mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
350 lines
12 KiB
C++
350 lines
12 KiB
C++
// Bullet Continuous Collision Detection and Physics Library
|
|
// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
//
|
|
// Vector.h
|
|
//
|
|
// Copyright (c) 2006 Simon Hobbs
|
|
//
|
|
// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
|
|
//
|
|
// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
|
|
//
|
|
// 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.
|
|
//
|
|
// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
//
|
|
// 3. This notice may not be removed or altered from any source distribution.
|
|
#ifndef BULLET_VECTOR_H
|
|
#define BULLET_VECTOR_H
|
|
|
|
#include "VectorBase.h"
|
|
|
|
class Point3;
|
|
class Vector4;
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Vector3
|
|
__declspec(align(16)) class Vector3 : public Vector4Base
|
|
{
|
|
public:
|
|
BULLET_ALIGNED_NEW_AND_DELETE
|
|
|
|
// constructors
|
|
Vector3();
|
|
Vector3(const Vector3& v);
|
|
Vector3(float x, float y, float z);
|
|
Vector3(const Scalar& x, const Scalar& y, const Scalar& z);
|
|
|
|
// construction to constant
|
|
Vector3(const Maths::ZeroTag&);
|
|
Vector3(const Maths::UnitXTag&);
|
|
Vector3(const Maths::UnitYTag&);
|
|
Vector3(const Maths::UnitZTag&);
|
|
Vector3(const Maths::UnitNegXTag&);
|
|
Vector3(const Maths::UnitNegYTag&);
|
|
Vector3(const Maths::UnitNegZTag&);
|
|
|
|
// explicit constructors
|
|
explicit Vector3(const __m128 b);
|
|
explicit Vector3(const Vector4Base& v);
|
|
explicit Vector3(const Scalar& v);
|
|
explicit Vector3(const Point3& v);
|
|
explicit Vector3(const Vector4& v);
|
|
explicit Vector3(const float* p);
|
|
|
|
// assignment
|
|
const Vector3& operator=(const Vector3& v);
|
|
|
|
// assignment to constant
|
|
const Vector3& operator=(const Maths::ZeroTag&);
|
|
const Vector3& operator=(const Maths::UnitXTag&);
|
|
const Vector3& operator=(const Maths::UnitYTag&);
|
|
const Vector3& operator=(const Maths::UnitZTag&);
|
|
const Vector3& operator=(const Maths::UnitNegXTag&);
|
|
const Vector3& operator=(const Maths::UnitNegYTag&);
|
|
const Vector3& operator=(const Maths::UnitNegZTag&);
|
|
|
|
// in place operations
|
|
void operator+=(const Vector3& b);
|
|
void operator-=(const Vector3& b);
|
|
void operator*=(const Vector3& b);
|
|
void operator/=(const Vector3& b);
|
|
void operator*=(const Scalar& s);
|
|
void operator/=(const Scalar& s);
|
|
|
|
// operations
|
|
friend const Vector3 operator-(const Vector3& a);
|
|
|
|
friend const Vector3 operator+(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 operator-(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 operator*(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 operator/(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 operator*(const Vector3& a, const Scalar& s);
|
|
friend const Vector3 operator*(const Scalar& s, const Vector3& a);
|
|
friend const Vector3 operator/(const Vector3& a, const Scalar& s);
|
|
|
|
friend const Vector3 Abs(const Vector3& a);
|
|
friend const Vector3 Rcp(const Vector3& a);
|
|
friend const Vector3 Rsqrt(const Vector3& a);
|
|
friend const Vector3 Sqrt(const Vector3& a);
|
|
friend const Vector3 RcpNr(const Vector3& a);
|
|
friend const Vector3 RsqrtNr(const Vector3& a);
|
|
|
|
friend const Scalar Sum(const Vector3& a);
|
|
friend const Scalar Dot(const Vector3& a, const Vector3& b);
|
|
|
|
friend const Vector3 Cross(const Vector3& a, const Vector3& b);
|
|
|
|
friend const Vector3 Min(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 Max(const Vector3& a, const Vector3& b);
|
|
friend const Vector3 Clamp(const Vector3& v, const Vector3& min, const Vector3& max);
|
|
|
|
friend const Scalar MinComp(const Vector3& a);
|
|
friend const Scalar MaxComp(const Vector3& a);
|
|
friend const int MinCompIndex(const Vector3& a);
|
|
friend const int MaxCompIndex(const Vector3& a);
|
|
|
|
friend const Scalar Length(const Vector3& a);
|
|
friend const Scalar LengthSqr(const Vector3& a);
|
|
friend const Scalar LengthRcp(const Vector3& a);
|
|
friend const Vector3 Normalize(const Vector3& a);
|
|
|
|
friend const Scalar LengthFast(const Vector3& a);
|
|
friend const Scalar LengthRcpFast(const Vector3& a);
|
|
friend const Vector3 NormalizeFast(const Vector3& a);
|
|
|
|
friend const Vector3 Lerp(const Vector3& a, const Vector3& b, const Scalar& t);
|
|
|
|
// returns an arbitrary perpendicular vector (not normalized)
|
|
friend const Vector3 Perp(const Vector3& v);
|
|
|
|
// comparisons (return 1 bit per component)
|
|
friend int operator==(const Vector3& a, const Vector3& b);
|
|
friend int operator!=(const Vector3& a, const Vector3& b);
|
|
friend int operator<(const Vector3& a, const Vector3& b);
|
|
friend int operator<=(const Vector3& a, const Vector3& b);
|
|
friend int operator>(const Vector3& a, const Vector3& b);
|
|
friend int operator>=(const Vector3& a, const Vector3& b);
|
|
|
|
// validation
|
|
bool IsFinite() const;
|
|
};
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Point3
|
|
__declspec(align(16)) class Point3 : public Vector4Base
|
|
{
|
|
public:
|
|
// constructors
|
|
Point3();
|
|
Point3(const Point3& v);
|
|
Point3(float x, float y, float z);
|
|
Point3(const Scalar& x, const Scalar& y, const Scalar& z);
|
|
|
|
// construction to constant
|
|
Point3(const Maths::ZeroTag&);
|
|
Point3(const Maths::UnitXTag&);
|
|
Point3(const Maths::UnitYTag&);
|
|
Point3(const Maths::UnitZTag&);
|
|
Point3(const Maths::UnitNegXTag&);
|
|
Point3(const Maths::UnitNegYTag&);
|
|
Point3(const Maths::UnitNegZTag&);
|
|
|
|
// explicit constructors
|
|
explicit Point3(const __m128 b);
|
|
explicit Point3(const Vector4Base& v);
|
|
explicit Point3(const Scalar& v);
|
|
explicit Point3(const Vector3& v);
|
|
explicit Point3(const Vector4& v);
|
|
explicit Point3(const float* p);
|
|
|
|
// assignment
|
|
const Point3& operator=(const Point3& v);
|
|
|
|
// assignment to constant
|
|
const Point3& operator=(const Maths::ZeroTag&);
|
|
const Point3& operator=(const Maths::UnitXTag&);
|
|
const Point3& operator=(const Maths::UnitYTag&);
|
|
const Point3& operator=(const Maths::UnitZTag&);
|
|
const Point3& operator=(const Maths::UnitNegXTag&);
|
|
const Point3& operator=(const Maths::UnitNegYTag&);
|
|
const Point3& operator=(const Maths::UnitNegZTag&);
|
|
|
|
// in place operations
|
|
void operator+=(const Vector3& b);
|
|
void operator-=(const Vector3& b);
|
|
|
|
// operations
|
|
friend const Point3 operator-(const Point3& a);
|
|
|
|
friend const Point3 operator+(const Point3& a, const Vector3& b);
|
|
friend const Point3 operator+(const Vector3& a, const Point3& b);
|
|
|
|
friend const Point3 operator-(const Point3& a, const Vector3& b);
|
|
friend const Vector3 operator-(const Point3& a, const Point3& b);
|
|
|
|
friend const Vector3 operator*(const Point3& a, const Vector3& b);
|
|
friend const Vector3 operator*(const Vector3& a, const Point3& b);
|
|
|
|
friend const Point3 Abs(const Point3& a);
|
|
|
|
friend const Scalar Sum(const Point3& a);
|
|
friend const Scalar Dot(const Point3& a, const Point3& b);
|
|
friend const Scalar Dot(const Vector3& a, const Point3& b);
|
|
friend const Scalar Dot(const Point3& a, const Vector3& b);
|
|
|
|
friend const Point3 Min(const Point3& a, const Point3& b);
|
|
friend const Point3 Max(const Point3& a, const Point3& b);
|
|
friend const Point3 Clamp(const Point3& v, const Point3& min, const Point3& max);
|
|
|
|
friend const Scalar Dist(const Point3& a, const Point3& b);
|
|
friend const Scalar DistSqr(const Point3& a, const Point3& b);
|
|
friend const Scalar DistRcp(const Point3& a, const Point3& b);
|
|
|
|
friend const Scalar DistFast(const Point3& a, const Point3& b);
|
|
friend const Scalar DistRcpFast(const Point3& a, const Point3& b);
|
|
|
|
friend const Point3 Lerp(const Point3& a, const Point3& b, const Scalar& t);
|
|
|
|
friend const Point3 Homogenize(const Vector4& v);
|
|
friend const Point3 HomogenizeFast(const Vector4& v);
|
|
|
|
// comparisons (return 1 bit per component)
|
|
friend int operator==(const Point3& a, const Point3& b);
|
|
friend int operator!=(const Point3& a, const Point3& b);
|
|
friend int operator<(const Point3& a, const Point3& b);
|
|
friend int operator<=(const Point3& a, const Point3& b);
|
|
friend int operator>(const Point3& a, const Point3& b);
|
|
friend int operator>=(const Point3& a, const Point3& b);
|
|
|
|
// validation
|
|
bool IsFinite() const;
|
|
};
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Vector4
|
|
__declspec(align(16)) class Vector4 : public Vector4Base
|
|
{
|
|
public:
|
|
// constructors
|
|
Vector4();
|
|
Vector4(const Vector4& v);
|
|
Vector4(float x, float y, float z, float w);
|
|
Vector4(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w);
|
|
Vector4(const Vector3& xyz, const Scalar& w);
|
|
|
|
// construction to constant
|
|
Vector4(const Maths::ZeroTag&);
|
|
Vector4(const Maths::UnitXTag&);
|
|
Vector4(const Maths::UnitYTag&);
|
|
Vector4(const Maths::UnitZTag&);
|
|
Vector4(const Maths::UnitWTag&);
|
|
Vector4(const Maths::UnitNegXTag&);
|
|
Vector4(const Maths::UnitNegYTag&);
|
|
Vector4(const Maths::UnitNegZTag&);
|
|
Vector4(const Maths::UnitNegWTag&);
|
|
|
|
// explicit constructors
|
|
explicit Vector4(const __m128 b);
|
|
explicit Vector4(const Vector4Base& v);
|
|
explicit Vector4(const Scalar& v);
|
|
explicit Vector4(const Vector3& v);
|
|
explicit Vector4(const Point3& v);
|
|
explicit Vector4(const float* p);
|
|
|
|
// assignment
|
|
const Vector4& operator=(const Vector4& v);
|
|
|
|
// assignment to constant
|
|
const Vector4& operator=(const Maths::ZeroTag&);
|
|
const Vector4& operator=(const Maths::UnitXTag&);
|
|
const Vector4& operator=(const Maths::UnitYTag&);
|
|
const Vector4& operator=(const Maths::UnitZTag&);
|
|
const Vector4& operator=(const Maths::UnitWTag&);
|
|
const Vector4& operator=(const Maths::UnitNegXTag&);
|
|
const Vector4& operator=(const Maths::UnitNegYTag&);
|
|
const Vector4& operator=(const Maths::UnitNegZTag&);
|
|
const Vector4& operator=(const Maths::UnitNegWTag&);
|
|
|
|
// in place operations
|
|
void operator+=(const Vector4& b);
|
|
void operator-=(const Vector4& b);
|
|
void operator*=(const Vector4& b);
|
|
void operator/=(const Vector4& b);
|
|
void operator*=(const Scalar& s);
|
|
void operator/=(const Scalar& s);
|
|
|
|
// operations
|
|
friend const Vector4 operator-(const Vector4& a);
|
|
|
|
friend const Vector4 operator+(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 operator-(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 operator*(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 operator/(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 operator*(const Vector4& a, const Scalar& s);
|
|
friend const Vector4 operator*(const Scalar& s, const Vector4& a);
|
|
friend const Vector4 operator/(const Vector4& a, const Scalar& s);
|
|
|
|
friend const Vector4 Abs(const Vector4& a);
|
|
friend const Vector4 Rcp(const Vector4& a);
|
|
friend const Vector4 Rsqrt(const Vector4& a);
|
|
friend const Vector4 Sqrt(const Vector4& a);
|
|
friend const Vector4 RcpNr(const Vector4& a);
|
|
friend const Vector4 RsqrtNr(const Vector4& a);
|
|
|
|
friend const Scalar Sum(const Vector4& a);
|
|
friend const Scalar Dot(const Vector4& a, const Vector4& b);
|
|
|
|
friend const Vector4 Min(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 Max(const Vector4& a, const Vector4& b);
|
|
friend const Vector4 Clamp(const Vector4& v, const Vector4& min, const Vector4& max);
|
|
|
|
friend const Scalar MinComp(const Vector4& a);
|
|
friend const Scalar MaxComp(const Vector4& a);
|
|
|
|
friend const Scalar Length(const Vector4& a);
|
|
friend const Scalar LengthSqr(const Vector4& a);
|
|
friend const Scalar LengthRcp(const Vector4& a);
|
|
friend const Vector4 Normalize(const Vector4& a);
|
|
|
|
friend const Scalar LengthFast(const Vector4& a);
|
|
friend const Scalar LengthRcpFast(const Vector4& a);
|
|
friend const Vector4 NormalizeFast(const Vector4& a);
|
|
|
|
friend const Vector4 Lerp(const Vector4& a, const Vector4& b, const Scalar& t);
|
|
|
|
// comparisons (return 1 bit per component)
|
|
friend int operator==(const Vector4& a, const Vector4& b);
|
|
friend int operator!=(const Vector4& a, const Vector4& b);
|
|
friend int operator<(const Vector4& a, const Vector4& b);
|
|
friend int operator<=(const Vector4& a, const Vector4& b);
|
|
friend int operator>(const Vector4& a, const Vector4& b);
|
|
friend int operator>=(const Vector4& a, const Vector4& b);
|
|
|
|
// validation
|
|
bool IsFinite() const;
|
|
};
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Vector2
|
|
class Vector2 : public Vector2Base
|
|
{
|
|
public:
|
|
};
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Point2
|
|
class Point2 : public Vector2Base
|
|
{
|
|
public:
|
|
|
|
};
|
|
|
|
|
|
#include "Vector.inl"
|
|
#endif //BULLET_VECTOR_H
|