applications/utilities/surface/surfaceCoarsen/bunnylod/vector.h

   1 //
   2 // This module contains a bunch of well understood functions
   3 // I apologise if the conventions used here are slightly
   4 // different than what you are used to.
   5 //
   6
   7 #ifndef GENERIC_VECTOR_H
   8 #define GENERIC_VECTOR_H
   9
  10 #include <stdio.h>
  11 #include <math.h>
  12
  13
  14 class Vector {
  15   public:
  16         float x,y,z;
  17         Vector(float _x=0.0,float _y=0.0,float _z=0.0){x=_x;y=_y;z=_z;};
  18         operator float *() { return &x;};
  19 };
  20
  21 float magnitude(Vector v);
  22 Vector normalize(Vector v);
  23
  24 Vector operator+(Vector v1,Vector v2);
  25 Vector operator-(Vector v);
  26 Vector operator-(Vector v1,Vector v2);
  27 Vector operator*(Vector v1,float s)   ;
  28 Vector operator*(float s,Vector v1)   ;
  29 Vector operator/(Vector v1,float s)   ;
  30 float   operator^(Vector v1,Vector v2);  // DOT product
  31 Vector operator*(Vector v1,Vector v2);   // CROSS product
  32 Vector planelineintersection(Vector n,float d,Vector p1,Vector p2);
  33
  34 class matrix{
  35  public:
  36         Vector x,y,z;
  37         matrix(){x=Vector(1.0f,0.0f,0.0f);
  38                  y=Vector(0.0f,1.0f,0.0f);
  39                  z=Vector(0.0f,0.0f,1.0f);};
  40         matrix(Vector _x,Vector _y,Vector _z){x=_x;y=_y;z=_z;};
  41 };
  42 matrix transpose(matrix m);
  43 Vector operator*(matrix m,Vector v);
  44 matrix operator*(matrix m1,matrix m2);
  45
  46 class Quaternion{
  47  public:
  48          float r,x,y,z;
  49          Quaternion(){x=y=z=0.0f;r=1.0f;};
  50          Quaternion(Vector v,float t){
  51              v=normalize(v);
  52              r=float(cos(t/2.0));
  53              v=v*float(sin(t/2.0));
  54              x=v.x;
  55              y=v.y;
  56              z=v.z;
  57          };
  58          Quaternion(float _r,float _x,float _y,float _z){r=_r;x=_x;y=_y;z=_z;};
  59          float angle(){return float(acos(r)*2.0);}
  60          Vector axis(){Vector a(x,y,z); return a*float(1/sin(angle()/2.0));}
  61          Vector xdir(){
  62              return Vector(1-2*(y*y+z*z),  2*(x*y+r*z),  2*(x*z-r*y));
  63          }
  64          Vector ydir(){
  65              return Vector(  2*(x*y-r*z),1-2*(x*x+z*z),  2*(y*z+r*x));
  66          }
  67          Vector zdir(){
  68              return Vector(  2*(x*z+r*y),  2*(y*z-r*x),1-2*(x*x+y*y));
  69          }
  70          matrix  getmatrix(){return matrix(xdir(),ydir(),zdir());}
  71          //operator matrix(){return getmatrix();}
  72 };
  73 Quaternion operator-(Quaternion q);
  74 Quaternion operator*(Quaternion a,Quaternion b);
  75 Vector    operator*(Quaternion q,Vector v);
  76 Vector    operator*(Vector v,Quaternion q);
  77 Quaternion slerp(Quaternion a,Quaternion b,float interp);
  78
  79 #endif