131 lines
3.8 KiB
C++
131 lines
3.8 KiB
C++
/*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
* Copyright 2011-2017 Danny Robson <danny@nerdcruft.net>
|
|
*/
|
|
|
|
#ifndef CRUFT_UTIL_VECTOR_HPP
|
|
#define CRUFT_UTIL_VECTOR_HPP
|
|
|
|
#include "./coord/fwd.hpp"
|
|
#include "./coord.hpp"
|
|
|
|
#include "json/fwd.hpp"
|
|
|
|
#include <cstddef>
|
|
#include <cmath>
|
|
|
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
namespace util {
|
|
template <size_t S, typename T>
|
|
struct vector : public coord::base<S,T,vector<S,T>>
|
|
{
|
|
using coord::base<S,T,vector<S,T>>::base;
|
|
|
|
// representations
|
|
template <size_t D> vector<D,T> homog (void) const;
|
|
|
|
// constants
|
|
static constexpr vector<S,T> ones (void);
|
|
static constexpr vector<S,T> zeros (void);
|
|
|
|
void sanity (void) const;
|
|
};
|
|
|
|
template <typename T>
|
|
constexpr
|
|
vector<3,T>
|
|
cross (vector<3,T>, vector<3,T>);
|
|
|
|
template <typename T>
|
|
constexpr
|
|
T
|
|
cross (vector<2,T>, vector<2,T>);
|
|
|
|
// polar/cartesian conversions; assumes (mag, angle) form.
|
|
template <typename T> vector<2,T> polar_to_cartesian (vector<2,T>);
|
|
template <typename T> vector<2,T> cartesian_to_polar (vector<2,T>);
|
|
|
|
// convert vector in spherical coordinates (r,theta,phi) with theta
|
|
// inclination and phi azimuth to cartesian coordinates (x,y,z)
|
|
template <typename T>
|
|
constexpr vector<3,T>
|
|
spherical_to_cartesian (const vector<3,T> s)
|
|
{
|
|
return {
|
|
s.x * std::sin (s.y) * std::cos (s.z),
|
|
s.x * std::sin (s.y) * std::sin (s.z),
|
|
s.x * std::cos (s.y)
|
|
};
|
|
}
|
|
|
|
// convert vector in cartesian coordinates (x,y,z) to spherical
|
|
// coordinates (r,theta,phi) with theta inclination and phi azimuth.
|
|
template <typename T>
|
|
constexpr vector<3,T>
|
|
cartesian_to_spherical (vector<3,T> c)
|
|
{
|
|
auto r = norm (c);
|
|
return {
|
|
r,
|
|
std::acos (c.z / r),
|
|
std::atan (c.y / c.z)
|
|
};
|
|
}
|
|
|
|
template <typename T> vector<2,T> to_euler (vector<3,T>);
|
|
template <typename T> vector<3,T> from_euler (vector<2,T>);
|
|
|
|
// output and serialisation operators
|
|
template <size_t S, typename T>
|
|
const json::tree::node&
|
|
operator>> (const json::tree::node&, vector<S,T>&);
|
|
|
|
template <typename T> using vector1 = vector<1,T>;
|
|
template <typename T> using vector2 = vector<2,T>;
|
|
template <typename T> using vector3 = vector<3,T>;
|
|
template <typename T> using vector4 = vector<4,T>;
|
|
|
|
template <size_t S> using vectoru = vector<S,unsigned>;
|
|
template <size_t S> using vectori = vector<S,int>;
|
|
template <size_t S> using vectorf = vector<S,float>;
|
|
template <std::size_t S> using vectorb = vector<S,bool>;
|
|
|
|
using vector2u = vector2<unsigned>;
|
|
using vector3u = vector3<unsigned>;
|
|
using vector4u = vector4<unsigned>;
|
|
|
|
using vector2i = vector2<int>;
|
|
using vector3i = vector3<int>;
|
|
using vector4i = vector4<int>;
|
|
|
|
using vector1f = vector1<float>;
|
|
using vector2f = vector2<float>;
|
|
using vector3f = vector3<float>;
|
|
using vector4f = vector4<float>;
|
|
|
|
using vector2d = vector2<double>;
|
|
using vector3d = vector3<double>;
|
|
using vector4d = vector4<double>;
|
|
|
|
using vector2b = vector2<bool>;
|
|
using vector3b = vector3<bool>;
|
|
using vector4b = vector4<bool>;
|
|
}
|
|
|
|
#include "vector.ipp"
|
|
|
|
#endif
|
|
|