174 lines
8.1 KiB
C
174 lines
8.1 KiB
C
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/*
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* ICE / OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for homogeneous points.
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* \file IceHPoint.h
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* \author Pierre Terdiman
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* \date April, 4, 2000
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __ICEHPOINT_H__
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#define __ICEHPOINT_H__
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class ICEMATHS_API HPoint : public Point
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{
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public:
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//! Empty constructor
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inline_ HPoint() {}
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//! Constructor from floats
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inline_ HPoint(float _x, float _y, float _z, float _w=0.0f) : Point(_x, _y, _z), w(_w) {}
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//! Constructor from array
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inline_ HPoint(const float f[4]) : Point(f), w(f[3]) {}
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//! Constructor from a Point
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inline_ HPoint(const Point& p, float _w=0.0f) : Point(p), w(_w) {}
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//! Destructor
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inline_ ~HPoint() {}
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//! Clear the point
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inline_ HPoint& Zero() { x = y = z = w = 0.0f; return *this; }
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//! Assignment from values
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inline_ HPoint& Set(float _x, float _y, float _z, float _w ) { x = _x; y = _y; z = _z; w = _w; return *this; }
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//! Assignment from array
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inline_ HPoint& Set(const float f[4]) { x = f[_X]; y = f[_Y]; z = f[_Z]; w = f[_W]; return *this; }
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//! Assignment from another h-point
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inline_ HPoint& Set(const HPoint& src) { x = src.x; y = src.y; z = src.z; w = src.w; return *this; }
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//! Add a vector
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inline_ HPoint& Add(float _x, float _y, float _z, float _w ) { x += _x; y += _y; z += _z; w += _w; return *this; }
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//! Add a vector
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inline_ HPoint& Add(const float f[4]) { x += f[_X]; y += f[_Y]; z += f[_Z]; w += f[_W]; return *this; }
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//! Subtract a vector
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inline_ HPoint& Sub(float _x, float _y, float _z, float _w ) { x -= _x; y -= _y; z -= _z; w -= _w; return *this; }
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//! Subtract a vector
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inline_ HPoint& Sub(const float f[4]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; w -= f[_W]; return *this; }
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//! Multiplies by a scalar
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inline_ HPoint& Mul(float s) { x *= s; y *= s; z *= s; w *= s; return *this; }
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//! Returns MIN(x, y, z, w);
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float Min() const { return MIN(x, MIN(y, MIN(z, w))); }
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//! Returns MAX(x, y, z, w);
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float Max() const { return MAX(x, MAX(y, MAX(z, w))); }
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//! Sets each element to be componentwise minimum
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HPoint& Min(const HPoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); w = MIN(w, p.w); return *this; }
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//! Sets each element to be componentwise maximum
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HPoint& Max(const HPoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); w = MAX(w, p.w); return *this; }
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//! Computes square magnitude
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inline_ float SquareMagnitude() const { return x*x + y*y + z*z + w*w; }
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//! Computes magnitude
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inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z + w*w); }
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//! Normalize the vector
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inline_ HPoint& Normalize()
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{
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float M = Magnitude();
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if(M)
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{
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M = 1.0f / M;
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x *= M;
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y *= M;
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z *= M;
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w *= M;
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}
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return *this;
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}
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// Arithmetic operators
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//! Operator for HPoint Negate = - HPoint;
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inline_ HPoint operator-() const { return HPoint(-x, -y, -z, -w); }
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//! Operator for HPoint Plus = HPoint + HPoint;
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inline_ HPoint operator+(const HPoint& p) const { return HPoint(x + p.x, y + p.y, z + p.z, w + p.w); }
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//! Operator for HPoint Minus = HPoint - HPoint;
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inline_ HPoint operator-(const HPoint& p) const { return HPoint(x - p.x, y - p.y, z - p.z, w - p.w); }
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//! Operator for HPoint Mul = HPoint * HPoint;
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inline_ HPoint operator*(const HPoint& p) const { return HPoint(x * p.x, y * p.y, z * p.z, w * p.w); }
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//! Operator for HPoint Scale = HPoint * float;
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inline_ HPoint operator*(float s) const { return HPoint(x * s, y * s, z * s, w * s); }
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//! Operator for HPoint Scale = float * HPoint;
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inline_ friend HPoint operator*(float s, const HPoint& p) { return HPoint(s * p.x, s * p.y, s * p.z, s * p.w); }
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//! Operator for HPoint Div = HPoint / HPoint;
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inline_ HPoint operator/(const HPoint& p) const { return HPoint(x / p.x, y / p.y, z / p.z, w / p.w); }
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//! Operator for HPoint Scale = HPoint / float;
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inline_ HPoint operator/(float s) const { s = 1.0f / s; return HPoint(x * s, y * s, z * s, w * s); }
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//! Operator for HPoint Scale = float / HPoint;
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inline_ friend HPoint operator/(float s, const HPoint& p) { return HPoint(s / p.x, s / p.y, s / p.z, s / p.w); }
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//! Operator for float DotProd = HPoint | HPoint;
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inline_ float operator|(const HPoint& p) const { return x*p.x + y*p.y + z*p.z + w*p.w; }
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// No cross-product in 4D
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//! Operator for HPoint += HPoint;
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inline_ HPoint& operator+=(const HPoint& p) { x += p.x; y += p.y; z += p.z; w += p.w; return *this; }
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//! Operator for HPoint += float;
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inline_ HPoint& operator+=(float s) { x += s; y += s; z += s; w += s; return *this; }
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//! Operator for HPoint -= HPoint;
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inline_ HPoint& operator-=(const HPoint& p) { x -= p.x; y -= p.y; z -= p.z; w -= p.w; return *this; }
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//! Operator for HPoint -= float;
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inline_ HPoint& operator-=(float s) { x -= s; y -= s; z -= s; w -= s; return *this; }
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//! Operator for HPoint *= HPoint;
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inline_ HPoint& operator*=(const HPoint& p) { x *= p.x; y *= p.y; z *= p.z; w *= p.w; return *this; }
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//! Operator for HPoint *= float;
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inline_ HPoint& operator*=(float s) { x*=s; y*=s; z*=s; w*=s; return *this; }
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//! Operator for HPoint /= HPoint;
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inline_ HPoint& operator/=(const HPoint& p) { x /= p.x; y /= p.y; z /= p.z; w /= p.w; return *this; }
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//! Operator for HPoint /= float;
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inline_ HPoint& operator/=(float s) { s = 1.0f / s; x*=s; y*=s; z*=s; w*=s; return *this; }
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// Arithmetic operators
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//! Operator for Point Mul = HPoint * Matrix3x3;
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Point operator*(const Matrix3x3& mat) const;
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//! Operator for HPoint Mul = HPoint * Matrix4x4;
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HPoint operator*(const Matrix4x4& mat) const;
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// HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4
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//! Operator for HPoint *= Matrix4x4
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HPoint& operator*=(const Matrix4x4& mat);
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// Logical operators
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//! Operator for "if(HPoint==HPoint)"
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inline_ bool operator==(const HPoint& p) const { return ( (x==p.x)&&(y==p.y)&&(z==p.z)&&(w==p.w)); }
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//! Operator for "if(HPoint!=HPoint)"
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inline_ bool operator!=(const HPoint& p) const { return ( (x!=p.x)||(y!=p.y)||(z!=p.z)||(w!=p.w)); }
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// Cast operators
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//! Cast a HPoint to a Point. w is discarded.
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inline_ operator Point() const { return Point(x, y, z); }
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public:
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float w;
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};
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#endif // __ICEHPOINT_H__
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