152 lines
4.2 KiB
C++
152 lines
4.2 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 2011-2017 Danny Robson <danny@nerdcruft.net>
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*/
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#ifndef CRUFT_UTIL_VECTOR_HPP
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#define CRUFT_UTIL_VECTOR_HPP
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#include "./coord/fwd.hpp"
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#include "./coord.hpp"
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#include "maths.hpp"
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#include "json/fwd.hpp"
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#include <cstddef>
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#include <cmath>
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///////////////////////////////////////////////////////////////////////////////
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namespace util {
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template <size_t S, typename T>
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struct vector : public coord::base<S,T,vector<S,T>>
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{
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using coord::base<S,T,vector<S,T>>::base;
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// representations
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template <size_t D> vector<D,T> homog (void) const;
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// constants
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static constexpr vector<S,T> ones (void);
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static constexpr vector<S,T> zeros (void);
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void sanity (void) const;
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};
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template <typename T>
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constexpr
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vector<3,T>
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cross (vector<3,T>, vector<3,T>);
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template <typename T>
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constexpr
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T
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cross (vector<2,T>, vector<2,T>);
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// polar/cartesian conversions; assumes (mag, angle) form.
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template <typename T> vector<2,T> polar_to_cartesian (vector<2,T>);
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template <typename T> vector<2,T> cartesian_to_polar (vector<2,T>);
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// convert vector in spherical coordinates (r,theta,phi) with theta
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// inclination and phi azimuth to cartesian coordinates (x,y,z)
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template <typename T>
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constexpr vector<3,T>
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spherical_to_cartesian (const vector<3,T> s)
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{
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return {
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s.x * std::sin (s.y) * std::cos (s.z),
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s.x * std::sin (s.y) * std::sin (s.z),
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s.x * std::cos (s.y)
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};
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}
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// convert vector in cartesian coordinates (x,y,z) to spherical
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// coordinates (r,theta,phi) with theta inclination and phi azimuth.
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template <typename T>
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constexpr vector<3,T>
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cartesian_to_spherical (vector<3,T> c)
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{
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auto r = norm (c);
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return {
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r,
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std::acos (c.z / r),
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std::atan2 (c.y, c.x)
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};
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}
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template <typename T>
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constexpr vector<3,T>
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canonical_spherical (vector<3,T> s)
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{
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if (s.x < 0) {
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s.x = -s.x;
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s.y += util::PI<T>;
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}
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if (s.y < 0) {
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s.y = -s.y;
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s.z += util::PI<T>;
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}
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s.y = std::fmod (s.y, util::PI<T>);
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s.z = std::fmod (s.z, util::PI<T>);
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return s;
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}
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template <typename T> vector<2,T> to_euler (vector<3,T>);
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template <typename T> vector<3,T> from_euler (vector<2,T>);
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// output and serialisation operators
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template <size_t S, typename T>
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const json::tree::node&
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operator>> (const json::tree::node&, vector<S,T>&);
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template <typename T> using vector1 = vector<1,T>;
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template <typename T> using vector2 = vector<2,T>;
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template <typename T> using vector3 = vector<3,T>;
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template <typename T> using vector4 = vector<4,T>;
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template <size_t S> using vectoru = vector<S,unsigned>;
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template <size_t S> using vectori = vector<S,int>;
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template <size_t S> using vectorf = vector<S,float>;
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template <std::size_t S> using vectorb = vector<S,bool>;
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using vector2u = vector2<unsigned>;
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using vector3u = vector3<unsigned>;
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using vector4u = vector4<unsigned>;
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using vector2i = vector2<int>;
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using vector3i = vector3<int>;
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using vector4i = vector4<int>;
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using vector1f = vector1<float>;
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using vector2f = vector2<float>;
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using vector3f = vector3<float>;
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using vector4f = vector4<float>;
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using vector2d = vector2<double>;
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using vector3d = vector3<double>;
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using vector4d = vector4<double>;
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using vector2b = vector2<bool>;
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using vector3b = vector3<bool>;
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using vector4b = vector4<bool>;
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}
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#include "vector.ipp"
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#endif
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