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  1. /*************************************************************************************************
  2. *
  3. * Modeling and animation (TNM079) 2007
  4. * Code base for lab assignments. Copyright:
  5. * Gunnar Johansson (gunnar.johansson@itn.liu.se)
  6. * Ken Museth (ken.museth@itn.liu.se)
  7. * Michael Bang Nielsen (bang@daimi.au.dk)
  8. * Ola Nilsson (ola.nilsson@itn.liu.se)
  9. * Andreas Sderstrm (andreas.soderstrom@itn.liu.se)
  10. *
  11. *************************************************************************************************/
  12. #ifndef _vector3_h
  13. #define _vector3_h
  14.  
  15. #include "Vector4.h"
  16. #include <cmath>
  17. #include <iostream>
  18. #include <string>
  19. #include <sstream>
  20. #include <cassert>
  21.  
  22. template <typename Real>
  23. class Vector3
  24. {
  25. public:
  26. typedef Real ValueType;
  27.  
  28. public:
  29. // Constructors, destructor and assignment operators
  30. //! Default constructor, initializes to 0
  31. Vector3() {
  32. v[0] = v[1] = v[2] = Real(0.0);
  33. }
  34. /*Vector3(Real v0) {
  35. v[0] = v[1] = v[2] = v0;
  36. }*/
  37. Vector3(Real v0, Real v1, Real v2) {
  38. v[0] = v0;
  39. v[1] = v1;
  40. v[2] = v2;
  41. }
  42. /*
  43. //! Constructor that takes a Vector4
  44. Vector3(const Vector4<Real>& vec4) {
  45. v[0]=vec4[0]/vec4[3];
  46. v[1]=vec4[1]/vec4[3];
  47. v[2]=vec4[2]/vec4[3];
  48. }
  49. */
  50. //! Copy constructor
  51. template <typename Real2>
  52. Vector3(const Vector3<Real2>& vec3) {
  53. *this = vec3;
  54. }
  55. //! Assignment operator = for vector
  56. template <typename Real2>
  57. Vector3& operator=(const Vector3<Real2>& vec3) {
  58. v[0]=(Real)vec3[0];
  59. v[1]=(Real)vec3[1];
  60. v[2]=(Real)vec3[2];
  61. return *this;
  62. }
  63. //! Assignment operator = for scalar
  64. template <typename Scalar>
  65. Vector3& operator=(Scalar s) {
  66. v[0]=(Real)s;
  67. v[1]=(Real)s;
  68. v[2]=(Real)s;
  69. return *this;
  70. }
  71. //! Constructor from std::string object
  72. Vector3(std::string str) {
  73. std::stringstream s;
  74. s << str;
  75. Load(s);
  76. }
  77. //! Destructor
  78. ~Vector3() { }
  79. //! Load a vector from an istream
  80. void Load(std::istream& is) {
  81. is >> v[0] >> v[1] >> v[2];
  82. }
  83. //! Save a vector from to a ostream
  84. void Save(std::ostream& os) const {
  85. os << v[0] << " " << v[1] << " " << v[2];
  86. }
  87.  
  88. // Access operators
  89. Real& operator[](unsigned int i) {
  90. assert(i >= 0 && i <= 2 && "Index out of bounds in Vector3");
  91. return v[i];
  92. }
  93. Real operator[](unsigned int i) const {
  94. assert(i >= 0 && i <= 2 && "Index out of bounds in Vector3");
  95. return v[i];
  96. }
  97. // Real x() const {return v[0];}
  98. // Real y() const {return v[1];}
  99. // Real z() const {return v[2];}
  100. // Real& x() {return v[0];}
  101. // Real& y() {return v[1];}
  102. // Real& z() {return v[2];}
  103. Real *GetArrayPtr() { return v; }
  104. const Real *GetArrayPtr() const { return v; }
  105.  
  106. // Algebraic operators
  107. Vector3 operator-(const Vector3& vec3) const {
  108. return Vector3(v[0]-vec3.v[0], v[1]-vec3.v[1], v[2]-vec3.v[2]);
  109. }
  110. Vector3 operator+(const Vector3& vec3) const {
  111. return Vector3(v[0]+vec3.v[0], v[1]+vec3.v[1], v[2]+vec3.v[2]);
  112. }
  113. Vector3 & operator+=(const Vector3& vec3) {
  114. v[0]+=vec3.v[0];
  115. v[1]+=vec3.v[1];
  116. v[2]+=vec3.v[2];
  117. return *this;
  118. }
  119. Vector3 & operator-=(const Vector3& vec3) {
  120. v[0]-=vec3.v[0];
  121. v[1]-=vec3.v[1];
  122. v[2]-=vec3.v[2];
  123. return *this;
  124. }
  125. //! Dot product
  126. Real operator*(const Vector3<Real>& vec3) const {
  127. return v[0]*vec3[0] + v[1]*vec3[1] + v[2]*vec3[2];
  128. }
  129. //! Scalar multiply for scaling the vector
  130. template<typename Scalar>
  131. Vector3<Real> operator*(Scalar s) const {
  132. return Vector3<Real>((Real)(s*v[0]), (Real)(s*v[1]), (Real)(s*v[2]));
  133. }
  134. template<typename Scalar>
  135. Vector3<Real>& operator*=(Scalar s) {
  136. v[0]*=(Real)s;
  137. v[1]*=(Real)s;
  138. v[2]*=(Real)s;
  139. return *this;
  140. }
  141. template<typename Scalar>
  142. Vector3<Real>& operator/=(Scalar s) {
  143. return *this *= 1.0/s;
  144. }
  145. //! Scaling of vector by division
  146. template<typename Scalar>
  147. Vector3<Real> operator/(Scalar s) const {
  148. Real invS = 1.0/s;
  149. return Vector3<Real>(v[0]*invS, v[1]*invS, v[2]*invS);
  150. }
  151. //! Multiplication with another vector entry by entry
  152. Vector3 EntryMult(const Vector3& vec3) const {
  153. return Vector3(v[0]*vec3.v[0], v[1]*vec3.v[1], v[2]*vec3.v[2]);
  154. }
  155.  
  156. // Comparison operators
  157. //! Greater than operator for lexicographic comparison
  158. bool operator > ( const Vector3<Real> &A ) const;
  159. //! Less than operator for lexicographic comparison
  160. bool operator < ( const Vector3<Real> &A ) const;
  161. //! Less than or equal operator for lexicographic comparison
  162. bool operator <= ( const Vector3<Real> &A ) const;
  163. //! Greater than or equal operator for lexicographic comparison
  164. bool operator >= ( const Vector3<Real> &A ) const;
  165. //! Equal operator for lexicographic comparison
  166. bool operator == ( const Vector3<Real> &A ) const;
  167. //! Not equal operator for lexicographic comparison
  168. bool operator != (const Vector3<Real>& other) const {return !(*this == other);}
  169. //! Templated equal operator for lexicographic comparison of vectors of different type
  170. template <typename Real2>
  171. bool operator==(const Vector3<Real2>& vec3) const {
  172. return v[0]==(Real)vec3[0] && v[1]==(Real)vec3[1] && v[2]==(Real)vec3[2];
  173. }
  174.  
  175. // Geometric operators
  176. //! Norm of a vector
  177. Real Norm() const {
  178. return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
  179. }
  180. //! Length of a vector, specilization exists for type float, see below
  181. Real Length() const {
  182. return sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] );
  183. }
  184. //! Normalization of vector
  185. Vector3& Normalize() {
  186. Real len = Length();
  187. v[0] /= len;
  188. v[1] /= len;
  189. v[2] /= len;
  190. return *this;
  191. }
  192. // static methods
  193. static Vector3 Floor(const Vector3& vec3) {
  194. return Vector3(::floor(vec3[0]), ::floor(vec3[1]), ::floor(vec3[2]));
  195. }
  196. static Vector3 Ceil(const Vector3& vec3) {
  197. return Vector3(::ceil(vec3[0]), ::ceil(vec3[1]), ::ceil(vec3[2]));
  198. }
  199.  
  200. protected:
  201. Real v[3];
  202. // friends
  203. //! Cross product
  204. template<typename Real2>
  205. friend Vector3<Real2> Cross(const Vector3<Real2>& v1, const Vector3<Real2>& v2);
  206. };
  207.  
  208. //! Specialization of length for float type, uses sqrtf instead.
  209. template<>
  210. inline float Vector3<float>::Length() const{
  211. return sqrtf( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] );
  212. }
  213.  
  214. //! Cross product
  215. template <typename Real2>
  216. Vector3<Real2> Cross(const Vector3<Real2>& v1, const Vector3<Real2>& v2)
  217. {
  218. Vector3<Real2> res;
  219.  
  220. res[0] = v1[1] * v2[2] - v1[2] * v2[1];
  221. res[1] = v1[2] * v2[0] - v1[0] * v2[2];
  222. res[2] = v1[0] * v2[1] - v1[1] * v2[0];
  223.  
  224. return res;
  225. }
  226.  
  227. //! Less than operator for lexicographic comparison
  228. template <class Real>
  229. inline bool Vector3<Real>::operator < ( const Vector3<Real> &A ) const
  230. {
  231. if ( v[0]<A[0] )
  232. return true;
  233. else if ( v[0]>A[0] )
  234. return false;
  235. else if ( v[1]<A[1] )
  236. return true;
  237. else if ( v[1]>A[1] )
  238. return false;
  239. else if ( v[2]<A[2] )
  240. return true;
  241. else
  242. return false;
  243. }
  244. template <class Real>
  245. inline bool Vector3<Real>::operator > ( const Vector3<Real> &A ) const
  246. {
  247. if ( v[0]>A[0] )
  248. return true;
  249. else if ( v[0]<A[0] )
  250. return false;
  251. else if ( v[1]>A[1] )
  252. return true;
  253. else if ( v[1]<A[1] )
  254. return false;
  255. else if ( v[2]>A[2] )
  256. return true;
  257. else
  258. return false;
  259. }
  260. template <class Real>
  261. inline bool Vector3<Real>::operator <= ( const Vector3<Real> &A ) const
  262. {
  263. if ( v[0]<A[0] )
  264. return true;
  265. else if ( v[0]>A[0] )
  266. return false;
  267. else if ( v[1]<A[1] )
  268. return true;
  269. else if ( v[1]>A[1] )
  270. return false;
  271. else if ( v[2]<=A[2] )
  272. return true;
  273. else
  274. return false;
  275. }
  276. template <class Real>
  277. inline bool Vector3<Real>::operator >= ( const Vector3<Real> &A ) const
  278. {
  279. if ( v[0]>A[0] )
  280. return true;
  281. else if ( v[0]<A[0] )
  282. return false;
  283. else if ( v[1]>A[1] )
  284. return true;
  285. else if ( v[1]<A[1] )
  286. return false;
  287. else if ( v[2]>=A[2] )
  288. return true;
  289. else
  290. return false;
  291. }
  292. template <class Real>
  293. inline bool Vector3<Real>::operator == ( const Vector3<Real> &A ) const
  294. {
  295. return ( (v[0]-A[0] > -0.01 && v[0]-A[0] < 0.01) && (v[1]-A[1] > -0.01 && v[1]-A[1] < 0.01) && (v[2]-A[2] > -0.01 && v[2]-A[2] < 0.01) );
  296. }
  297.  
  298.  
  299.  
  300. template <typename Real1, typename Real2>
  301. Vector3<Real2> operator*(Real1 r, const Vector3<Real2>& v)
  302. {
  303. Vector3<Real2> res;
  304.  
  305. res[0] = v[0]*r;
  306. res[1] = v[1]*r;
  307. res[2] = v[2]*r;
  308.  
  309. return res;
  310. }
  311.  
  312. template <typename Real>
  313. const Vector3<Real> operator-(const Vector3<Real>& vec3)
  314. {
  315. return Vector3<Real>(-vec3[0], -vec3[1], -vec3[2]);
  316. }
  317.  
  318. namespace std
  319. {
  320. template <typename Real>
  321. ostream& operator<<(ostream& os, const Vector3<Real>& m)
  322. {
  323. m.Save(os);
  324. return os;
  325. }
  326.  
  327. template <typename Real>
  328. istream& operator>>(istream& is, Vector3<Real>& m)
  329. {
  330. m.Load(is);
  331. return is;
  332. }
  333. }
  334.  
  335.  
  336. #endif
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