328 lines
8.9 KiB
C++
328 lines
8.9 KiB
C++
/*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Copyright 2011 Danny Robson <danny@nerdcruft.net>
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*/
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#include "vector.hpp"
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#include "debug.hpp"
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#include "maths.hpp"
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#include "random.hpp"
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#include <algorithm>
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#include <cmath>
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#include <limits>
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#include <numeric>
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using util::vector;
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using util::vector3f;
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using util::vector3d;
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///////////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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T
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util::vector<S,T>::magnitude (void) const
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{
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// TODO: this should not truncate for integral types
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return static_cast<T> (std::sqrt (magnitude2 ()));
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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T
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util::vector<S,T>::magnitude2 (void) const
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{
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T total { 0 };
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for (size_t i = 0; i < S; ++i)
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total += pow2 (this->data[i]);
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return total;
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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T
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util::vector<S,T>::difference (vector<S,T> rhs) const
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{
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// TODO: change the signature to ensure it does not truncate
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return static_cast<T> (std::sqrt (difference2 (rhs)));
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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T
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util::vector<S,T>::difference2 (vector<S,T> rhs) const
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{
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T sum {0};
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for (size_t i = 0; i < S; ++i)
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sum += pow2 (this->data[i] - rhs.data[i]);
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return sum;
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}
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///////////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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bool
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vector<S,T>::is_normalised (void) const
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{
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return almost_equal (magnitude2 (), 1.f);
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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util::vector<S,T>&
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util::vector<S,T>::normalise (void)
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{
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T mag = magnitude ();
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for (size_t i = 0; i < S; ++i)
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this->data[i] /= mag;
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return *this;
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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util::vector<S,T>
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util::vector<S,T>::normalised (void) const
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{
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T mag = magnitude ();
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util::vector<S,T> out;
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for (size_t i = 0; i < S; ++i)
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out.data[i] = this->data[i] / mag;
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return out;
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}
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///////////////////////////////////////////////////////////////////////////////
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template <typename T>
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vector<2,T>
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util::polar_to_cartesian (vector<2,T> v)
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{
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return util::vector<2,T> {
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v[0] * std::cos (v[1]),
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v[0] * std::sin (v[1])
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};
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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vector<2,T>
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util::cartesian_to_polar (vector<2,T> v)
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{
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return util::vector<2,T> {
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std::hypot (v.x, v.y),
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std::atan2 (v.y, v.x)
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};
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}
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///////////////////////////////////////////////////////////////////////////////
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template <typename T>
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vector<3,T>
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util::from_euler (vector<2,T> euler)
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{
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return {
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std::sin (euler.x) * std::cos (euler.y),
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std::cos (euler.x),
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-std::sin (euler.x) * std::sin (euler.y),
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};
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}
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template util::vector3f util::from_euler (util::vector2f);
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template util::vector3d util::from_euler (util::vector2d);
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//-----------------------------------------------------------------------------
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template <typename T>
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vector<2,T>
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util::to_euler (vector<3,T> vec)
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{
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vec.normalise ();
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return {
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std::acos (vec.y / vec.magnitude ()),
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-std::atan2 (vec.z, vec.x),
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};
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}
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template util::vector2f util::to_euler (util::vector3f);
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template util::vector2d util::to_euler (util::vector3d);
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///////////////////////////////////////////////////////////////////////////////
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template <typename T>
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vector<3,T>
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util::cross (vector<3,T> a,
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vector<3,T> b)
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{
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return util::vector<3,T> {
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a.y * b.z - a.z * b.y,
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a.z * b.x - a.x * b.z,
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a.x * b.y - a.y * b.x
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};
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}
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template vector3f util::cross(vector3f, vector3f);
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template vector3d util::cross(vector3d, vector3d);
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//-----------------------------------------------------------------------------
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template <typename T>
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vector<3,T>
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util::spherical_to_cartesian (vector<3,T> s)
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{
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return vector<3,T> {
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s.x * sin (s.y) * cos (s.z),
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s.x * sin (s.y) * sin (s.z),
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s.x * cos (s.y),
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};
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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vector<3,T>
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util::cartesian_to_spherical (vector<3,T> c)
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{
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T mag = c.magnitude ();
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return vector<3,T> {
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mag,
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acos (c.z / mag),
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atan2 (c.y, c.x)
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};
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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bool
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util::vector<S,T>::is_zero (void) const
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{
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return std::all_of (std::begin (this->data),
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std::end (this->data),
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[] (T i) { return almost_zero (i); });
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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const util::vector<S,T>
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util::vector<S,T>::UNIT (T{1});
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template <size_t S, typename T>
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const util::vector<S,T>
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util::vector<S,T>::ZERO (T{0});
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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void
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util::vector<S,T>::sanity (void) const
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{
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CHECK (std::all_of (std::begin (this->data),
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std::end (this->data),
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[] (T i) { return !std::isnan (i); }));
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}
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///////////////////////////////////////////////////////////////////////////////
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// ostream
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template <size_t S, typename T>
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std::ostream&
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util::operator<< (std::ostream &os, util::vector<S,T> v)
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{
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os << "vec" << S << "(" << v.data[0];
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for (size_t i = 1; i < S; ++i)
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os << ", " << v.data[i];
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os << ")";
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return os;
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}
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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const json::tree::node&
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util::operator>> (const json::tree::node &node, util::vector<S,T> &v)
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{
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const json::tree::array &array = node.as_array ();
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if (array.size () != S)
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throw std::runtime_error ("Invalid dimensionality for json-to-vector");
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// XXX: This used to be a std::transform but gcc 4.9.0 hit an internal
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// compiler error at this point in release mode, so we dumb it down a
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// little.
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for (size_t i = 0; i < array.size (); ++i)
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v.data[i] = static_cast<T> (array[i].as_number ().native ());
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return node;
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}
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//-----------------------------------------------------------------------------
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#define INSTANTIATE_S_T(S,T) \
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template struct util::vector<S,T>; \
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template std::ostream& util::operator<< (std::ostream&, util::vector<S,T> v); \
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template const json::tree::node& util::operator>> (const json::tree::node&, util::vector<S,T>&);
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#define INSTANTIATE(T) \
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INSTANTIATE_S_T(1,T) \
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INSTANTIATE_S_T(2,T) \
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INSTANTIATE_S_T(3,T) \
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INSTANTIATE_S_T(4,T)
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INSTANTIATE(uint32_t)
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INSTANTIATE(int32_t)
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INSTANTIATE(uint64_t)
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INSTANTIATE(int64_t)
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INSTANTIATE(float)
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INSTANTIATE(double)
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//-----------------------------------------------------------------------------
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namespace util {
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template vector<2,float> polar_to_cartesian (util::vector<2,float>);
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template vector<2,float> cartesian_to_polar (util::vector<2,float>);
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template <> vector<1,float> random (void) { util::vector<1,float> out; randomise (out.data); return out; }
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template <> vector<2,float> random (void) { util::vector<2,float> out; randomise (out.data); return out; }
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template <> vector<3,float> random (void) { util::vector<3,float> out; randomise (out.data); return out; }
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template <> vector<4,float> random (void) { util::vector<4,float> out; randomise (out.data); return out; }
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template <> vector<1,double> random (void) { util::vector<1,double> out; randomise (out.data); return out; }
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template <> vector<2,double> random (void) { util::vector<2,double> out; randomise (out.data); return out; }
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template <> vector<3,double> random (void) { util::vector<3,double> out; randomise (out.data); return out; }
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template <> vector<4,double> random (void) { util::vector<4,double> out; randomise (out.data); return out; }
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}
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template <>
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bool
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almost_equal [[gnu::pure]] (const util::vector2f &a, const util::vector2f &b)
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{
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return std::equal (a.begin (), a.end (), b.begin (), almost_equal<float>);
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}
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