4 #ifndef OPENVDB_MATH_VEC3_HAS_BEEN_INCLUDED 5 #define OPENVDB_MATH_VEC3_HAS_BEEN_INCLUDED 13 #include <type_traits> 21 template<
typename T>
class Mat3;
24 class Vec3:
public Tuple<3, T>
36 explicit Vec3(T val) { this->mm[0] = this->mm[1] = this->mm[2] = val; }
47 template <
typename Source>
50 this->mm[0] =
static_cast<T
>(a[0]);
51 this->mm[1] =
static_cast<T
>(a[1]);
52 this->mm[2] =
static_cast<T
>(a[2]);
57 template<
typename Source>
60 this->mm[0] =
static_cast<T
>(v[0]);
61 this->mm[1] =
static_cast<T
>(v[1]);
62 this->mm[2] =
static_cast<T
>(v[2]);
68 template<
typename Other>
72 this->mm[0] = this->mm[1] = this->mm[2] =
static_cast<T
>(val);
77 template<
typename Other>
80 this->mm[0] =
static_cast<T
>(v[0]);
81 this->mm[1] =
static_cast<T
>(v[1]);
82 this->mm[2] =
static_cast<T
>(v[2]);
86 T&
x() {
return this->mm[0]; }
87 T&
y() {
return this->mm[1]; }
88 T&
z() {
return this->mm[2]; }
91 T
x()
const {
return this->mm[0]; }
92 T
y()
const {
return this->mm[1]; }
93 T
z()
const {
return this->mm[2]; }
108 this->mm[0] = x; this->mm[1] = y; this->mm[2] = z;
116 this->mm[0] = 0; this->mm[1] = 0; this->mm[2] = 0;
122 template<
typename Source>
134 bool eq(
const Vec3<T> &v, T eps = static_cast<T>(1.0e-7))
const 147 template <
typename T0,
typename T1>
150 this->mm[0] = v1[0] + v2[0];
151 this->mm[1] = v1[1] + v2[1];
152 this->mm[2] = v1[2] + v2[2];
159 template <
typename T0,
typename T1>
162 this->mm[0] = v1[0] - v2[0];
163 this->mm[1] = v1[1] - v2[1];
164 this->mm[2] = v1[2] - v2[2];
171 template <
typename T0,
typename T1>
174 this->mm[0] = scale * v[0];
175 this->mm[1] = scale * v[1];
176 this->mm[2] = scale * v[2];
181 template <
typename T0,
typename T1>
184 this->mm[0] = v[0] /
scale;
185 this->mm[1] = v[1] /
scale;
186 this->mm[2] = v[2] /
scale;
195 this->mm[0]*v.mm[0] +
196 this->mm[1]*v.mm[1] +
203 return static_cast<T
>(sqrt(
double(
204 this->mm[0]*this->mm[0] +
205 this->mm[1]*this->mm[1] +
206 this->mm[2]*this->mm[2])));
215 this->mm[0]*this->mm[0] +
216 this->mm[1]*this->mm[1] +
217 this->mm[2]*this->mm[2];
223 return Vec3<T>(this->mm[1]*v.mm[2] - this->mm[2]*v.mm[1],
224 this->mm[2]*v.mm[0] - this->mm[0]*v.mm[2],
225 this->mm[0]*v.mm[1] - this->mm[1]*v.mm[0]);
234 this->mm[0] = v1.mm[1]*v2.mm[2] - v1.mm[2]*v2.mm[1];
235 this->mm[1] = v1.mm[2]*v2.mm[0] - v1.mm[0]*v2.mm[2];
236 this->mm[2] = v1.mm[0]*v2.mm[1] - v1.mm[1]*v2.mm[0];
241 template <
typename S>
245 const auto value0 = this->mm[0] * scalar;
246 const auto value1 = this->mm[1] * scalar;
247 const auto value2 = this->mm[2] * scalar;
249 this->mm[0] =
static_cast<T
>(value0);
250 this->mm[1] =
static_cast<T
>(value1);
251 this->mm[2] =
static_cast<T
>(value2);
256 template <
typename S>
259 this->mm[0] *= v1[0];
260 this->mm[1] *= v1[1];
261 this->mm[2] *= v1[2];
266 template <
typename S>
269 this->mm[0] /= scalar;
270 this->mm[1] /= scalar;
271 this->mm[2] /= scalar;
276 template <
typename S>
279 this->mm[0] /= v1[0];
280 this->mm[1] /= v1[1];
281 this->mm[2] /= v1[2];
286 template <
typename S>
290 const auto value0 = this->mm[0] + scalar;
291 const auto value1 = this->mm[1] + scalar;
292 const auto value2 = this->mm[2] + scalar;
294 this->mm[0] =
static_cast<T
>(value0);
295 this->mm[1] =
static_cast<T
>(value1);
296 this->mm[2] =
static_cast<T
>(value2);
301 template <
typename S>
304 this->mm[0] += v1[0];
305 this->mm[1] += v1[1];
306 this->mm[2] += v1[2];
311 template <
typename S>
314 this->mm[0] -= scalar;
315 this->mm[1] -= scalar;
316 this->mm[2] -= scalar;
321 template <
typename S>
324 this->mm[0] -= v1[0];
325 this->mm[1] -= v1[1];
326 this->mm[2] -= v1[2];
334 this->mm[0] = std::exp(this->mm[0]);
335 this->mm[1] = std::exp(this->mm[1]);
336 this->mm[2] = std::exp(this->mm[2]);
344 this->mm[0] = std::log(this->mm[0]);
345 this->mm[1] = std::log(this->mm[1]);
346 this->mm[2] = std::log(this->mm[2]);
353 return this->mm[0] + this->mm[1] + this->mm[2];
359 return this->mm[0] * this->mm[1] * this->mm[2];
395 return l2 ? *
this /
static_cast<T
>(sqrt(l2)) :
Vec3<T>(1, 0 ,0);
410 return dot(onto)*(T(1)/l);
417 T l = onto.lengthSqr();
420 return onto*(dot(onto)*(T(1)/l));
431 if ( fabs(this->mm[0]) >= fabs(this->mm[1]) ) {
433 l = this->mm[0]*this->mm[0] + this->mm[2]*this->mm[2];
434 l =
static_cast<T
>(T(1)/sqrt(
double(l)));
435 u.mm[0] = -this->mm[2]*l;
437 u.mm[2] = +this->mm[0]*l;
440 l = this->mm[1]*this->mm[1] + this->mm[2]*this->mm[2];
441 l =
static_cast<T
>(T(1)/sqrt(
double(l)));
443 u.mm[1] = +this->mm[2]*l;
444 u.mm[2] = -this->mm[1]*l;
454 if( r.mm[0] > r.mm[1] ) std::swap(r.mm[0], r.mm[1]);
455 if( r.mm[1] > r.mm[2] ) std::swap(r.mm[1], r.mm[2]);
456 if( r.mm[0] > r.mm[1] ) std::swap(r.mm[0], r.mm[1]);
463 return Vec3<T>(this->mm[2], this->mm[1], this->mm[0]);
473 template <
typename T0,
typename T1>
481 template <
typename T0,
typename T1>
485 template <
typename S,
typename T>
489 template <
typename S,
typename T>
498 template <
typename T0,
typename T1>
507 template <
typename S,
typename T>
514 template <
typename S,
typename T>
523 template <
typename T0,
typename T1>
531 template <
typename T0,
typename T1>
540 template <
typename S,
typename T>
549 template <
typename T0,
typename T1>
558 template <
typename S,
typename T>
568 template <
typename T>
572 return static_cast<T
>(atan2(c.length(), v1.dot(v2)));
575 template <
typename T>
581 template <
typename T>
599 template <
typename T>
633 template <
typename T>
643 template <
typename T>
654 template <
typename T>
659 template <
typename T>
676 #endif // OPENVDB_MATH_VEC3_HAS_BEEN_INCLUDED Real value_type
Definition: Vec3.h:27
T & operator()(int i)
Alternative indexed reference to the elements.
Definition: Vec3.h:99
bool isExactlyEqual(const T0 &a, const T1 &b)
Return true if a is exactly equal to b.
Definition: Math.h:443
T & y()
Definition: Vec3.h:87
Vec3< T > unit(T eps=0) const
return normalized this, throws if null vector
Definition: Vec3.h:375
const Vec3< T > & operator/=(const Vec3< S > &v1)
Divide each element of this vector by the corresponding element of the given vector.
Definition: Vec3.h:277
Vec3< T > getArbPerpendicular() const
Definition: Vec3.h:426
#define OPENVDB_THROW(exception, message)
Definition: Exceptions.h:74
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
T * asPointer()
Definition: Vec3.h:95
Vec3(const Vec3< Other > &v)
Construct a Vec3 from another Vec3 with a possibly different value type.
Definition: Vec3.h:78
static unsigned numColumns()
Definition: Vec3.h:400
Vec3(T x, T y, T z)
Constructor with three arguments, e.g. Vec3d v(1,2,3);.
Definition: Vec3.h:39
Vec3< T > Log(Vec3< T > v)
Return a vector with log applied to each of the components of the input vector.
Definition: Vec3.h:660
const Vec3< T > & operator-=(S scalar)
Subtract scalar from each element of this vector.
Definition: Vec3.h:312
const Vec3< T > & exp()
Definition: Vec3.h:332
const Vec3< T > & sub(const Vec3< T0 > &v1, const Vec3< T1 > &v2)
Definition: Vec3.h:160
Vec3< T > operator-() const
Negation operator, for e.g. v1 = -v2;.
Definition: Vec3.h:143
static Vec3< T > zero()
Predefined constants, e.g. Vec3d v = Vec3d::xNegAxis();.
Definition: Vec3.h:467
Vec3< T > Exp(Vec3< T > v)
Return a vector with the exponent applied to each of the components of the input vector.
Definition: Vec3.h:655
T & z()
Definition: Vec3.h:88
Vec3< typename promote< T0, T1 >::type > operator*(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Multiply corresponding elements of v0 and v1 and return the result.
Definition: Vec3.h:499
const Vec3< T > & operator=(const Vec3< Source > &v)
Assignment operator.
Definition: Vec3.h:123
const T * asPointer() const
Definition: Vec3.h:96
const Vec3< T > & operator*=(S scalar)
Multiply each element of this vector by scalar.
Definition: Vec3.h:242
Vec3< T > unit(T eps, T &len) const
return normalized this and length, throws if null vector
Definition: Vec3.h:382
T operator()(int i) const
Alternative indexed constant reference to the elements,.
Definition: Vec3.h:102
Vec3(Source *a)
Constructor with array argument, e.g. double a[3]; Vec3d v(a);.
Definition: Vec3.h:48
Vec3< T > reversed() const
Return the vector (z, y, x)
Definition: Vec3.h:461
const Vec3< T > & scale(T0 scale, const Vec3< T1 > &v)
Definition: Vec3.h:172
const Vec3< T > & operator/=(S scalar)
Divide each element of this vector by scalar.
Definition: Vec3.h:267
const Vec3< T > & log()
Definition: Vec3.h:342
bool operator==(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Equality operator, does exact floating point comparisons.
Definition: Vec3.h:474
const Vec3< T > & setZero()
Set "this" vector to zero.
Definition: Vec3.h:114
bool normalize(T eps=T(1.0e-7))
this = normalized this
Definition: Vec3.h:363
T & x()
Reference to the component, e.g. v.x() = 4.5f;.
Definition: Vec3.h:86
static unsigned numElements()
Definition: Vec3.h:401
Vec3< typename promote< S, T >::type > operator-(const Vec3< T > &v, S scalar)
Subtract scalar from each element of the given vector and return the result.
Definition: Vec3.h:559
const Vec3< T > & add(const Vec3< T0 > &v1, const Vec3< T1 > &v2)
Definition: Vec3.h:148
bool eq(const Vec3< T > &v, T eps=static_cast< T >(1.0e-7)) const
Test if "this" vector is equivalent to vector v with tolerance of eps.
Definition: Vec3.h:134
Dummy class for tag dispatch of conversion constructors.
Definition: Tuple.h:24
T y() const
Definition: Vec3.h:92
Vec3< T > cross(const Vec3< T > &v) const
Return the cross product of "this" vector and v;.
Definition: Vec3.h:221
#define OPENVDB_ASSERT(X)
Definition: Assert.h:41
Vec3(Other val, typename std::enable_if< std::is_arithmetic< Other >::value, Conversion >::type=Conversion{})
Construct a vector all of whose components have the given value, which may be of an arithmetic type d...
Definition: Vec3.h:69
Vec3< T > projection(const Vec3< T > &onto, T eps=static_cast< T >(1.0e-7)) const
Definition: Vec3.h:415
MatType scale(const Vec3< typename MatType::value_type > &s)
Return a matrix that scales by s.
Definition: Mat.h:615
T component(const Vec3< T > &onto, T eps=static_cast< T >(1.0e-7)) const
Definition: Vec3.h:405
Vec3< typename promote< T0, T1 >::type > operator/(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Divide corresponding elements of v0 and v1 and return the result.
Definition: Vec3.h:524
void orthonormalize(Vec3< T > &v1, Vec3< T > &v2, Vec3< T > &v3)
Definition: Vec3.h:600
MatType unit(const MatType &mat, typename MatType::value_type eps=1.0e-8)
Return a copy of the given matrix with its upper 3×3 rows normalized.
Definition: Mat.h:648
Definition: Exceptions.h:13
const Vec3< T > & operator*=(const Vec3< S > &v1)
Multiply each element of this vector by the corresponding element of the given vector.
Definition: Vec3.h:257
Real ValueType
Definition: Vec3.h:28
Vec3< T > Abs(const Vec3< T > &v)
Definition: Vec3.h:592
Vec3< typename promote< S, T >::type > operator+(const Vec3< T > &v, S scalar)
Add scalar to each element of the given vector and return the result.
Definition: Vec3.h:541
bool isRelOrApproxEqual(const Type &a, const Type &b, const Type &absTol, const Type &relTol)
Definition: Math.h:453
const Vec3< T > & cross(const Vec3< T > &v1, const Vec3< T > &v2)
this = v1 cross v2, v1 and v2 must be distinct objects than "this"
Definition: Vec3.h:230
T sum() const
Return the sum of all the vector components.
Definition: Vec3.h:351
Vec3< T > unitSafe() const
return normalized this, or (1, 0, 0) if this is null vector
Definition: Vec3.h:392
Vec3< T > minComponent(const Vec3< T > &v1, const Vec3< T > &v2)
Return component-wise minimum of the two vectors.
Definition: Vec3.h:634
const Vec3< T > & operator+=(S scalar)
Add scalar to each element of this vector.
Definition: Vec3.h:287
const Vec3< T > & div(T0 scale, const Vec3< T1 > &v)
Definition: Vec3.h:182
Definition: Exceptions.h:56
const Vec3< T > & init(T x=0, T y=0, T z=0)
Definition: Vec3.h:106
T z() const
Definition: Vec3.h:93
const Vec3< T > & operator-=(const Vec3< S > &v1)
Subtract each element of the given vector from the corresponding element of this vector.
Definition: Vec3.h:322
Vec3(T val)
Construct a vector all of whose components have the given value.
Definition: Vec3.h:36
Vec3< T > sorted() const
Return a vector with the components of this in ascending order.
Definition: Vec3.h:451
T x() const
Get the component, e.g. float f = v.y();.
Definition: Vec3.h:91
const Vec3< T > & operator+=(const Vec3< S > &v1)
Add each element of the given vector to the corresponding element of this vector. ...
Definition: Vec3.h:302
T angle(const Vec3< T > &v1, const Vec3< T > &v2)
Definition: Vec3.h:569
T length() const
Length of the vector.
Definition: Vec3.h:201
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h.in:121
Vec3(const Tuple< 3, Source > &v)
Construct a Vec3 from a 3-Tuple with a possibly different value type.
Definition: Vec3.h:58
Vec3< T > maxComponent(const Vec3< T > &v1, const Vec3< T > &v2)
Return component-wise maximum of the two vectors.
Definition: Vec3.h:644
static Vec3< T > ones()
Definition: Vec3.h:468
T lengthSqr() const
Definition: Vec3.h:212
T dot(const Vec3< T > &v) const
Dot product.
Definition: Vec3.h:192
T product() const
Return the product of all the vector components.
Definition: Vec3.h:357
bool operator!=(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Inequality operator, does exact floating point comparisons.
Definition: Vec3.h:482
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h.in:218
bool isApproxEqual(const Vec3< T > &a, const Vec3< T > &b, const Vec3< T > &eps)
Definition: Vec3.h:583
#define OPENVDB_IS_POD(Type)
Definition: Math.h:56
static unsigned numRows()
Definition: Vec3.h:399