# source:cpp/frams/util/3d.h@109

Last change on this file since 109 was 109, checked in by sz, 9 years ago

source reorganization (see README)
new feature added: part/joint shapes (see frams/_demos/part_shapes.cpp)

• Property svn:eol-style set to native
File size: 5.5 KB
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1// This file is a part of the Framsticks GDK library.
2// Copyright (C) 2002-2011  Szymon Ulatowski.  See LICENSE.txt for details.
3// Refer to http://www.framsticks.com/ for further information.
4
5#ifndef _3D_H_
6#define _3D_H_
7
8#ifdef SHP
9#include <string.h> //memcpy
10#else
11#include <memory.h> //memcpy
12#endif
13
14/**********************************
15\file 3d.h 3d.cpp
16
17   basic 3d classes and operators
18*********************************/
19
20/// point in 3d space
21
22class Pt3D
23{
24public: double x,y,z;
25static bool report_errors;
26
27Pt3D(double _x,double _y,double _z):x(_x),y(_y),z(_z) {} ///< constructor initializing all coords
28Pt3D(double xyz):x(xyz),y(xyz),z(xyz) {} ///< all coords equal
29Pt3D() {} ///< coords will be not initialized!
30Pt3D(const Pt3D &p):x(p.x),y(p.y),z(p.z) {} ///< copy from another point
31bool    operator==(const Pt3D& p)       {return (x==p.x)&&(y==p.y)&&(z==p.z);}
32void    operator+=(const Pt3D& p)       {x+=p.x;y+=p.y;z+=p.z;}
33void    operator-=(const Pt3D& p)       {x-=p.x;y-=p.y;z-=p.z;}
34void    operator*=(double d)    {x*=d;y*=d;z*=d;}
35Pt3D    operator*(const Pt3D &p) const {return Pt3D(y*p.z-z*p.y, z*p.x-x*p.z, x*p.y-y*p.x);}
36void    operator/=(double d)    {x/=d; y/=d; z/=d;}
37//Pt3D  operator+(const Pt3D& p) const {return Pt3D(x+p.x,y+p.y,z+p.z);}
38//Pt3D  operator-(const Pt3D& p) const {return Pt3D(x-p.x,y-p.y,z-p.z);}
39Pt3D    operator-() const {return Pt3D(-x,-y,-z);}
40Pt3D    operator*(double d) const {return Pt3D(x*d,y*d,z*d);}
41Pt3D    operator/(double d) const {return Pt3D(x/d,y/d,z/d);}
42int     operator<(const Pt3D& p) const {return (x<p.x)&&(y<p.y)&&(z<p.z);}
43        ///< check if all coords are below the second point
44int     operator>(const Pt3D& p) const {return (x>p.x)&&(y>p.y)&&(z>p.z);}
45        ///< check if all coords are above the second point
46int     operator<=(const Pt3D& p) const {return (x<p.x)||(y<p.y)||(z<p.z);}
47        ///< check if some coords are below the second point
48int     operator>=(const Pt3D& p) const {return (x>p.x)||(y>p.y)||(z>p.z);}
49        ///< check if some coords are above the second point
50void getMin(const Pt3D& p);
51void getMax(const Pt3D& p);
52/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
53double operator()() const;
54/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
55double length() const {return operator()();}
56double length2() const {return x*x+y*y+z*z;}
57double distanceTo(const Pt3D& p) const;
58double manhattanDistanceTo(const Pt3D& p) const;
59/** calculate angle between (0,0)-(dx,dy), @return 1=ok, 0=can't calculate */
60static int getAngle(double dx,double dy,double &angle);
61/** calculate 3 rotation angles translating (1,0,0) into 'X' and (0,0,1) into 'dir' */
62void getAngles(const Pt3D& X,const Pt3D& dir);
63void vectorProduct(const Pt3D& a,const Pt3D& b);
64bool normalize();
65};
66Pt3D operator+(const Pt3D &p1,const Pt3D &p2);
67Pt3D operator-(const Pt3D &p1,const Pt3D &p2);
68
69class Pt3D_DontReportErrors
70{
71bool state;
72public:
73Pt3D_DontReportErrors() {state=Pt3D::report_errors; Pt3D::report_errors=false;}
74~Pt3D_DontReportErrors() {Pt3D::report_errors=state;}
75};
76
77///  orientation in 3d space = rotation matrix
78
79class Matrix44;
80
81class Orient
82{
83public: Pt3D x,y,z; ///< 3 vectors (= 3x3 matrix)
84
85        Orient() {}
86        Orient(const Orient& src) {x=src.x; y=src.y; z=src.z;}
87        Orient(const Pt3D& a,const Pt3D& b,const Pt3D& c):x(a),y(b),z(c) {}
88//      Orient(const Pt3D& rot) {*this=rot;}
89        Orient(const Matrix44& m);
90        void operator=(const Pt3D &rot);
91        void rotate(const Pt3D &); ///< rotate matrix around 3 axes
92
93        void transform(Pt3D &target,const Pt3D &src) const;     ///< transform a vector
94        void revTransform(Pt3D &target,const Pt3D &src) const;  ///< reverse transform
95        Pt3D transform(const Pt3D &src) const {Pt3D t; transform(t,src); return t;}
96        Pt3D revTransform(const Pt3D &src) const {Pt3D t; revTransform(t,src); return t;}
97
98        void transform(Orient& target,const Orient& src) const;    ///< transform other orient
99        void revTransform(Orient& target,const Orient& src) const; ///< reverse transform other orient
100        Orient transform(const Orient& src) const {Orient o; transform(o,src); return o;}    ///< transform other orient
101        Orient revTransform(const Orient& src) const {Orient o; revTransform(o,src); return o;} ///< reverse transform other orient
102
103        void transformSelf(const Orient &rot) {Orient tmp; rot.transform(tmp,*this); *this=tmp;}
104        void revTransformSelf(const Orient &rot) {Orient tmp; rot.revTransform(tmp,*this); *this=tmp;}
105
106        void getAngles(Pt3D &) const; ///< calculate rotation from current matrix
107        Pt3D getAngles() const {Pt3D ret; getAngles(ret); return ret;}; ///< calculate rotation from current matrix
108        void lookAt(const Pt3D &X,const Pt3D &dir); ///< calculate orientation matrix from 2 vectors
109
110        bool normalize();
111};
112
113class Matrix44
114{
115public:
116double m[16];
117Matrix44() {}
118Matrix44(const Matrix44& src) {memcpy(m,src.m,sizeof(m));}
119Matrix44(double *srcm) {memcpy(m,srcm,sizeof(m));}
120Matrix44(const Orient &rot);
121
122const double& operator()(int i,int j) const {return m[i+16*j];}
123const double& operator[](int i) const {return m[i];}
124double& operator()(int i,int j) {return m[i+16*j];}
125double& operator[](int i) {return m[i];}
126
127void operator+=(const Pt3D &); ///< translate matrix
128void operator*=(const Pt3D &); ///< scale matrix
129void operator*=(double sc); ///< scale matrix
130};
131
132extern Pt3D Pt3D_0; ///< zero vector
133extern Orient Orient_1; ///< standard unit matrix: 100 010 001
134extern Matrix44 Matrix44_1; ///< standard unit matrix: 1000 0100 0010 0001
135
136void rotate2D(double,double &,double &); ///< rotate 2d vector, given angle
137void rotate2D(double,double,double &,double &); ///< rotate 2d vector, given sin and cos
138double d2(double,double); ///< distance in 2D
139
140#endif
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