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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef __dgVector__
#define __dgVector__
#include "dgTypes.h"
#ifdef _DEBUG
#define dgCheckVector(x) (HACD_ISFINITE(x[0]) && HACD_ISFINITE(x[1]) && HACD_ISFINITE(x[2]) && HACD_ISFINITE(x[3]))
#else
#define dgCheckVector(x) true
#endif
template<class T>
class dgTemplateVector
{
public:
dgTemplateVector ();
dgTemplateVector (const T *ptr);
dgTemplateVector (T m_x, T m_y, T m_z, T m_w);
dgTemplateVector Scale (T s) const;
dgTemplateVector Scale4 (T s) const;
T& operator[] (int32_t i);
const T& operator[] (int32_t i) const;
dgTemplateVector operator+ (const dgTemplateVector &A) const;
dgTemplateVector operator- (const dgTemplateVector &A) const;
dgTemplateVector &operator+= (const dgTemplateVector &A);
dgTemplateVector &operator-= (const dgTemplateVector &A);
// return dot product
T operator% (const dgTemplateVector &A) const;
// return cross product
dgTemplateVector operator* (const dgTemplateVector &B) const;
// return dot 4d dot product
dgTemplateVector Add4 (const dgTemplateVector &A) const;
dgTemplateVector Sub4 (const dgTemplateVector &A) const;
T DotProduct4 (const dgTemplateVector &A) const;
dgTemplateVector CrossProduct4 (const dgTemplateVector &A, const dgTemplateVector &B) const;
// component wise multiplication
dgTemplateVector CompProduct (const dgTemplateVector &A) const;
// component wise multiplication
dgTemplateVector CompProduct4 (const dgTemplateVector &A) const;
// check validity of floats
#ifdef _DEBUG
void Trace () const
{
// dgTrace (("%f %f %f %f\n", m_x, m_y, m_z, m_w));
}
#endif
T m_x;
T m_y;
T m_z;
T m_w;
};
class dgBigVector;
class dgVector: public dgTemplateVector<float>
{
public:
dgVector();
dgVector (const dgTemplateVector<float>& v);
dgVector (const float *ptr);
dgVector (float x, float y, float z, float w);
dgVector (const dgBigVector& copy);
};
class dgBigVector: public dgTemplateVector<double>
{
public:
dgBigVector();
dgBigVector (const dgVector& v);
dgBigVector (const dgTemplateVector<double>& v);
dgBigVector (const float *ptr);
#ifndef __USE_DOUBLE_PRECISION__
dgBigVector (const double *ptr);
#endif
dgBigVector (double x, double y, double z, double w);
};
template<class T>
dgTemplateVector<T>::dgTemplateVector () {}
template<class T>
dgTemplateVector<T>::dgTemplateVector (const T *ptr)
:m_x(ptr[0]), m_y(ptr[1]), m_z(ptr[2]), m_w (0.0f)
{
// HACD_ASSERT (dgCheckVector ((*this)));
}
template<class T>
dgTemplateVector<T>::dgTemplateVector (T x, T y, T z, T w)
:m_x(x), m_y(y), m_z(z), m_w (w)
{
}
template<class T>
T& dgTemplateVector<T>::operator[] (int32_t i)
{
HACD_ASSERT (i < 4);
HACD_ASSERT (i >= 0);
return (&m_x)[i];
}
template<class T>
const T& dgTemplateVector<T>::operator[] (int32_t i) const
{
HACD_ASSERT (i < 4);
HACD_ASSERT (i >= 0);
return (&m_x)[i];
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::Scale (T scale) const
{
return dgTemplateVector<T> (m_x * scale, m_y * scale, m_z * scale, m_w);
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::Scale4 (T scale) const
{
return dgTemplateVector<T> (m_x * scale, m_y * scale, m_z * scale, m_w * scale);
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::operator+ (const dgTemplateVector<T> &B) const
{
return dgTemplateVector<T> (m_x + B.m_x, m_y + B.m_y, m_z + B.m_z, m_w);
}
template<class T>
dgTemplateVector<T>& dgTemplateVector<T>::operator+= (const dgTemplateVector<T> &A)
{
m_x += A.m_x;
m_y += A.m_y;
m_z += A.m_z;
// HACD_ASSERT (dgCheckVector ((*this)));
return *this;
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::operator- (const dgTemplateVector<T> &A) const
{
return dgTemplateVector<T> (m_x - A.m_x, m_y - A.m_y, m_z - A.m_z, m_w);
}
template<class T>
dgTemplateVector<T>& dgTemplateVector<T>::operator-= (const dgTemplateVector<T> &A)
{
m_x -= A.m_x;
m_y -= A.m_y;
m_z -= A.m_z;
// HACD_ASSERT (dgCheckVector ((*this)));
return *this;
}
template<class T>
T dgTemplateVector<T>::operator% (const dgTemplateVector<T> &A) const
{
return m_x * A.m_x + m_y * A.m_y + m_z * A.m_z;
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::operator* (const dgTemplateVector<T> &B) const
{
return dgTemplateVector<T> (m_y * B.m_z - m_z * B.m_y,
m_z * B.m_x - m_x * B.m_z,
m_x * B.m_y - m_y * B.m_x, m_w);
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::Add4 (const dgTemplateVector &A) const
{
return dgTemplateVector<T> (m_x + A.m_x, m_y + A.m_y, m_z + A.m_z, m_w + A.m_w);
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::Sub4 (const dgTemplateVector &A) const
{
return dgTemplateVector<T> (m_x - A.m_x, m_y - A.m_y, m_z - A.m_z, m_w - A.m_w);
}
// return dot 4d dot product
template<class T>
T dgTemplateVector<T>::DotProduct4 (const dgTemplateVector &A) const
{
return m_x * A.m_x + m_y * A.m_y + m_z * A.m_z + m_w * A.m_w;
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::CrossProduct4 (const dgTemplateVector &A, const dgTemplateVector &B) const
{
T cofactor[3][3];
T array[4][4];
const dgTemplateVector<T>& me = *this;
for (int32_t i = 0; i < 4; i ++) {
array[0][i] = me[i];
array[1][i] = A[i];
array[2][i] = B[i];
array[3][i] = T (1.0f);
}
dgTemplateVector<T> normal;
T sign = T (-1.0f);
for (int32_t i = 0; i < 4; i ++) {
for (int32_t j = 0; j < 3; j ++) {
int32_t k0 = 0;
for (int32_t k = 0; k < 4; k ++) {
if (k != i) {
cofactor[j][k0] = array[j][k];
k0 ++;
}
}
}
T x = cofactor[0][0] * (cofactor[1][1] * cofactor[2][2] - cofactor[1][2] * cofactor[2][1]);
T y = cofactor[0][1] * (cofactor[1][2] * cofactor[2][0] - cofactor[1][0] * cofactor[2][2]);
T z = cofactor[0][2] * (cofactor[1][0] * cofactor[2][1] - cofactor[1][1] * cofactor[2][0]);
T det = x + y + z;
normal[i] = sign * det;
sign *= T (-1.0f);
}
return normal;
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::CompProduct (const dgTemplateVector<T> &A) const
{
return dgTemplateVector<T> (m_x * A.m_x, m_y * A.m_y, m_z * A.m_z, A.m_w);
}
template<class T>
dgTemplateVector<T> dgTemplateVector<T>::CompProduct4 (const dgTemplateVector<T> &A) const
{
return dgTemplateVector<T> (m_x * A.m_x, m_y * A.m_y, m_z * A.m_z, m_w * A.m_w);
}
HACD_FORCE_INLINE dgVector::dgVector()
:dgTemplateVector<float>()
{
}
HACD_FORCE_INLINE dgVector::dgVector (const dgTemplateVector<float>& v)
:dgTemplateVector<float>(v)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgVector::dgVector (const float *ptr)
:dgTemplateVector<float>(ptr)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgVector::dgVector (const dgBigVector& copy)
:dgTemplateVector<float>(float (copy.m_x), float (copy.m_y), float (copy.m_z), float (copy.m_w))
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgVector::dgVector (float x, float y, float z, float w)
:dgTemplateVector<float>(x, y, z, w)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgBigVector::dgBigVector()
:dgTemplateVector<double>()
{
}
HACD_FORCE_INLINE dgBigVector::dgBigVector (const dgVector& v)
:dgTemplateVector<double>(v.m_x, v.m_y, v.m_z, v.m_w)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgBigVector::dgBigVector (const dgTemplateVector<double>& v)
:dgTemplateVector<double>(v)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
HACD_FORCE_INLINE dgBigVector::dgBigVector (const float *ptr)
:dgTemplateVector<double>(ptr[0], ptr[1], ptr[2], double (0.0f))
{
HACD_ASSERT (dgCheckVector ((*this)));
}
#ifndef __USE_DOUBLE_PRECISION__
HACD_FORCE_INLINE dgBigVector::dgBigVector (const double *ptr)
:dgTemplateVector<double>(ptr)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
#endif
HACD_FORCE_INLINE dgBigVector::dgBigVector (double x, double y, double z, double w)
:dgTemplateVector<double>(x, y, z, w)
{
HACD_ASSERT (dgCheckVector ((*this)));
}
#endif
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