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// Filename: lvector3_src.I
// Created by: drose (24Sep99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University. All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license. You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////
// Function: LVector3::Default Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3)::
FLOATNAME(LVector3)() {
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::Copy Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3)::
FLOATNAME(LVector3)(const FLOATNAME(LVecBase3) &copy) : FLOATNAME(LVecBase3)(copy) {
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::Copy Assignment Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) &FLOATNAME(LVector3)::
operator = (const FLOATNAME(LVecBase3) &copy) {
FLOATNAME(LVecBase3)::operator = (copy);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::Copy Fill Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) &FLOATNAME(LVector3)::
operator = (FLOATTYPE fill_value) {
FLOATNAME(LVecBase3)::operator = (fill_value);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3)::
FLOATNAME(LVector3)(FLOATTYPE fill_value) :
FLOATNAME(LVecBase3)(fill_value)
{
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3)::
FLOATNAME(LVector3)(FLOATTYPE x, FLOATTYPE y, FLOATTYPE z) :
FLOATNAME(LVecBase3)(x, y, z)
{
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::zero Named Constructor
// Access: Published
// Description: Returns a zero-length vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATNAME(LVector3) &FLOATNAME(LVector3)::
zero() {
return (const FLOATNAME(LVector3) &)FLOATNAME(LVecBase3)::zero();
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::unit_x Named Constructor
// Access: Published
// Description: Returns a unit X vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATNAME(LVector3) &FLOATNAME(LVector3)::
unit_x() {
return (const FLOATNAME(LVector3) &)FLOATNAME(LVecBase3)::unit_x();
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::unit_y Named Constructor
// Access: Published
// Description: Returns a unit Y vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATNAME(LVector3) &FLOATNAME(LVector3)::
unit_y() {
return (const FLOATNAME(LVector3) &)FLOATNAME(LVecBase3)::unit_y();
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::unit_z Named Constructor
// Access: Published
// Description: Returns a unit Z vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATNAME(LVector3) &FLOATNAME(LVector3)::
unit_z() {
return (const FLOATNAME(LVector3) &)FLOATNAME(LVecBase3)::unit_z();
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::get_xy
// Access: Public
// Description: Returns a 2-component vector that shares just the
// first two components of this vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector2) FLOATNAME(LVector3)::
get_xy() const {
return FLOATNAME(LVector2)(_v.v._0, _v.v._1);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::get_xz
// Access: Public
// Description: Returns a 2-component vector that shares just the
// first and last components of this vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector2) FLOATNAME(LVector3)::
get_xz() const {
return FLOATNAME(LVector2)(_v.v._0, _v.v._2);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::get_yz
// Access: Public
// Description: Returns a 2-component vector that shares just the
// last two components of this vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector2) FLOATNAME(LVector3)::
get_yz() const {
return FLOATNAME(LVector2)(_v.v._1, _v.v._2);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::unary -
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
operator - () const {
return FLOATNAME(LVecBase3)::operator - ();
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::vector + vecbase
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LVector3)::
operator + (const FLOATNAME(LVecBase3) &other) const {
return FLOATNAME(LVecBase3)::operator + (other);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::vector + vector
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
operator + (const FLOATNAME(LVector3) &other) const {
return FLOATNAME(LVecBase3)::operator + (other);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::vector - vecbase
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LVector3)::
operator - (const FLOATNAME(LVecBase3) &other) const {
return FLOATNAME(LVecBase3)::operator - (other);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::vector - vector
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
operator - (const FLOATNAME(LVector3) &other) const {
return FLOATNAME(LVecBase3)::operator - (other);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::cross
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
cross(const FLOATNAME(LVecBase3) &other) const {
return FLOATNAME(LVecBase3)::cross(other);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::project
// Access: Published
// Description: Returns a new vector representing the projection of
// this vector onto another one. The resulting vector
// will be a scalar multiple of onto.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
project(const FLOATNAME(LVecBase3) &onto) const {
return FLOATNAME(LVecBase3)::project(onto);
}
////////////////////////////////////////////////////////////////////
// Function: LVector::angle_rad
// Access: Published
// Description: Returns the unsigned angle between this vector and
// the other one, expressed in radians. Both vectors
// should be initially normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
angle_rad(const FLOATNAME(LVector3) &other) const {
// This algorithm yields better results than acos(dot(other)), which
// behaves poorly as dot(other) approaches 1.0.
if (dot(other) < 0.0f) {
FLOATTYPE a = ((*this)+other).length() / 2.0f;
return MathNumbers::cpi((FLOATTYPE)0.0f) - 2.0f * casin(min(a, (FLOATTYPE)1.0));
} else {
FLOATTYPE a = ((*this)-other).length() / 2.0f;
return 2.0f * casin(min(a, (FLOATTYPE)1.0));
}
}
////////////////////////////////////////////////////////////////////
// Function: LVector::angle_deg
// Access: Published
// Description: Returns the angle between this vector and the other
// one, expressed in degrees. Both vectors should be
// initially normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
angle_deg(const FLOATNAME(LVector3) &other) const {
return rad_2_deg(angle_rad(other));
}
////////////////////////////////////////////////////////////////////
// Function: LVector::signed_angle_rad
// Access: Published
// Description: returns the signed angle between two vectors.
// The angle is positive if the rotation from this
// vector to other is clockwise when looking in the
// direction of the ref vector.
//
// Vectors (except the ref vector) should be initially
// normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
signed_angle_rad(const FLOATNAME(LVector3) &other,
const FLOATNAME(LVector3) &ref) const {
FLOATTYPE angle = angle_rad(other);
if (cross(other).dot(ref) < 0.0f) {
angle = -angle;
}
return angle;
}
////////////////////////////////////////////////////////////////////
// Function: LVector::signed_angle_deg
// Access: Published
// Description: Returns the signed angle between two vectors.
// The angle is positive if the rotation from this
// vector to other is clockwise when looking in the
// direction of the ref vector.
//
// Vectors (except the ref vector) should be initially
// normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
signed_angle_deg(const FLOATNAME(LVector3) &other,
const FLOATNAME(LVector3) &ref) const {
return rad_2_deg(signed_angle_rad(other, ref));
}
////////////////////////////////////////////////////////////////////
// Function: LVector::relative_angle_rad
// Access: Published
// Description: This method is deprecated. Do not use.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
relative_angle_rad(const FLOATNAME(LVector3) &other) const {
return atan2((_v.v._0*other._v.v._1)-(_v.v._1*other._v.v._0), dot(other));
}
////////////////////////////////////////////////////////////////////
// Function: LVector::relative_angle_deg
// Access: Published
// Description: This method is deprecated. Do not use.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LVector3)::
relative_angle_deg(const FLOATNAME(LVector3) &other) const {
return relative_angle_rad(other)*180/3.1415926535;
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::operator * scalar
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
operator * (FLOATTYPE scalar) const {
return FLOATNAME(LVector3)(FLOATNAME(LVecBase3)::operator * (scalar));
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::operator / scalar
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
operator / (FLOATTYPE scalar) const {
FLOATTYPE recip_scalar = 1.0f/scalar;
return FLOATNAME(LVector3)(FLOATNAME(LVecBase3)::operator * (recip_scalar));
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::up
// Access: Published, Static
// Description: Returns the up vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
up(CoordinateSystem cs) {
if (cs == CS_default) {
cs = get_default_coordinate_system();
}
switch (cs) {
case CS_zup_right:
case CS_zup_left:
return FLOATNAME(LVector3)(0.0f, 0.0f, 1.0f);
case CS_yup_right:
case CS_yup_left:
return FLOATNAME(LVector3)(0.0f, 1.0f, 0.0f);
default:
linmath_cat.error()
<< "Invalid coordinate system!\n";
return FLOATNAME(LVector3)(0.0f, 0.0f, 0.0f);
}
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::right
// Access: Published, Static
// Description: Returns the right vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
right(CoordinateSystem) {
return FLOATNAME(LVector3)(1.0f, 0.0f, 0.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::forward
// Access: Published, Static
// Description: Returns the forward vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
forward(CoordinateSystem cs) {
if (cs == CS_default) {
cs = get_default_coordinate_system();
}
switch (cs) {
case CS_zup_right:
return FLOATNAME(LVector3)(0.0f, 1.0f, 0.0f);
case CS_zup_left:
return FLOATNAME(LVector3)(0.0f, -1.0f, 0.0f);
case CS_yup_right:
return FLOATNAME(LVector3)(0.0f, 0.0f, -1.0f);
case CS_yup_left:
return FLOATNAME(LVector3)(0.0f, 0.0f, 1.0f);
default:
linmath_cat.error()
<< "Invalid coordinate system!\n";
return FLOATNAME(LVector3)(0.0f, 0.0f, 0.0f);
}
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::down
// Access: Published, Static
// Description: Returns the down vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
down(CoordinateSystem cs) {
return -up(cs);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::left
// Access: Published, Static
// Description: Returns the left vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
left(CoordinateSystem cs) {
return -right(cs);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::back
// Access: Published, Static
// Description: Returns the back vector for the given coordinate
// system.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
back(CoordinateSystem cs) {
return -forward(cs);
}
////////////////////////////////////////////////////////////////////
// Function: LVector3::rfu
// Access: Published, Static
// Description: Returns a vector that is described by its right,
// forward, and up components, in whatever way the
// coordinate system represents that vector.
////////////////////////////////////////////////////////////////////
//INLINE_LINMATH FLOATNAME(LVector3) & FLOATNAME(LVector3)::
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LVector3)::
rfu(FLOATTYPE right_v, FLOATTYPE fwd_v, FLOATTYPE up_v,
CoordinateSystem cs) {
/* return forward(cs) * fwd_v + up(cs) * up_v + right(cs) * right_v; */
// fast implementation of above for axis-aligned coordinate systems
if (cs == CS_default) {
cs = get_default_coordinate_system();
}
FLOATTYPE vy,vz;
switch(cs) {
case CS_yup_right:
vz = -fwd_v;
vy = up_v;
break;
case CS_yup_left:
vz = fwd_v;
vy = up_v;
break;
case CS_zup_right:
vy = fwd_v;
vz = up_v;
break;
case CS_zup_left:
vy = -fwd_v;
vz = up_v;
default:
linmath_cat.error()
<< "Invalid coordinate system!\n";
return FLOATNAME(LVector3)(0.0f, 0.0f, 0.0f);
}
return FLOATNAME(LVector3)(right_v,vy,vz);
}
#ifdef HAVE_PYTHON
////////////////////////////////////////////////////////////////////
// Function: LVector3::python_repr
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LVector3)::
python_repr(ostream &out, const string &class_name) const {
FLOATNAME(LVecBase3)::python_repr(out, class_name);
}
#endif // HAVE_PYTHON
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