477 lines
12 KiB
C++
477 lines
12 KiB
C++
#ifndef VEC3_HPP
|
|
#define VEC3_HPP
|
|
|
|
#include <cmath>
|
|
#include <algorithm>
|
|
#include <string>
|
|
#include <ostream>
|
|
#include <cstdint>
|
|
|
|
template<typename T>
|
|
class Vec3 {
|
|
public:
|
|
struct{ T x, y, z; };
|
|
|
|
Vec3() : x(0), y(0), z(0) {}
|
|
Vec3(T x, T y, T z) : x(x), y(y), z(z) {}
|
|
Vec3(T scalar) : x(scalar), y(scalar), z(scalar) {}
|
|
Vec3(float acd[3]) : x(acd[0]), y(acd[1]), z(acd[2]) {}
|
|
|
|
Vec3(const class Vec2& vec2, T z = 0);
|
|
|
|
Vec3& move(const Vec3& newpos) {
|
|
x = newpos.x;
|
|
y = newpos.y;
|
|
z = newpos.z;
|
|
return *this;
|
|
}
|
|
|
|
// Arithmetic operations
|
|
Vec3 operator+(const Vec3& other) const {
|
|
return Vec3(x + other.x, y + other.y, z + other.z);
|
|
}
|
|
|
|
Vec3 operator-(const Vec3& other) const {
|
|
return Vec3(x - other.x, y - other.y, z - other.z);
|
|
}
|
|
|
|
Vec3 operator*(const Vec3& other) const {
|
|
return Vec3(x * other.x, y * other.y, z * other.z);
|
|
}
|
|
|
|
Vec3 operator/(const Vec3& other) const {
|
|
return Vec3(x / other.x, y / other.y, z / other.z);
|
|
}
|
|
|
|
Vec3 operator+(T scalar) const {
|
|
return Vec3(x + scalar, y + scalar, z + scalar);
|
|
}
|
|
|
|
Vec3 operator-(T scalar) const {
|
|
return Vec3(x - scalar, y - scalar, z - scalar);
|
|
}
|
|
|
|
Vec3 operator-() const {
|
|
return Vec3(-x, -y, -z);
|
|
}
|
|
|
|
Vec3 operator*(T scalar) const {
|
|
return Vec3(x * scalar, y * scalar, z * scalar);
|
|
}
|
|
|
|
Vec3 operator/(T scalar) const {
|
|
return Vec3(x / scalar, y / scalar, z / scalar);
|
|
}
|
|
|
|
Vec3& operator=(T scalar) {
|
|
x = y = z = scalar;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator+=(const Vec3& other) {
|
|
x += other.x;
|
|
y += other.y;
|
|
z += other.z;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator-=(const Vec3& other) {
|
|
x -= other.x;
|
|
y -= other.y;
|
|
z -= other.z;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator*=(const Vec3& other) {
|
|
x *= other.x;
|
|
y *= other.y;
|
|
z *= other.z;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator/=(const Vec3& other) {
|
|
x /= other.x;
|
|
y /= other.y;
|
|
z /= other.z;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator+=(T scalar) {
|
|
x += scalar;
|
|
y += scalar;
|
|
z += scalar;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator-=(T scalar) {
|
|
x -= scalar;
|
|
y -= scalar;
|
|
z -= scalar;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator*=(T scalar) {
|
|
x *= scalar;
|
|
y *= scalar;
|
|
z *= scalar;
|
|
return *this;
|
|
}
|
|
|
|
Vec3& operator/=(T scalar) {
|
|
x /= scalar;
|
|
y /= scalar;
|
|
z /= scalar;
|
|
return *this;
|
|
}
|
|
|
|
float dot(const Vec3& other) const {
|
|
return x * other.x + y * other.y + z * other.z;
|
|
}
|
|
|
|
Vec3 cross(const Vec3& other) const {
|
|
return Vec3(
|
|
y * other.z - z * other.y,
|
|
z * other.x - x * other.z,
|
|
x * other.y - y * other.x
|
|
);
|
|
}
|
|
|
|
T length() const {
|
|
return static_cast<T>(std::sqrt(static_cast<double>(x * x + y * y + z * z)));
|
|
}
|
|
|
|
T lengthSquared() const {
|
|
return x * x + y * y + z * z;
|
|
}
|
|
|
|
T distance(const Vec3& other) const {
|
|
return (*this - other).length();
|
|
}
|
|
|
|
T distanceSquared(const Vec3& other) const {
|
|
Vec3 diff = *this - other;
|
|
return diff.x * diff.x + diff.y * diff.y + diff.z * diff.z;
|
|
}
|
|
|
|
Vec3 normalized() const {
|
|
T len = length();
|
|
if (len > 0) {
|
|
return *this / len;
|
|
}
|
|
return *this;
|
|
}
|
|
|
|
bool operator==(const Vec3& other) const {
|
|
return x == other.x && y == other.y && z == other.z;
|
|
}
|
|
|
|
bool operator!=(const Vec3& other) const {
|
|
return x != other.x || y != other.y || z != other.z;
|
|
}
|
|
|
|
bool operator<(const Vec3& other) const {
|
|
return (lengthSquared() < other.lengthSquared());
|
|
}
|
|
|
|
bool operator<(T scalar) const {
|
|
return (x < scalar && y < scalar && z < scalar);
|
|
}
|
|
|
|
bool operator<=(const Vec3& other) const {
|
|
return (lengthSquared() <= other.lengthSquared());
|
|
}
|
|
|
|
bool operator<=(T scalar) const {
|
|
return (x <= scalar && y <= scalar && z <= scalar);
|
|
}
|
|
|
|
bool operator>(const Vec3& other) const {
|
|
return (lengthSquared() > other.lengthSquared());
|
|
}
|
|
|
|
bool operator>(T scalar) const {
|
|
return (x > scalar && y > scalar && z > scalar);
|
|
}
|
|
|
|
bool operator>=(const Vec3& other) const {
|
|
return (lengthSquared() >= other.lengthSquared());
|
|
}
|
|
|
|
bool operator>=(T scalar) const {
|
|
return (x >= scalar && y >= scalar && z >= scalar);
|
|
}
|
|
|
|
bool AllLT(const Vec3& other) {
|
|
return x < other.x && y < other.y && z < other.z;
|
|
}
|
|
|
|
bool AllGT(const Vec3& other) {
|
|
return x > other.x && y > other.y && z > other.z;
|
|
}
|
|
|
|
bool AllLTE(const Vec3& other) {
|
|
return x <= other.x && y <= other.y && z <= other.z;
|
|
}
|
|
|
|
bool AllGTE(const Vec3& other) {
|
|
return x >= other.x && y >= other.y && z >= other.z;
|
|
}
|
|
|
|
bool AnyLT(const Vec3& other) {
|
|
return x < other.x || y < other.y || z < other.z;
|
|
}
|
|
|
|
bool AnyGT(const Vec3& other) {
|
|
return x > other.x || y > other.y || z > other.z;
|
|
}
|
|
|
|
bool AnyLTE(const Vec3& other) {
|
|
return x <= other.x || y <= other.y || z <= other.z;
|
|
}
|
|
|
|
bool AnyGTE(const Vec3& other) {
|
|
return x >= other.x || y >= other.y || z >= other.z;
|
|
}
|
|
|
|
Vec3 abs() const {
|
|
return Vec3(std::abs(x), std::abs(y), std::abs(z));
|
|
}
|
|
|
|
Vec3 floor() const {
|
|
return Vec3(std::floor(x), std::floor(y), std::floor(z));
|
|
}
|
|
|
|
Vec3<int> floorToI() const {
|
|
return Vec3<int>(static_cast<int>(std::floor(x)), static_cast<int>(std::floor(x)), static_cast<int>(std::floor(z)));
|
|
}
|
|
|
|
Vec3<size_t> floorToT() const {
|
|
return Vec3<size_t>(static_cast<size_t>(std::floor(x)), static_cast<size_t>(std::floor(x)), static_cast<size_t>(std::floor(z)));
|
|
}
|
|
|
|
Vec3 ceil() const {
|
|
return Vec3(std::ceil(x), std::ceil(y), std::ceil(z));
|
|
}
|
|
|
|
Vec3 round() const {
|
|
return Vec3(std::round(x), std::round(y), std::round(z));
|
|
}
|
|
|
|
Vec3 min(const Vec3& other) const {
|
|
return Vec3(std::min(x, other.x), std::min(y, other.y), std::min(z, other.z));
|
|
}
|
|
|
|
Vec3 max(const Vec3& other) const {
|
|
return Vec3(std::max(x, other.x), std::max(y, other.y), std::max(z, other.z));
|
|
}
|
|
|
|
Vec3 clamp(const Vec3& minVal, const Vec3& maxVal) const {
|
|
return Vec3(
|
|
std::clamp(x, minVal.x, maxVal.x),
|
|
std::clamp(y, minVal.y, maxVal.y),
|
|
std::clamp(z, minVal.z, maxVal.z)
|
|
);
|
|
}
|
|
|
|
Vec3 clamp(T minVal, T maxVal) const {
|
|
return Vec3(
|
|
std::clamp(x, minVal, maxVal),
|
|
std::clamp(y, minVal, maxVal),
|
|
std::clamp(z, minVal, maxVal)
|
|
);
|
|
}
|
|
|
|
bool isZero(float epsilon = 1e-10f) const {
|
|
return std::abs(x) < epsilon && std::abs(y) < epsilon && std::abs(z) < epsilon;
|
|
}
|
|
|
|
bool equals(const Vec3& other, float epsilon = 1e-10f) const {
|
|
return std::abs(x - other.x) < epsilon &&
|
|
std::abs(y - other.y) < epsilon &&
|
|
std::abs(z - other.z) < epsilon;
|
|
}
|
|
|
|
// Template friend operators to allow different scalar types
|
|
template<typename S>
|
|
friend Vec3<T> operator+(S scalar, const Vec3<T>& vec) {
|
|
return Vec3<T>(static_cast<T>(scalar + vec.x),
|
|
static_cast<T>(scalar + vec.y),
|
|
static_cast<T>(scalar + vec.z));
|
|
}
|
|
|
|
template<typename S>
|
|
friend Vec3<T> operator-(S scalar, const Vec3<T>& vec) {
|
|
return Vec3<T>(static_cast<T>(scalar - vec.x),
|
|
static_cast<T>(scalar - vec.y),
|
|
static_cast<T>(scalar - vec.z));
|
|
}
|
|
|
|
template<typename S>
|
|
friend Vec3<T> operator*(S scalar, const Vec3<T>& vec) {
|
|
return Vec3<T>(static_cast<T>(scalar * vec.x),
|
|
static_cast<T>(scalar * vec.y),
|
|
static_cast<T>(scalar * vec.z));
|
|
}
|
|
|
|
template<typename S>
|
|
friend Vec3<T> operator/(S scalar, const Vec3<T>& vec) {
|
|
return Vec3<T>(static_cast<T>(scalar / vec.x),
|
|
static_cast<T>(scalar / vec.y),
|
|
static_cast<T>(scalar / vec.z));
|
|
}
|
|
|
|
Vec3 reflect(const Vec3& normal) const {
|
|
return *this - 2.0f * this->dot(normal) * normal;
|
|
}
|
|
|
|
Vec3 lerp(const Vec3& other, T t) const {
|
|
t = std::clamp(t, 0.0f, 1.0f);
|
|
return *this + (other - *this) * t;
|
|
}
|
|
|
|
Vec3 slerp(const Vec3& other, T t) const {
|
|
t = std::clamp(t, 0.0f, 1.0f);
|
|
T dot = this->dot(other);
|
|
dot = std::clamp(dot, -1.0f, 1.0f);
|
|
|
|
T theta = std::acos(dot) * t;
|
|
Vec3 relative = other - *this * dot;
|
|
relative = relative.normalized();
|
|
|
|
return (*this * std::cos(theta)) + (relative * std::sin(theta));
|
|
}
|
|
|
|
Vec3 rotateX(float angle) const {
|
|
float cosA = std::cos(angle);
|
|
float sinA = std::sin(angle);
|
|
return Vec3(x, y * cosA - z * sinA, y * sinA + z * cosA);
|
|
}
|
|
|
|
Vec3 rotateY(float angle) const {
|
|
float cosA = std::cos(angle);
|
|
float sinA = std::sin(angle);
|
|
return Vec3(x * cosA + z * sinA, y, -x * sinA + z * cosA);
|
|
}
|
|
|
|
Vec3 rotateZ(float angle) const {
|
|
float cosA = std::cos(angle);
|
|
float sinA = std::sin(angle);
|
|
return Vec3(x * cosA - y * sinA, x * sinA + y * cosA, z);
|
|
}
|
|
|
|
float angle() const {
|
|
float r = length();
|
|
if (r == 0) return 0;
|
|
float θ = std::acos(z / r);
|
|
return θ;
|
|
}
|
|
|
|
float azimuth() const {
|
|
float φ = std::atan2(y, x);
|
|
return φ;
|
|
}
|
|
|
|
std::pair<float, float> sphericalAngles() const {
|
|
float r = length();
|
|
if (r == 0) return {0, 0};
|
|
|
|
float θ = std::acos(z / r);
|
|
float φ = std::atan2(y, x);
|
|
|
|
return {θ, φ};
|
|
}
|
|
|
|
float angleTo(const Vec3& other) const {
|
|
return std::acos(this->dot(other) / (this->length() * other.length()));
|
|
}
|
|
|
|
float directionTo(const Vec3& other) const {
|
|
Vec3 direction = other - *this;
|
|
return direction.angleTo(other);
|
|
}
|
|
|
|
T& operator[](int index) {
|
|
return (&x)[index];
|
|
}
|
|
|
|
const T& operator[](int index) const {
|
|
return (&x)[index];
|
|
}
|
|
|
|
Vec3 safeInverse(float epsilon = 1e-10f) const {
|
|
return Vec3(
|
|
1 / (std::abs(x) < epsilon ? std::copysign(epsilon, x) : x),
|
|
1 / (std::abs(y) < epsilon ? std::copysign(epsilon, y) : y),
|
|
1 / (std::abs(z) < epsilon ? std::copysign(epsilon, z) : z)
|
|
);
|
|
}
|
|
|
|
uint8_t calculateOctantMask() const {
|
|
uint8_t mask = 0;
|
|
if (x > 0.0f) mask |= 1;
|
|
if (y > 0.0f) mask |= 2;
|
|
if (z > 0.0f) mask |= 4;
|
|
return mask;
|
|
}
|
|
|
|
float maxComp() const {
|
|
return std::max({x, y, z});
|
|
}
|
|
|
|
float minComp() const {
|
|
return std::min({x, y, z});
|
|
}
|
|
|
|
std::string toString() const {
|
|
return "(" + std::to_string(x) + ", " + std::to_string(y) + ", " + std::to_string(z) + ")";
|
|
}
|
|
|
|
struct Hash {
|
|
std::size_t operator()(const Vec3& v) const {
|
|
return std::hash<float>()(v.x) ^ (std::hash<float>()(v.y) << 1) ^ (std::hash<float>()(v.z) << 2);
|
|
}
|
|
};
|
|
};
|
|
|
|
using Vec3f = Vec3<float>;
|
|
using Vec3d = Vec3<double>;
|
|
using Vec3i = Vec3<int>;
|
|
using Vec3i8 = Vec3<int8_t>;
|
|
using Vec3ui8 = Vec3<uint8_t>;
|
|
using Vec3T = Vec3<size_t>;
|
|
|
|
template<typename T>
|
|
inline std::ostream& operator<<(std::ostream& os, const Vec3<T>& vec) {
|
|
os << vec.toString();
|
|
return os;
|
|
}
|
|
|
|
namespace std {
|
|
template<typename T>
|
|
struct hash<Vec3<T>> {
|
|
size_t operator()(const Vec3<T>& v) const {
|
|
return hash<T>()(v.x) ^ (hash<T>()(v.y) << 1) ^ (hash<T>()(v.z) << 2);
|
|
}
|
|
};
|
|
}
|
|
|
|
template<typename T>
|
|
Vec3<T> max(Vec3<T> a, Vec3<T> b) {
|
|
return a.max(b);
|
|
}
|
|
|
|
template<typename T>
|
|
Vec3<T> min(Vec3<T> a, Vec3<T> b) {
|
|
return a.min(b);
|
|
}
|
|
|
|
template<typename T>
|
|
Vec3<T> mix(const Vec3<T>& a, const Vec3<T>& b, const Vec3<bool>& mask) {
|
|
return Vec3<T>(
|
|
mask.x ? b.x : a.x,
|
|
mask.y ? b.y : a.y,
|
|
mask.z ? b.z : a.z
|
|
);
|
|
}
|
|
|
|
#endif |