a = ret;
        return a;
}

inline const LLVector4& operator*=(LLVector4 &a, F32 k)
{
        a.mV[VX] *= k;
        a.mV[VY] *= k;
        a.mV[VZ] *= k;
        return a;
}

inline const LLVector4& operator/=(LLVector4 &a, F32 k)
{
        F32 t = 1.f / k;
        a.mV[VX] *= t;
        a.mV[VY] *= t;
        a.mV[VZ] *= t;
        return a;
}

inline LLVector4 operator-(const LLVector4 &a)
{
        return LLVector4( -a.mV[VX], -a.mV[VY], -a.mV[VZ] );
}

inline F32      dist_vec(const LLVector4 &a, const LLVector4 &b)
{
        LLVector4 vec = a - b;
        return (vec.magVec());
}

inline F32      dist_vec_squared(const LLVector4 &a, const LLVector4 &b)
{
        LLVector4 vec = a - b;
        return (vec.magVecSquared());
}

inline LLVector4 lerp(const LLVector4 &a, const LLVector4 &b, F32 u)
{
        return LLVector4(
                a.mV[VX] + (b.mV[VX] - a.mV[VX]) * u,
                a.mV[VY] + (b.mV[VY] - a.mV[VY]) * u,
                a.mV[VZ] + (b.mV[VZ] - a.mV[VZ]) * u,
                a.mV[VW] + (b.mV[VW] - a.mV[VW]) * u);
}

inline F32              LLVector4::normVec(void)
{
        F32 mag = fsqrtf(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
        F32 oomag;

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


#endif

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