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Vector.h
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Vector.h
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#ifndef _591_VECTOR_H_
#define _591_VECTOR_H_
#include <cmath>
#include <cstddef>
#include <cassert>
#include <iostream>
template<size_t N, class T>
class Vector {
public:
/// Raw data
T m_Data[N];
/// Basic constructor
Vector<N,T>() {
for(size_t i = 0; i < N; i++) {
m_Data[i] = 0;
}
}
/// 2-vector cons
Vector<N,T>(float a, float b) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = 0;
}
assert(N >= 2);
m_Data[0] = a;
m_Data[1] = b;
}
/// 3-Vector cons
Vector<N,T>(float a, float b, float c) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = 0;
}
assert(N >= 3);
m_Data[0] = a;
m_Data[1] = b;
m_Data[2] = c;
}
/// 3-Vector cons
Vector<N,T>(const Vector<2,T>& v, float c) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = 0;
}
assert(N >= 3); // can't do a template specialization here for some reason.
m_Data[0] = v[0];
m_Data[1] = v[1];
m_Data[2] = c;
}
/// 4-vector cons
Vector<N,T>(float a, float b, float c, float d) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = 0;
}
assert(N >= 4);
m_Data[0] = a;
m_Data[1] = b;
m_Data[2] = c;
m_Data[3] = d;
}
/// Copy cons
Vector<N,T>(const Vector<N,T>& v) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = v[i];
}
}
/// Set operator
Vector<N,T>& operator=(const Vector<N,T>& V) {
for(size_t i = 0; i < N; i++) {
m_Data[i] = V[i];
}
return *this;
}
/// Accessor
inline T& operator[](size_t i) {
return m_Data[i];
}
/// Const accessor
inline const T& operator[](size_t i) const {
return m_Data[i];
}
// Operators (unary)
Vector<N,T>& operator+=(const Vector<N,T>& p);
Vector<N,T>& operator-=(const Vector<N,T>& p) {
for(size_t i = 0; i < N; i++) {
m_Data[i] -= p[i];
}
return *this;
}
Vector<N,T>& operator*=(T f) {
for(size_t i = 0; i < N; i++) {
m_Data[i] *= f;
}
return *this;
}
Vector<N,T>& operator/=(T f) {
for(size_t i = 0; i < N; i++) {
m_Data[i] /= f;
}
return *this;
}
/// Negation operator
Vector<N,T> operator-() const {
Vector<N, T> output;
for(size_t i = 0; i < N; i++) {
output.m_Data[i] = m_Data[i] * -1;
}
return output;
}
// Operators (binary)
Vector<N,T> operator+(const Vector<N,T>&p) const;
Vector<N,T> operator-(const Vector<N,T>& v) const {
Vector<N,T> ret = *this;
ret -= v;
return ret;
}
Vector<N,T> operator*(double v) const {
Vector<N,T> ret = *this;
ret *= v;
return ret;
}
Vector<N,T> operator/(double v) const {
Vector<N,T> ret = *this;
ret /= v;
return ret;
}
/// Get the dot product with another vector
double dot(const Vector<N,T>&) const;
/// Get the length/magnitude of the vector (For later normalization)
double length() const;
/// Get the normalized form of this vector
Vector<N,T> normalize() const {
Vector<N,T> ret;
double len = length();
for(size_t i = 0; i < N; i++) {
double here = m_Data[i];
here /= len;
ret[i] = here;
}
return ret;
}
/**
\brief Project this vector along another.
\param projectAlong The vector to project this one along.
\return The projected form of this vector.
*/
Vector<N,T> project(const Vector<N,T>& projectAlong) const {
Vector<N, T> output;
float bLength = projectAlong.length() * projectAlong.length();
if(bLength == 0.0f) {
// Uh oh! Can't divide by zero.
return (*this);
}
output = (this->dot(projectAlong) / bLength) * projectAlong;
return output;
}
};
/// Vector-vector addition/equals
template<size_t N, class T>
inline Vector<N,T>& Vector<N,T>::operator+=(const Vector<N,T>& v) {
for(size_t i = 0; i < N; i++) {
m_Data[i] += v[i];
}
return *this;
}
/// Vector-vector addition
template<size_t N, class T>
inline Vector<N,T> Vector<N,T>::operator+(const Vector<N,T>& v) const {
Vector<N,T> ret = *this;
ret += v;
return ret;
}
/// Length of vector
template<size_t N, class T>
inline double Vector<N,T>::length() const {
double ret = 0.0;
for(size_t i = 0; i < N; i++) {
ret += (m_Data[i] * m_Data[i]);
}
return sqrt(ret);
}
/// Cross product for 2-vector
template<class T>
inline float cross(const Vector<2,T>& v1, const Vector<2,T>& v2) {
/*
(x * v2.y) - (y * v2.x)
*/
return (v1[0] * v2[1]) - (v1[2] * v2[0]);
}
/// Cross product
template<class T>
inline Vector<3,T> cross(const Vector<3,T>& v1, const Vector<3,T>& v2) {
Vector<3,T> ret;
/*
Cx = AyBz - AzBy
Cy = AzBx - AxBz
Cz = AxBy - AyBx
*/
ret[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
ret[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
ret[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
return ret;
}
/// Cross product for 4-vector, ignoring the w-component.
template<class T>
inline Vector<4,T> cross(const Vector<4,T>& v1, const Vector<4,T>& v2) {
Vector<4,T> ret;
ret[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
ret[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
ret[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
ret[3] = 0;
return ret;
}
/// Scale with l-value double
template<size_t N, class T>
inline Vector<N,T> operator*(double s, const Vector<N,T>& v) {
Vector<N,T> ret;
for(size_t i = 0; i < N; i++) {
ret[i] = s * v[i];
}
return ret;
}
template<size_t N, class T>
inline double Vector<N,T>::dot(const Vector<N,T>& p) const {
// U dot V = U1V1 + U2V2 + U3V3 + ... + UnVn
double ret = 0;
for(size_t i = 0; i < N; i++) {
ret += m_Data[i] * p[i];
}
return ret;
}
/**
\brief Gives you the angle between two vectors, around a basis vector.
\param basis The basis vector.
\param v1 The first vector.
\param v2 The second vector.
\return The angle between the two vectors, in radians.
*/
inline float calculateVectorAngle(const Vector<2, float>& basis, const Vector<2, float>& v1, const Vector<2, float>& v2) {
Vector<2, float> a = (v1 - basis);
Vector<2, float> b = (v2 - basis);
return atan2(
(float)(a[0] * b[1]) - (a[1] * b[0]),
(float)a.dot(b)
);
}
template<size_t N, class T>
std::ostream& operator<<(std::ostream& os, const Vector<N,T>& m) {
os << std::string("< ");
for(int i = 0; i < (int)N; i++) {
os << m[i] << " ";
}
os << std::string(">\n");
return os;
}
typedef Vector<2,int> Vector2i;
typedef Vector<2,float> Vector2;
typedef Vector<3,int> Vector3i;
typedef Vector<3,float> Vector3;
typedef Vector<2,double> Vector2d;
typedef Vector<3,double> Vector3d;
typedef Vector<4,int> Vector4i;
typedef Vector<4,float> Vector4;
typedef Vector<4,double> Vector4d;
#endif