315 lines
11 KiB
C++
315 lines
11 KiB
C++
/*
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* Vector3.h
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* RVO2-3D Library
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*
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* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO3D_VECTOR3_H_
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#define RVO3D_VECTOR3_H_
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/**
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* @file Vector3.h
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* @brief Contains the Vector3 class.
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*/
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#include <cstddef>
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#include <iosfwd>
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namespace RVO3D {
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/**
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* @brief Defines a three-dimensional vector.
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*/
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class Vector3 {
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public:
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/**
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* @brief Constructs and initializes a three-dimensional vector instance to
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* zero.
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*/
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Vector3();
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/**
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* @brief Constructs and initializes a three-dimensional vector from the
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* specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector containing the
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* xyz-coordinates.
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*/
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Vector3(const Vector3 &vector);
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/**
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* @brief Constructs and initializes a three-dimensional vector from the
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* specified three-element array.
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* @param[in] val The three-element array containing the xyz-coordinates.
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*/
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explicit Vector3(const float val[3]);
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/**
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* @brief Constructs and initializes a three-dimensional vector from the
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* specified xyz-coordinates.
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* @param[in] x The x-coordinate of the three-dimensional vector.
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* @param[in] y The y-coordinate of the three-dimensional vector.
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* @param[in] z The z-coordinate of the three-dimensional vector.
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*/
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Vector3(float x, float y, float z);
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/**
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* @brief Destroys this three-dimensional vector instance.
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*/
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~Vector3();
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/**
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* @brief Returns the x-coordinate of this three-dimensional vector.
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* @return The x-coordinate of the three-dimensional vector.
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*/
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float x() const { return val_[0]; }
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/**
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* @brief Returns the y-coordinate of this three-dimensional vector.
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* @return The y-coordinate of the three-dimensional vector.
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*/
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float y() const { return val_[1]; }
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/**
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* @brief Returns the z-coordinate of this three-dimensional vector.
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* @return The z-coordinate of the three-dimensional vector.
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*/
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float z() const { return val_[2]; }
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/**
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* @brief Assigns a copy of the specified three-dimensional vector to
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* this three-dimensional vector instance.
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* @param[in] vector The three-dimensional vector containing the
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* xyz-coordinates.
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* @return A reference to this three-dimensional vector instance.
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*/
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Vector3 &operator=(const Vector3 &vector);
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/**
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* @brief Returns the specified coordinate of this three-dimensional
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* vector.
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* @param[in] i The coordinate that should be returned (0 <= i < 3).
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* @return The specified coordinate of the three-dimensional vector.
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*/
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float operator[](std::size_t i) const;
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/**
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* @brief Returns a reference to the specified coordinate of this
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* three-dimensional vector.
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* @param[in] i The coordinate to which a reference should be returned
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* (0 <= i < 3).
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* @return A reference to the specified coordinate of the three-dimensional
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* vector.
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*/
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float &operator[](std::size_t i);
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/**
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* @brief Computes the negation of this three-dimensional vector.
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* @return The negation of this three-dimensional vector.
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*/
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Vector3 operator-() const;
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/**
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* @brief Computes the dot product of this three-dimensional vector with
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* the specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector with which the dot product
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* should be computed.
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* @return The dot product of this three-dimensional vector with a
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* specified three-dimensional vector.
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*/
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float operator*(const Vector3 &vector) const;
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/**
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* @brief Computes the scalar multiplication of this three-dimensional
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* vector with the specified scalar value.
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* @param[in] scalar The scalar value with which the scalar multiplication
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* should be computed.
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* @return The scalar multiplication of this three-dimensional vector with
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* a specified scalar value.
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*/
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Vector3 operator*(float scalar) const;
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/**
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* @brief Computes the scalar division of this three-dimensional vector
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* with the specified scalar value.
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* @param[in] scalar The scalar value with which the scalar division should be
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* computed.
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* @return The scalar division of this three-dimensional vector with a
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* specified scalar value.
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*/
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Vector3 operator/(float scalar) const;
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/**
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* @brief Computes the vector sum of this three-dimensional vector with
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* the specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector with which the vector sum
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* should be computed.
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* @return The vector sum of this three-dimensional vector with a specified
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* three-dimensional vector.
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*/
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Vector3 operator+(const Vector3 &vector) const;
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/**
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* @brief Computes the vector difference of this three-dimensional vector
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* with the specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector with which the vector
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* difference should be computed.
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* @return The vector difference of this three-dimensional vector with a
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* specified three-dimensional vector.
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*/
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Vector3 operator-(const Vector3 &vector) const;
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/**
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* @brief Tests this three-dimensional vector for equality with the
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* specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector with which to test for
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* equality.
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* @return True if the three-dimensional vectors are equal.
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*/
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bool operator==(const Vector3 &vector) const;
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/**
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* @brief Tests this three-dimensional vector for inequality with the
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* specified three-dimensional vector
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* @param[in] vector The three-dimensional vector with which to test for
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* inequality.
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* @return True if the three-dimensional vectors are not equal.
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*/
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bool operator!=(const Vector3 &vector) const;
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/**
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* @brief Sets the value of this three-dimensional vector to the scalar
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* multiplication of itself with the specified scalar value.
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* @param[in] scalar The scalar value with which the scalar multiplication
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* should be computed.
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* @return A reference to this three-dimensional vector.
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*/
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Vector3 &operator*=(float scalar);
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/**
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* @brief Sets the value of this three-dimensional vector to the scalar
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* division of itself with the specified scalar value.
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* @param[in] scalar The scalar value with which the scalar division should be
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* computed.
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* @return A reference to this three-dimensional vector.
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*/
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Vector3 &operator/=(float scalar);
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/**
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* @brief Sets the value of this three-dimensional vector to the vector
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* sum of itself with the specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector with which the vector sum
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* should be computed.
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* @return A reference to this three-dimensional vector.
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*/
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Vector3 &operator+=(const Vector3 &vector);
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/**
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* @brief Sets the value of this three-dimensional vector to the vector
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* difference of itself with the specified three-dimensional
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* vector.
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* @param[in] vector The three-dimensional vector with which the vector
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* difference should be computed.
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* @return A reference to this three-dimensional vector.
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*/
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Vector3 &operator-=(const Vector3 &vector);
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private:
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float val_[3];
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};
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/**
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* @relates Vector3
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* @brief Computes the scalar multiplication of the specified
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* three-dimensional vector with the specified scalar value.
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* @param[in] scalar The scalar value with which the scalar multiplication
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* should be computed.
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* @param[in] vector The three-dimensional vector with which the scalar
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* multiplication should be computed.
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* @return The scalar multiplication of the three-dimensional vector with the
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* scalar value.
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*/
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Vector3 operator*(float scalar, const Vector3 &vector);
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/**
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* @relates Vector3
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* @brief Inserts the specified three-dimensional vector into the
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* specified output stream.
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* @param[in,out] os The output stream into which the three-dimensional
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* vector should be inserted.
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* @param[in] vector The three-dimensional vector which to insert into the
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* output stream.
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* @return A reference to the output stream.
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*/
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std::ostream &operator<<(std::ostream &stream,
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const Vector3 &vector);
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/**
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* @relates Vector3
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* @brief Computes the length of a specified three-dimensional vector.
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* @param[in] vector The three-dimensional vector whose length is to be
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* computed.
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* @return The length of the three-dimensional vector.
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*/
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float abs(const Vector3 &vector);
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/**
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* @relates Vector3
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* @brief Computes the squared length of a specified three-dimensional
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* vector.
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* @param[in] vector The three-dimensional vector whose squared length is to be
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* computed.
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* @return The squared length of the three-dimensional vector.
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*/
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float absSq(const Vector3 &vector);
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/**
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* @relates Vector3
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* @brief Computes the cross product of the specified three-dimensional
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* vectors.
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* @param[in] vector1 The first vector with which the cross product should be
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* computed.
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* @param[in] vector2 The second vector with which the cross product should be
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* computed.
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* @return The cross product of the two specified vectors.
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*/
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Vector3 cross(const Vector3 &vector1, const Vector3 &vector2);
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/**
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* @relates Vector3
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* @brief Computes the normalization of the specified three-dimensiona
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* vector.
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* @param[in] vector The three-dimensional vector whose normalization is to be
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* computed.
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* @return The normalization of the three-dimensional vector.
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*/
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Vector3 normalize(const Vector3 &vector);
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} /* namespace RVO3D */
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#endif /* RVO3D_VECTOR3_H_ */
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