[2] | 1 | // %flair:license{
|
---|
[15] | 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
[2] | 4 | // %flair:license}
|
---|
| 5 |
|
---|
| 6 | /*!
|
---|
| 7 | * \file Vector3D.h
|
---|
| 8 | * \brief Class defining a 3D vector
|
---|
| 9 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | * \date 2013/05/02
|
---|
| 11 | * \version 4.0
|
---|
| 12 | */
|
---|
| 13 | #ifndef VECTOR3D_H
|
---|
| 14 | #define VECTOR3D_H
|
---|
| 15 |
|
---|
| 16 | #include <stddef.h>
|
---|
| 17 |
|
---|
[15] | 18 | namespace flair {
|
---|
| 19 | namespace core {
|
---|
| 20 | class Vector2D;
|
---|
| 21 | class RotationMatrix;
|
---|
| 22 | class Quaternion;
|
---|
[2] | 23 |
|
---|
[15] | 24 | /*! \class Vector3D
|
---|
| 25 | *
|
---|
| 26 | * \brief Class defining a 3D vector
|
---|
| 27 | */
|
---|
| 28 | class Vector3D {
|
---|
| 29 | public:
|
---|
| 30 | /*!
|
---|
| 31 | * \brief Constructor
|
---|
| 32 | *
|
---|
| 33 | * Construct a Vector3D using specified values.
|
---|
| 34 | *
|
---|
| 35 | * \param x
|
---|
| 36 | * \param y
|
---|
| 37 | * \param z
|
---|
| 38 | */
|
---|
| 39 | Vector3D(float x = 0, float y = 0, float z = 0);
|
---|
[2] | 40 |
|
---|
[15] | 41 | /*!
|
---|
| 42 | * \brief Destructor
|
---|
| 43 | *
|
---|
| 44 | */
|
---|
| 45 | ~Vector3D();
|
---|
[2] | 46 |
|
---|
[15] | 47 | /*!
|
---|
| 48 | * \brief x
|
---|
| 49 | */
|
---|
| 50 | float x;
|
---|
[2] | 51 |
|
---|
[15] | 52 | /*!
|
---|
| 53 | * \brief y
|
---|
| 54 | */
|
---|
| 55 | float y;
|
---|
[2] | 56 |
|
---|
[15] | 57 | /*!
|
---|
| 58 | * \brief z
|
---|
| 59 | */
|
---|
| 60 | float z;
|
---|
[2] | 61 |
|
---|
[15] | 62 | /*!
|
---|
| 63 | * \brief x axis rotation
|
---|
| 64 | *
|
---|
| 65 | * \param value rotation value in radians
|
---|
| 66 | */
|
---|
| 67 | void RotateX(float value);
|
---|
[2] | 68 |
|
---|
[15] | 69 | /*!
|
---|
| 70 | * \brief x axis rotation
|
---|
| 71 | *
|
---|
| 72 | * \param value rotation value in degrees
|
---|
| 73 | */
|
---|
| 74 | void RotateXDeg(float value);
|
---|
[2] | 75 |
|
---|
[15] | 76 | /*!
|
---|
| 77 | * \brief y axis rotation
|
---|
| 78 | *
|
---|
| 79 | * \param value rotation value in radians
|
---|
| 80 | */
|
---|
| 81 | void RotateY(float value);
|
---|
[2] | 82 |
|
---|
[15] | 83 | /*!
|
---|
| 84 | * \brief y axis rotation
|
---|
| 85 | *
|
---|
| 86 | * \param value rotation value in degrees
|
---|
| 87 | */
|
---|
| 88 | void RotateYDeg(float value);
|
---|
[2] | 89 |
|
---|
[15] | 90 | /*!
|
---|
| 91 | * \brief z axis rotation
|
---|
| 92 | *
|
---|
| 93 | * \param value rotation value in radians
|
---|
| 94 | */
|
---|
| 95 | void RotateZ(float value);
|
---|
[2] | 96 |
|
---|
[15] | 97 | /*!
|
---|
| 98 | * \brief z axis rotation
|
---|
| 99 | *
|
---|
| 100 | * \param value rotation value in degrees
|
---|
| 101 | */
|
---|
| 102 | void RotateZDeg(float value);
|
---|
[2] | 103 |
|
---|
[15] | 104 | /*!
|
---|
| 105 | * \brief rotation
|
---|
| 106 | *
|
---|
| 107 | * \param matrix rotation matrix
|
---|
| 108 | */
|
---|
| 109 | void Rotate(const RotationMatrix &matrix);
|
---|
[2] | 110 |
|
---|
[15] | 111 | /*!
|
---|
| 112 | * \brief rotation
|
---|
| 113 | *
|
---|
| 114 | * Compute a rotation from a quaternion. This method uses a rotation matrix
|
---|
| 115 | * internaly.
|
---|
| 116 | *
|
---|
| 117 | * \param quaternion quaternion
|
---|
| 118 | */
|
---|
| 119 | void Rotate(const Quaternion &quaternion);
|
---|
[2] | 120 |
|
---|
[15] | 121 | /*!
|
---|
| 122 | * \brief Convert to a Vector2D
|
---|
| 123 | *
|
---|
| 124 | * Uses x and y coordinates.
|
---|
| 125 | *
|
---|
| 126 | * \param vector destination
|
---|
| 127 | */
|
---|
| 128 | void To2Dxy(Vector2D &vector) const;
|
---|
[2] | 129 |
|
---|
[15] | 130 | /*!
|
---|
| 131 | * \brief Convert to a Vector2D
|
---|
| 132 | *
|
---|
| 133 | * Uses x and y coordinates.
|
---|
| 134 | *
|
---|
| 135 | * \return destination
|
---|
| 136 | */
|
---|
| 137 | Vector2D To2Dxy(void) const;
|
---|
[2] | 138 |
|
---|
[15] | 139 | /*!
|
---|
| 140 | * \brief Norm
|
---|
| 141 | *
|
---|
| 142 | * \return value
|
---|
| 143 | */
|
---|
| 144 | float GetNorm(void) const;
|
---|
[2] | 145 |
|
---|
[15] | 146 | /*!
|
---|
| 147 | * \brief Normalize
|
---|
| 148 | */
|
---|
| 149 | void Normalize(void);
|
---|
[2] | 150 |
|
---|
[15] | 151 | /*!
|
---|
| 152 | * \brief Saturate
|
---|
| 153 | *
|
---|
| 154 | * Saturate between min and max
|
---|
| 155 | *
|
---|
| 156 | * \param min minimum value
|
---|
| 157 | * \param max maximum value
|
---|
| 158 | */
|
---|
| 159 | void Saturate(const Vector3D &min, const Vector3D &max);
|
---|
[2] | 160 |
|
---|
[15] | 161 | /*!
|
---|
| 162 | * \brief Saturate
|
---|
| 163 | *
|
---|
| 164 | * Saturate between min and max
|
---|
| 165 | *
|
---|
| 166 | * \param min minimum Vector3D(min,min,min) value
|
---|
| 167 | * \param max maximum Vector3D(max,max,max) value
|
---|
| 168 | */
|
---|
| 169 | void Saturate(float min, float max);
|
---|
[2] | 170 |
|
---|
[15] | 171 | /*!
|
---|
| 172 | * \brief Saturate
|
---|
| 173 | *
|
---|
| 174 | * Saturate between -abs(value) and abs(value)
|
---|
| 175 | *
|
---|
| 176 | * \param value saturation Vector3D value
|
---|
| 177 | */
|
---|
| 178 | void Saturate(const Vector3D &value);
|
---|
[2] | 179 |
|
---|
[15] | 180 | /*!
|
---|
| 181 | * \brief Saturate
|
---|
| 182 | *
|
---|
| 183 | * Saturate between -abs(Vector3D(value,value,value)) and
|
---|
| 184 | *abs(Vector3D(value,value,value))
|
---|
| 185 | *
|
---|
| 186 | * \param value saturation Vector3D(value,value,value)
|
---|
| 187 | */
|
---|
| 188 | void Saturate(float value);
|
---|
[2] | 189 |
|
---|
[15] | 190 | float &operator[](size_t idx);
|
---|
| 191 | const float &operator[](size_t idx) const;
|
---|
| 192 | Vector3D &operator=(const Vector3D &vector);
|
---|
| 193 | Vector3D &operator+=(const Vector3D &vector);
|
---|
| 194 | Vector3D &operator-=(const Vector3D &vector);
|
---|
[2] | 195 |
|
---|
[15] | 196 | private:
|
---|
| 197 | };
|
---|
[2] | 198 |
|
---|
[15] | 199 | /*! Add
|
---|
| 200 | *
|
---|
| 201 | * \brief Add
|
---|
| 202 | *
|
---|
| 203 | * \param vectorA vector
|
---|
| 204 | * \param vectorB vector
|
---|
| 205 | *
|
---|
| 206 | * \return vectorA+vectorB
|
---|
| 207 | */
|
---|
| 208 | Vector3D operator+(const Vector3D &vectorA, const Vector3D &vectorB);
|
---|
[2] | 209 |
|
---|
[15] | 210 | /*! Substract
|
---|
| 211 | *
|
---|
| 212 | * \brief Substract
|
---|
| 213 | *
|
---|
| 214 | * \param vectorA vector
|
---|
| 215 | * \param vectorB vector
|
---|
| 216 | *
|
---|
| 217 | * \return vectorA-vectorB
|
---|
| 218 | */
|
---|
| 219 | Vector3D operator-(const Vector3D &vectorA, const Vector3D &vectorB);
|
---|
[2] | 220 |
|
---|
[15] | 221 | /*! Minus
|
---|
| 222 | *
|
---|
| 223 | * \brief Minus
|
---|
| 224 | *
|
---|
| 225 | * \param vector vector
|
---|
| 226 | *
|
---|
| 227 | * \return -vector
|
---|
| 228 | */
|
---|
| 229 | Vector3D operator-(const Vector3D &vector);
|
---|
[2] | 230 |
|
---|
[15] | 231 | /*! Divid
|
---|
| 232 | *
|
---|
| 233 | * \brief Divid
|
---|
| 234 | *
|
---|
| 235 | * \param vector vector
|
---|
| 236 | * \param coeff coefficent
|
---|
| 237 | *
|
---|
| 238 | * \return vector/coefficient
|
---|
| 239 | */
|
---|
| 240 | Vector3D operator/(const Vector3D &vector, float coeff);
|
---|
[2] | 241 |
|
---|
[15] | 242 | /*! Hadamard product
|
---|
| 243 | *
|
---|
| 244 | * \brief Hadamard product
|
---|
| 245 | *
|
---|
| 246 | * \param vectorA vector
|
---|
| 247 | * \param vectorBA vector
|
---|
| 248 | *
|
---|
| 249 | * \return Hadamard product
|
---|
| 250 | */
|
---|
| 251 | Vector3D operator*(const Vector3D &vectorA, const Vector3D &vectorB);
|
---|
[2] | 252 |
|
---|
[15] | 253 | /*! Multiply
|
---|
| 254 | *
|
---|
| 255 | * \brief Multiply
|
---|
| 256 | *
|
---|
| 257 | * \param vector vector
|
---|
| 258 | * \param coeff coefficent
|
---|
| 259 | *
|
---|
| 260 | * \return coefficient*vector
|
---|
| 261 | */
|
---|
| 262 | Vector3D operator*(const Vector3D &vector, float coeff);
|
---|
[2] | 263 |
|
---|
[15] | 264 | /*! Multiply
|
---|
| 265 | *
|
---|
| 266 | * \brief Multiply
|
---|
| 267 | *
|
---|
| 268 | * \param coeff coefficent
|
---|
| 269 | * \param vector vector
|
---|
| 270 | *
|
---|
| 271 | * \return coefficient*vector
|
---|
| 272 | */
|
---|
| 273 | Vector3D operator*(float coeff, const Vector3D &vector);
|
---|
[2] | 274 |
|
---|
[15] | 275 | /*! Cross product
|
---|
| 276 | *
|
---|
| 277 | * \brief Cross product
|
---|
| 278 | *
|
---|
| 279 | * \param vectorA first vector
|
---|
| 280 | * \param vectorB second vector
|
---|
| 281 | *
|
---|
| 282 | * \return cross product
|
---|
| 283 | */
|
---|
| 284 | Vector3D CrossProduct(const Vector3D &vectorA, const Vector3D &vectorB);
|
---|
[2] | 285 |
|
---|
[15] | 286 | /*! Dot product
|
---|
| 287 | *
|
---|
| 288 | * \brief Dot product
|
---|
| 289 | *
|
---|
| 290 | * \param vectorA first vector
|
---|
| 291 | * \param vectorB second vector
|
---|
| 292 | *
|
---|
| 293 | * \return dot product
|
---|
| 294 | */
|
---|
| 295 | float DotProduct(const Vector3D &vectorA, const Vector3D &vectorB);
|
---|
[2] | 296 |
|
---|
| 297 | } // end namespace core
|
---|
| 298 | } // end namespace flair
|
---|
| 299 |
|
---|
| 300 | #endif // VECTOR3D_H
|
---|