libcruft-util/vector.hpp

152 lines
4.2 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 "maths.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::atan2 (c.y, c.x)
};
}
template <typename T>
constexpr vector<3,T>
canonical_spherical (vector<3,T> s)
{
if (s.x < 0) {
s.x = -s.x;
s.y += util::PI<T>;
}
if (s.y < 0) {
s.y = -s.y;
s.z += util::PI<T>;
}
s.y = std::fmod (s.y, util::PI<T>);
s.z = std::fmod (s.z, util::PI<T>);
return s;
}
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