merge changes from the defunct ubot
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dmitry
jeefo
parent
1904b22977
commit
cf501b75b7
90 changed files with 11977 additions and 3907 deletions
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//
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// Yet Another POD-Bot, based on PODBot by Markus Klinge ("CountFloyd").
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// Copyright (c) Yet Another POD-Bot Contributors <yapb@entix.io>.
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//
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// This software is licensed under the MIT license.
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// Additional exceptions apply. For full license details, see LICENSE.txt
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//
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#pragma once
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#include <crlib/cr-math.h>
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CR_NAMESPACE_BEGIN
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// 3dmath vector
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template <typename T> class Vec3D {
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public:
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T x = 0.0f, y = 0.0f, z = 0.0f;
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public:
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Vec3D (const T &scaler = 0.0f) : x (scaler), y (scaler), z (scaler)
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{ }
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Vec3D (const T &x, const T &y, const T &z) : x (x), y (y), z (z)
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{ }
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Vec3D (T *rhs) : x (rhs[0]), y (rhs[1]), z (rhs[2])
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{ }
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Vec3D (const Vec3D &) = default;
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Vec3D (decltype (nullptr)) {
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clear ();
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}
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public:
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operator T * () {
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return &x;
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}
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operator const T * () const {
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return &x;
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}
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Vec3D operator + (const Vec3D &rhs) const {
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return { x + rhs.x, y + rhs.y, z + rhs.z };
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}
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Vec3D operator - (const Vec3D &rhs) const {
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return { x - rhs.x, y - rhs.y, z - rhs.z };
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}
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Vec3D operator - () const {
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return { -x, -y, -z };
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}
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friend Vec3D operator * (const T &scale, const Vec3D &rhs) {
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return { rhs.x * scale, rhs.y * scale, rhs.z * scale };
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}
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Vec3D operator * (const T &scale) const {
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return { scale * x, scale * y, scale * z };
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}
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Vec3D operator / (const T &rhs) const {
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const auto inv = 1 / (rhs + kFloatEqualEpsilon);
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return { inv * x, inv * y, inv * z };
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}
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// cross product
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Vec3D operator ^ (const Vec3D &rhs) const {
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return { y * rhs.z - z * rhs.y, z * rhs.x - x * rhs.z, x * rhs.y - y * rhs.x };
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}
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// dot product
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T operator | (const Vec3D &rhs) const {
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return x * rhs.x + y * rhs.y + z * rhs.z;
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}
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const Vec3D &operator += (const Vec3D &rhs) {
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x += rhs.x;
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y += rhs.y;
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z += rhs.z;
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return *this;
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}
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const Vec3D &operator -= (const Vec3D &rhs) {
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x -= rhs.x;
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y -= rhs.y;
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z -= rhs.z;
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return *this;
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}
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const Vec3D &operator *= (const T &rhs) {
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x *= rhs;
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y *= rhs;
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z *= rhs;
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return *this;
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}
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const Vec3D &operator /= (const T &rhs) {
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const auto inv = 1 / (rhs + kFloatEqualEpsilon);
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x *= inv;
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y *= inv;
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z *= inv;
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return *this;
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}
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bool operator == (const Vec3D &rhs) const {
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return cr::fequal (x, rhs.x) && cr::fequal (y, rhs.y) && cr::fequal (z, rhs.z);
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}
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bool operator != (const Vec3D &rhs) const {
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return !operator == (rhs);
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}
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void operator = (decltype (nullptr)) {
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clear ();
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}
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Vec3D &operator = (const Vec3D &) = default;
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public:
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T length () const {
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return cr::sqrtf (lengthSq ());
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}
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T length2d () const {
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return cr::sqrtf (x * x + y * y);
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}
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T lengthSq () const {
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return x * x + y * y + z * z;
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}
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Vec3D get2d () const {
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return { x, y, 0.0f };
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}
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Vec3D normalize () const {
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auto len = length () + cr::kFloatCmpEpsilon;
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if (cr::fzero (len)) {
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return { 0.0f, 0.0f, 1.0f };
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}
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len = 1.0f / len;
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return { x * len, y * len, z * len };
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}
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Vec3D normalize2d () const {
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auto len = length2d () + cr::kFloatCmpEpsilon;
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if (cr::fzero (len)) {
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return { 0.0f, 1.0f, 0.0f };
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}
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len = 1.0f / len;
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return { x * len, y * len, 0.0f };
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}
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bool empty () const {
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return cr::fzero (x) && cr::fzero (y) && cr::fzero (z);
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}
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void clear () {
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x = y = z = 0.0f;
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}
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Vec3D clampAngles () {
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x = cr::normalizeAngles (x);
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y = cr::normalizeAngles (y);
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z = 0.0f;
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return *this;
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}
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T pitch () const {
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if (cr::fzero (x) && cr::fzero (y)) {
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return 0.0f;
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}
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return cr::degreesToRadians (cr::atan2f (z, length2d ()));
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}
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T yaw () const {
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if (cr::fzero (x) && cr::fzero (y)) {
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return 0.0f;
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}
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return cr::radiansToDegrees (cr:: atan2f (y, x));
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}
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Vec3D angles () const {
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if (cr::fzero (x) && cr::fzero (y)) {
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return { z > 0.0f ? 90.0f : 270.0f, 0.0, 0.0f };
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}
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return { cr::radiansToDegrees (cr::atan2f (z, length2d ())), cr::radiansToDegrees (cr::atan2f (y, x)), 0.0f };
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}
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void angleVectors (Vec3D *forward, Vec3D *right, Vec3D *upward) const {
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enum { pitch, yaw, roll, unused, max };
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T sines[max] = { 0.0f, 0.0f, 0.0f, 0.0f };
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T cosines[max] = { 0.0f, 0.0f, 0.0f, 0.0f };
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// compute the sine and cosine compontents
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cr::sincosf (cr::degreesToRadians (x), cr::degreesToRadians (y), cr::degreesToRadians (z), sines, cosines);
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if (forward) {
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*forward = {
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cosines[pitch] * cosines[yaw],
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cosines[pitch] * sines[yaw],
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-sines[pitch]
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};
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}
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if (right) {
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*right = {
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-sines[roll] * sines[pitch] * cosines[yaw] + cosines[roll] * sines[yaw],
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-sines[roll] * sines[pitch] * sines[yaw] - cosines[roll] * cosines[yaw],
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-sines[roll] * cosines[pitch]
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};
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}
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if (upward) {
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*upward = {
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cosines[roll] * sines[pitch] * cosines[yaw] + sines[roll] * sines[yaw],
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upward->y = cosines[roll] * sines[pitch] * sines[yaw] - sines[roll] * cosines[yaw],
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upward->z = cosines[roll] * cosines[pitch]
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};
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}
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}
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const Vec3D &forward () {
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static Vec3D s_fwd {};
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angleVectors (&s_fwd, nullptr, nullptr);
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return s_fwd;
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}
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const Vec3D &upward () {
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static Vec3D s_up {};
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angleVectors (nullptr, nullptr, &s_up);
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return s_up;
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}
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const Vec3D &right () {
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static Vec3D s_right {};
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angleVectors (nullptr, &s_right, nullptr);
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return s_right;
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}
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};
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// default is float
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using Vector = Vec3D <float>;
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CR_NAMESPACE_END
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