493 lines
14 KiB
C++
493 lines
14 KiB
C++
/*! \file pimathvector.h
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* \brief PIMathVector
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*/
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/*
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PIP - Platform Independent Primitives
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PIMathVector
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Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PIMATHVECTOR_H
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#define PIMATHVECTOR_H
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#include "pimathbase.h"
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template<uint Cols, uint Rows, typename Type>
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class PIMathMatrixT;
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#define PIMATHVECTOR_ZERO_CMP Type(1E-100)
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/// Vector templated
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#define PIMV_FOR for (uint i = 0; i < Size; ++i)
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template<uint Size, typename Type = double>
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class PIP_EXPORT PIMathVectorT {
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typedef PIMathVectorT<Size, Type> _CVector;
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static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic");
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static_assert(Size > 0, "Size must be > 0");
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public:
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PIMathVectorT(const Type & v = Type()) {PIMV_FOR c[i] = v;}
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PIMathVectorT(const PIVector<Type> & val) {
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assert(Size == val.size());
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PIMV_FOR c[i] = val[i];
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}
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PIMathVectorT(std::initializer_list<Type> init_list) {
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assert(Size == init_list.size());
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PIMV_FOR c[i] = init_list.begin()[i];
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}
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static _CVector fromTwoPoints(const _CVector & st, const _CVector & fn) {
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_CVector tv;
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PIMV_FOR tv[i] = fn[i] - st[i];
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return tv;
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}
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uint size() const {return Size;}
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_CVector & fill(const Type & v) {PIMV_FOR c[i] = v; return *this;}
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_CVector & move(const Type & v) {PIMV_FOR c[i] += v; return *this;}
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_CVector & move(const _CVector & v) {PIMV_FOR c[i] += v[i]; return *this;}
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Type lengthSqr() const {
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Type tv(0);
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PIMV_FOR tv += c[i] * c[i];
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return tv;
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}
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Type length() const {return sqrt(lengthSqr());}
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Type manhattanLength() const {
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Type tv(0);
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PIMV_FOR tv += piAbs<Type>(c[i]);
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return tv;
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}
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Type angleCos(const _CVector & v) const {
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Type tv = v.length() * length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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return dot(v) / tv;
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}
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Type angleSin(const _CVector & v) const {
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Type tv = angleCos(v);
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return sqrt(Type(1) - tv * tv);
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}
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Type angleRad(const _CVector & v) const {return acos(angleCos(v));}
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Type angleDeg(const _CVector & v) const {return toDeg(angleRad(v));}
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Type angleElevation(const _CVector & v) const {return 90.0 - angleDeg(v - *this);}
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_CVector projection(const _CVector & v) {
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Type tv = v.length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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return v * (dot(v) / tv);
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}
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_CVector & normalize() {
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Type tv = length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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if (tv == Type(1)) return *this;
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PIMV_FOR c[i] /= tv;
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return *this;
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}
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_CVector normalized() {_CVector tv(*this); tv.normalize(); return tv;}
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bool isNull() const {PIMV_FOR if (c[i] != Type(0)) return false; return true;}
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bool isOrtho(const _CVector & v) const {return ((*this) ^ v) == Type(0);}
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Type & at(uint index) {return c[index];}
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Type at(uint index) const {return c[index];}
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Type & operator [](uint index) {return c[index];}
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Type operator [](uint index) const {return c[index];}
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_CVector & operator =(const Type & v) {PIMV_FOR c[i] = v; return *this;}
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bool operator ==(const _CVector & v) const {PIMV_FOR if (c[i] != v[i]) return false; return true;}
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bool operator !=(const _CVector & v) const {return !(*this == c);}
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void operator +=(const _CVector & v) {PIMV_FOR c[i] += v[i];}
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void operator -=(const _CVector & v) {PIMV_FOR c[i] -= v[i];}
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void operator *=(const Type & v) {PIMV_FOR c[i] *= v;}
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void operator /=(const Type & v) {
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assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP);
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PIMV_FOR c[i] /= v;
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}
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_CVector operator -() const {
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_CVector tv;
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PIMV_FOR tv[i] = -c[i];
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return tv;
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}
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_CVector operator +(const _CVector & v) const {
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_CVector tv(*this);
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PIMV_FOR tv[i] += v[i];
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return tv;
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}
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_CVector operator -(const _CVector & v) const {
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_CVector tv(*this);
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PIMV_FOR tv[i] -= v[i];
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return tv;
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}
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_CVector operator *(const Type & v) const {
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_CVector tv(*this);
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PIMV_FOR tv[i] *= v;
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return tv;
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}
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_CVector operator /(const Type & v) const {
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assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP);
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_CVector tv = _CVector(*this);
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PIMV_FOR tv[i] /= v;
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return tv;
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}
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_CVector cross(const _CVector & v) const {
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static_assert(Size == 3, "cross product avalible only for 3D vectors");
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_CVector tv;
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tv[0] = c[1]*v[2] - v[1]*c[2];
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tv[1] = v[0]*c[2] - c[0]*v[2];
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tv[2] = c[0]*v[1] - v[0]*c[1];
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return tv;
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}
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Type dot(const _CVector & v) const {
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Type tv(0);
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PIMV_FOR tv += c[i] * v[i];
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return tv;
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}
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_CVector mul(const _CVector & v) const {
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_CVector tv(*this);
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PIMV_FOR tv[i] *= v[i];
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return tv;
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}
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_CVector mul(const Type & v) const {
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return (*this) * v;
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}
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_CVector div(const _CVector & v) const {
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_CVector tv(*this);
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PIMV_FOR {
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assert(piAbs<Type>(v[i]) > PIMATHVECTOR_ZERO_CMP);
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tv[i] /= v[i];
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}
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return tv;
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}
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_CVector div(const Type & v) const {
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return (*this) / v;
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}
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PIMathMatrixT<1, Size, Type> transposed() const {
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PIMathMatrixT<1, Size, Type> ret;
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PIMV_FOR ret[0][i] = c[i];
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return ret;
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}
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Type distToLine(const _CVector & lp0, const _CVector & lp1) {
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_CVector a(lp0, lp1);
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Type tv = a.length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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_CVector b(lp0, *this);
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return piAbs<Type>(a[0]*b[1] - a[1]*b[0]) / tv;
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}
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template<uint Size1, typename Type1> /// vector {Size, Type} to vector {Size1, Type1}
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PIMathVectorT<Size1, Type1> turnTo() const {
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PIMathVectorT<Size1, Type1> tv;
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uint sz = piMin<uint>(Size, Size1);
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for (uint i = 0; i < sz; ++i) tv[i] = c[i];
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return tv;
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}
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static _CVector cross(const _CVector & v1, const _CVector & v2) {
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return v1.cross(v2);
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}
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static _CVector dot(const _CVector & v1, const _CVector & v2) {
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return v1.dot(v2);
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}
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static _CVector mul(const _CVector & v1, const _CVector & v2) {
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return v1.mul(v2);
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}
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static _CVector mul(const Type & v1, const _CVector & v2) {
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return v2 * v1;
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}
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static _CVector mul(const _CVector & v1, const Type & v2) {
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return v1 * v2;
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}
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static _CVector div(const _CVector & v1, const _CVector & v2) {
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return v1.div(v2);
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}
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static _CVector div(const _CVector & v1, const Type & v2) {
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return v1 / v2;
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}
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private:
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Type c[Size];
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};
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template<uint Size, typename Type>
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inline PIMathVectorT<Size, Type> operator *(const Type & x, const PIMathVectorT<Size, Type> & v) {
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return v * x;
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}
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template<uint Size, typename Type>
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inline PICout operator <<(PICout s, const PIMathVectorT<Size, Type> & v) {s << "{"; PIMV_FOR {s << v[i]; if (i < Size - 1) s << ", ";} s << "}"; return s;}
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typedef PIMathVectorT<2u, int> PIMathVectorT2i;
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typedef PIMathVectorT<3u, int> PIMathVectorT3i;
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typedef PIMathVectorT<4u, int> PIMathVectorT4i;
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typedef PIMathVectorT<2u, double> PIMathVectorT2d;
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typedef PIMathVectorT<3u, double> PIMathVectorT3d;
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typedef PIMathVectorT<4u, double> PIMathVectorT4d;
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#undef PIMV_FOR
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/// Vector
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#define PIMV_FOR for (uint i = 0; i < c.size(); ++i)
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template<typename Type>
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class PIP_EXPORT PIMathVector {
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typedef PIMathVector<Type> _CVector;
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template<typename TypeOp> friend PIByteArray & operator <<(PIByteArray & s, const PIMathVector<TypeOp> & v);
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template<typename TypeOp> friend PIByteArray & operator >>(PIByteArray & s, PIMathVector<TypeOp> & v);
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public:
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PIMathVector(const uint size = 0, const Type & new_value = Type()) {c.resize(size, new_value);}
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PIMathVector(const PIVector<Type> & val) {c = val;}
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PIMathVector(std::initializer_list<Type> init_list) {c = PIVector<Type>(init_list);}
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template<uint Size>
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PIMathVector(const PIMathVectorT<Size, Type> & val) {c.resize(Size); PIMV_FOR c[i] = val[i];}
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static PIMathVector fromTwoPoints(const _CVector & st, const _CVector & fn) {
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assert(st.size() == fn.size());
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_CVector v(st.size());
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for (uint i = 0; i < v.size(); ++i) v.c[i] = fn[i] - st[i];
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}
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uint size() const {return c.size();}
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_CVector & resize(uint size, const Type & new_value = Type()) {
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c.resize(size, new_value);
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return *this;
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}
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_CVector resized(uint size, const Type & new_value = Type()) {
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_CVector tv = _CVector(*this);
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tv.resize(size, new_value);
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return tv;
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}
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_CVector & fill(const Type & v) {
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c.fill(v);
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return *this;
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}
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_CVector & move(const Type & v) {
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PIMV_FOR c[i] += v;
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return *this;
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}
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_CVector & move(const _CVector & v) {
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assert(c.size() == v.size());
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PIMV_FOR c[i] += v[i];
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return *this;
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}
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_CVector & swapElements(uint fe, uint se) {
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piSwap<Type>(c[fe], c[se]);
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return *this;
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}
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Type lengthSqr() const {
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Type tv(0);
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PIMV_FOR tv += c[i] * c[i];
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return tv;
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}
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Type length() const {return sqrt(lengthSqr());}
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Type manhattanLength() const {
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Type tv(0);
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PIMV_FOR tv += piAbs<Type>(c[i]);
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return tv;
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}
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Type angleCos(const _CVector & v) const {
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assert(c.size() == v.size());
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Type tv = v.length() * length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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return dot(v) / tv;
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}
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Type angleSin(const _CVector & v) const {
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assert(c.size() == v.size());
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Type tv = angleCos(v);
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return sqrt(Type(1) - tv * tv);
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}
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Type angleRad(const _CVector & v) const {return acos(angleCos(v));}
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Type angleDeg(const _CVector & v) const {return toDeg(angleRad(v));}
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_CVector projection(const _CVector & v) {
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assert(c.size() == v.size());
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Type tv = v.length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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return v * (dot(v) / tv);
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}
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_CVector & normalize() {
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Type tv = length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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if (tv == Type(1)) return *this;
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PIMV_FOR c[i] /= tv;
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return *this;
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}
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_CVector normalized() {
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_CVector tv(*this);
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tv.normalize();
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return tv;
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}
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bool isNull() const {
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PIMV_FOR if (c[i] != Type(0)) return false;
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return true;
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}
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bool isValid() const {return !c.isEmpty();}
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bool isOrtho(const _CVector & v) const {return dot(v) == Type(0);}
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Type & at(uint index) {return c[index];}
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Type at(uint index) const {return c[index];}
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Type & operator [](uint index) {return c[index];}
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Type operator [](uint index) const {return c[index];}
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bool operator ==(const _CVector & v) const {return c == v.c;}
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bool operator !=(const _CVector & v) const {return c != v.c;}
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void operator +=(const _CVector & v) {
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assert(c.size() == v.size());
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PIMV_FOR c[i] += v[i];
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}
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void operator -=(const _CVector & v) {
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assert(c.size() == v.size());
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PIMV_FOR c[i] -= v[i];
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}
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void operator *=(const Type & v) {PIMV_FOR c[i] *= v;}
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void operator /=(const Type & v) {
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assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP);
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PIMV_FOR c[i] /= v;
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}
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_CVector operator -() const {
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_CVector tv(c.size());
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PIMV_FOR tv[i] = -c[i];
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return tv;
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}
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_CVector operator +(const _CVector & v) const {
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assert(c.size() == v.size());
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_CVector tv(*this);
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PIMV_FOR tv[i] += v[i];
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return tv;
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}
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_CVector operator -(const _CVector & v) const {
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assert(c.size() == v.size());
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_CVector tv(*this);
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PIMV_FOR tv[i] -= v[i];
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return tv;
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}
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_CVector operator *(const Type & v) const {
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_CVector tv(*this);
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PIMV_FOR tv[i] *= v;
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return tv;
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}
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_CVector operator /(const Type & v) const {
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assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP);
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_CVector tv(*this);
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PIMV_FOR tv[i] /= v;
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return tv;
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}
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_CVector cross(const _CVector & v) const {
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assert(c.size() == 3);
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assert(v.size() == 3);
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_CVector tv(3);
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tv[0] = c[1]*v[2] - v[1]*c[2];
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tv[1] = c[2]*v[0] - v[2]*c[0];
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tv[2] = c[0]*v[1] - v[0]*c[1];
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return tv;
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}
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Type dot(const _CVector & v) const {
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assert(c.size() == v.size());
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Type tv(0);
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PIMV_FOR tv += c[i] * v[i];
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return tv;
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}
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_CVector mul(const _CVector & v) const {
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assert(c.size() == v.size());
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_CVector tv(*this);
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PIMV_FOR tv[i] *= v[i];
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return tv;
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}
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_CVector mul(const Type & v) const {
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return (*this) * v;
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}
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_CVector div(const _CVector & v) const {
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assert(c.size() == v.size());
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_CVector tv(*this);
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PIMV_FOR {
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assert(piAbs<Type>(v[i]) > PIMATHVECTOR_ZERO_CMP);
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tv[i] /= v[i];
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}
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return tv;
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}
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_CVector div(const Type & v) const {
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return (*this) / v;
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}
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Type distToLine(const _CVector & lp0, const _CVector & lp1) {
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assert(c.size() == lp0.size());
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assert(c.size() == lp1.size());
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_CVector a = _CVector::fromTwoPoints(lp0, lp1);
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Type tv = a.length();
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assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
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_CVector b = _CVector::fromTwoPoints(lp0, *this);
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return piAbs<Type>(a[0]*b[1] - a[1]*b[0]) / tv;
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}
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PIVector<Type> toVector() const {return c;}
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inline Type * data() {return c.data();}
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inline const Type * data() const {return c.data();}
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static _CVector cross(const _CVector & v1, const _CVector & v2) {
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return v1.cross(v2);
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}
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static _CVector dot(const _CVector & v1, const _CVector & v2) {
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return v1.dot(v2);
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}
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static _CVector mul(const _CVector & v1, const _CVector & v2) {
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return v1.mul(v2);
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}
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static _CVector mul(const Type & v1, const _CVector & v2) {
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return v2 * v1;
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}
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static _CVector mul(const _CVector & v1, const Type & v2) {
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return v1 * v2;
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}
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static _CVector div(const _CVector & v1, const _CVector & v2) {
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return v1.div(v2);
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}
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static _CVector div(const _CVector & v1, const Type & v2) {
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return v1 / v2;
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}
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private:
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PIVector<Type> c;
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};
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template<typename Type>
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inline PIMathVector<Type> operator *(const Type & x, const PIMathVector<Type> & v) {
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return v * x;
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}
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#undef PIMV_FOR
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|
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#ifdef PIP_STD_IOSTREAM
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template<typename Type>
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inline std::ostream & operator <<(std::ostream & s, const PIMathVector<Type> & v) {s << "{"; for (uint i = 0; i < v.size(); ++i) {s << v[i]; if (i < v.size() - 1) s << ", ";} s << "}"; return s;}
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#endif
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template<typename Type>
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inline PICout operator <<(PICout s, const PIMathVector<Type> & v) {s << "Vector{"; for (uint i = 0; i < v.size(); ++i) {s << v[i]; if (i < v.size() - 1) s << ", ";} s << "}"; return s;}
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template<typename Type>
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inline PIByteArray & operator <<(PIByteArray & s, const PIMathVector<Type> & v) {s << v.c; return s;}
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template<typename Type>
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inline PIByteArray & operator >>(PIByteArray & s, PIMathVector<Type> & v) {s >> v.c; return s;}
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typedef PIMathVector<int> PIMathVectori;
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typedef PIMathVector<double> PIMathVectord;
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|
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#endif // PIMATHVECTOR_H
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