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vec3f.hpp

00001 //==========================================================================
00002 // Vec3.hpp : 3d vector class template. Works for any integer or real type.
00003 //==========================================================================
00004 
00005 #ifndef VEC3_H
00006 #define VEC3_H
00007 
00008 #include <stdio.h>
00009 #include <math.h>
00010 
00026 template<class Type>
00027 class Vec3
00028 {
00029   public:
00030     Type x, y, z;  
00031 
00034     Vec3 (void) 
00035       {};
00037     Vec3 (const Type X, const Type Y, const Type Z) 
00038       { x=X; y=Y; z=Z; };
00040     Vec3 (const Vec3& v) 
00041       { x=v.x; y=v.y; z=v.z; };
00043     Vec3 (const Type v[3])
00044       { x=v[0]; y=v[1]; z=v[2]; };
00046     void Set (const Type X, const Type Y, const Type Z)
00047       { x=X; y=Y; z=Z; }
00049     void Set (const Type v[3])
00050       { x=v[0]; y=v[1]; z=v[2]; };
00051 
00052     operator Type*()                            
00053       { return (Type *)&x; }
00054     operator const Type*() const                
00055       { return &x; }
00056 
00057     int operator == (const Vec3& A) const       
00058       { return (x==A.x && y==A.y && z==A.z); }
00059 
00060     Vec3& operator = (const Vec3& A)            
00061       { x=A.x; y=A.y; z=A.z; 
00062         return(*this);  };
00063     Vec3 operator + (const Vec3& A) const       
00064       { Vec3 Sum(x+A.x, y+A.y, z+A.z); 
00065         return(Sum); };
00066     Vec3 operator - (const Vec3& A) const       
00067       { Vec3 Diff(x-A.x, y-A.y, z-A.z);
00068         return(Diff); };
00069     Type operator * (const Vec3& A) const       
00070       { Type DotProd = x*A.x+y*A.y+z*A.z; 
00071         return(DotProd); };
00072     Vec3 operator / (const Vec3& A) const       
00073       { Vec3 CrossProd(y*A.z-z*A.y, z*A.x-x*A.z, x*A.y-y*A.x);
00074         return(CrossProd); };
00075     Vec3 operator ^ (const Vec3& A) const       
00076       { Vec3 CrossProd(y*A.z-z*A.y, z*A.x-x*A.z, x*A.y-y*A.x);
00077         return(CrossProd); };
00078     Vec3 operator * (const Type s) const        
00079       { Vec3 Scaled(x*s, y*s, z*s); 
00080         return(Scaled); };
00081     Vec3 operator / (const Type s) const        
00082       { Vec3 Scaled(x/s, y/s, z/s);
00083         return(Scaled); };
00084     Vec3 operator & (const Vec3& A) const       
00085       { Vec3 CompMult(x*A.x, y*A.y, z*A.z);
00086         return(CompMult); }
00087 
00088     friend inline Vec3 operator *(Type s, const Vec3& v)  
00089       { return Vec3(v.x*s, v.y*s, v.z*s); }
00090 
00091     Vec3& operator += (const Vec3& A)    
00092       { x+=A.x; y+=A.y; z+=A.z;
00093         return *this;}
00094     Vec3& operator -= (const Vec3& A)    
00095       { x-=A.x; y-=A.y; z-=A.z; 
00096         return *this; }
00097     Vec3& operator *= (const Type s)     
00098       { x*=s; y*=s; z*=s; 
00099         return *this; }
00100     Vec3& operator /= (const Type s)     
00101       { x/=s; y/=s; z/=s; 
00102         return *this; }
00103     Vec3& operator &= (const Vec3& A)  
00104       { x*=A.x; y*=A.y; z*=A.z; return *this; }
00105     Vec3 operator - (void) const        
00106       { Vec3 Negated(-x, -y, -z);
00107         return(Negated); };
00108 
00109 /*
00110     const Type& operator [] (const int i) const // ALLOWS VECTOR ACCESS AS AN ARRAY.
00111       { return( (i==0)?x:((i==1)?y:z) ); };
00112     Type & operator [] (const int i)
00113       { return( (i==0)?x:((i==1)?y:z) ); };
00114 */
00115 
00116     Type Length (void) const                     
00117       { return ((Type)sqrt(x*x+y*y+z*z)); };
00118     Type LengthSqr (void) const                  
00119       { return (x*x+y*y+z*z); };
00120     Vec3& Normalize (void)                       
00121       { Type L = Length();                       //  CALCULATE LENGTH
00122         if (L>0) { x/=L; y/=L; z/=L; }           //  DIV COMPONENTS BY LENGTH
00123         return *this;
00124       };                                         
00125 
00127 
00140     Type* Star() const {
00141       Type s[] = ( 0, -z,  y,
00142                    z,  0, -x,
00143                   -y,  x,  0);
00144       return s;
00145     }
00146 
00148 
00151     void UpdateMinMax(Vec3 &Min, Vec3 &Max) const
00152     {
00153       if (x<Min.x) Min.x=x; else if (x>Max.x) Max.x=x;
00154       if (y<Min.y) Min.y=y; else if (y>Max.y) Max.y=y;
00155       if (z<Min.z) Min.z=z; else if (z>Max.z) Max.z=z;
00156     }
00157 
00159 
00174   void CompleteOrthonormalBasis(Vec3 &U, Vec3 &V) const
00175     {
00176       U = *this;
00177       unsigned char s[3] = {0, 1, 2}; 
00178       unsigned char tmpa;
00179       U.x = U.x < 0 ? -U.x : -U.x;
00180       U.y = U.y < 0 ? -U.y : -U.y;
00181       U.z = U.z < 0 ? -U.z : -U.z;
00182       if ( U[0] > U[1] )
00183       {
00184         tmpa = s[0];
00185         s[0] = s[1];
00186         s[1] = tmpa;
00187       }
00188       // xy min in s[0] now.
00189       if ( U[s[0]] > U[2] ) {
00190         tmpa = s[2];
00191         s[2] = s[0];
00192         s[0] = tmpa;
00193       }
00194       // xyz min in s[0] now
00195       U = *this;
00196       U[s[0]] = 0;
00197 
00198       // Voila U is now perpendicular to *this
00199       U.Normalize();
00200 
00201       // And so it's easy to find a v that is too, with cross product.
00202       V = *this ^ U;
00203       // Or by removing components projected onto other two...
00204       // I think the cross product may be cheaper
00205       // V = something - V * (*this.Normalize() + U);
00206 
00207       V.Normalize(); // wouldn't be necessary if we knew *this were normalized
00208     }
00209 
00211     void Print() const
00212       { printf("(%.3f, %.3f, %.3f)\n",x, y, z); }
00213 
00215     static Vec3 ZERO;
00216 };
00217 
00218 typedef Vec3<float> Vec3f;
00219 typedef Vec3<double> Vec3d;
00220 
00221 template<class Type> Vec3<Type> Vec3<Type>::ZERO = Vec3<Type>(0,0,0);
00222 
00223 #endif
00224 
00225 

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