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Diffstat (limited to 'thirdparty/rvo2/rvo2_3d/Vector3.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_3d/Vector3.h | 593 |
1 files changed, 277 insertions, 316 deletions
diff --git a/thirdparty/rvo2/rvo2_3d/Vector3.h b/thirdparty/rvo2/rvo2_3d/Vector3.h index 6fa4bb074c..8f4708942f 100644 --- a/thirdparty/rvo2/rvo2_3d/Vector3.h +++ b/thirdparty/rvo2/rvo2_3d/Vector3.h @@ -2,7 +2,8 @@ * Vector3.h * RVO2-3D Library * - * Copyright 2008 University of North Carolina at Chapel Hill + * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill + * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -30,324 +31,284 @@ * <https://gamma.cs.unc.edu/RVO2/> */ -/** - * \file Vector3.h - * \brief Contains the Vector3 class. - */ #ifndef RVO3D_VECTOR3_H_ #define RVO3D_VECTOR3_H_ -#include <cmath> +/** + * @file Vector3.h + * @brief Contains the Vector3 class. + */ + #include <cstddef> -#include <ostream> +#include <iosfwd> namespace RVO3D { - /** - * \brief Defines a three-dimensional vector. - */ - class Vector3 { - public: - /** - * \brief Constructs and initializes a three-dimensional vector instance to zero. - */ - inline Vector3() - { - val_[0] = 0.0f; - val_[1] = 0.0f; - val_[2] = 0.0f; - } - - /** - * \brief Constructs and initializes a three-dimensional vector from the specified three-dimensional vector. - * \param vector The three-dimensional vector containing the xyz-coordinates. - */ - inline Vector3(const Vector3 &vector) - { - val_[0] = vector[0]; - val_[1] = vector[1]; - val_[2] = vector[2]; - } - - /** - * \brief Constructs and initializes a three-dimensional vector from the specified three-element array. - * \param val The three-element array containing the xyz-coordinates. - */ - inline explicit Vector3(const float val[3]) - { - val_[0] = val[0]; - val_[1] = val[1]; - val_[2] = val[2]; - } - - /** - * \brief Constructs and initializes a three-dimensional vector from the specified xyz-coordinates. - * \param x The x-coordinate of the three-dimensional vector. - * \param y The y-coordinate of the three-dimensional vector. - * \param z The z-coordinate of the three-dimensional vector. - */ - inline Vector3(float x, float y, float z) - { - val_[0] = x; - val_[1] = y; - val_[2] = z; - } - - /** - * \brief Returns the x-coordinate of this three-dimensional vector. - * \return The x-coordinate of the three-dimensional vector. - */ - inline float x() const { return val_[0]; } - - /** - * \brief Returns the y-coordinate of this three-dimensional vector. - * \return The y-coordinate of the three-dimensional vector. - */ - inline float y() const { return val_[1]; } - - /** - * \brief Returns the z-coordinate of this three-dimensional vector. - * \return The z-coordinate of the three-dimensional vector. - */ - inline float z() const { return val_[2]; } - - /** - * \brief Returns the specified coordinate of this three-dimensional vector. - * \param i The coordinate that should be returned (0 <= i < 3). - * \return The specified coordinate of the three-dimensional vector. - */ - inline float operator[](size_t i) const { return val_[i]; } - - /** - * \brief Returns a reference to the specified coordinate of this three-dimensional vector. - * \param i The coordinate to which a reference should be returned (0 <= i < 3). - * \return A reference to the specified coordinate of the three-dimensional vector. - */ - inline float &operator[](size_t i) { return val_[i]; } - - /** - * \brief Computes the negation of this three-dimensional vector. - * \return The negation of this three-dimensional vector. - */ - inline Vector3 operator-() const - { - return Vector3(-val_[0], -val_[1], -val_[2]); - } - - /** - * \brief Computes the dot product of this three-dimensional vector with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which the dot product should be computed. - * \return The dot product of this three-dimensional vector with a specified three-dimensional vector. - */ - inline float operator*(const Vector3 &vector) const - { - return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2]; - } - - /** - * \brief Computes the scalar multiplication of this three-dimensional vector with the specified scalar value. - * \param scalar The scalar value with which the scalar multiplication should be computed. - * \return The scalar multiplication of this three-dimensional vector with a specified scalar value. - */ - inline Vector3 operator*(float scalar) const - { - return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar); - } - - /** - * \brief Computes the scalar division of this three-dimensional vector with the specified scalar value. - * \param scalar The scalar value with which the scalar division should be computed. - * \return The scalar division of this three-dimensional vector with a specified scalar value. - */ - inline Vector3 operator/(float scalar) const - { - const float invScalar = 1.0f / scalar; - - return Vector3(val_[0] * invScalar, val_[1] * invScalar, val_[2] * invScalar); - } - - /** - * \brief Computes the vector sum of this three-dimensional vector with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which the vector sum should be computed. - * \return The vector sum of this three-dimensional vector with a specified three-dimensional vector. - */ - inline Vector3 operator+(const Vector3 &vector) const - { - return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]); - } - - /** - * \brief Computes the vector difference of this three-dimensional vector with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which the vector difference should be computed. - * \return The vector difference of this three-dimensional vector with a specified three-dimensional vector. - */ - inline Vector3 operator-(const Vector3 &vector) const - { - return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]); - } - - /** - * \brief Tests this three-dimensional vector for equality with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which to test for equality. - * \return True if the three-dimensional vectors are equal. - */ - inline bool operator==(const Vector3 &vector) const - { - return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2]; - } - - /** - * \brief Tests this three-dimensional vector for inequality with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which to test for inequality. - * \return True if the three-dimensional vectors are not equal. - */ - inline bool operator!=(const Vector3 &vector) const - { - return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2]; - } - - /** - * \brief Sets the value of this three-dimensional vector to the scalar multiplication of itself with the specified scalar value. - * \param scalar The scalar value with which the scalar multiplication should be computed. - * \return A reference to this three-dimensional vector. - */ - inline Vector3 &operator*=(float scalar) - { - val_[0] *= scalar; - val_[1] *= scalar; - val_[2] *= scalar; - - return *this; - } - - /** - * \brief Sets the value of this three-dimensional vector to the scalar division of itself with the specified scalar value. - * \param scalar The scalar value with which the scalar division should be computed. - * \return A reference to this three-dimensional vector. - */ - inline Vector3 &operator/=(float scalar) - { - const float invScalar = 1.0f / scalar; - - val_[0] *= invScalar; - val_[1] *= invScalar; - val_[2] *= invScalar; - - return *this; - } - - /** - * \brief Sets the value of this three-dimensional vector to the vector - * sum of itself with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which the vector sum should be computed. - * \return A reference to this three-dimensional vector. - */ - inline Vector3 &operator+=(const Vector3 &vector) - { - val_[0] += vector[0]; - val_[1] += vector[1]; - val_[2] += vector[2]; - - return *this; - } - - /** - * \brief Sets the value of this three-dimensional vector to the vector difference of itself with the specified three-dimensional vector. - * \param vector The three-dimensional vector with which the vector difference should be computed. - * \return A reference to this three-dimensional vector. - */ - inline Vector3 &operator-=(const Vector3 &vector) - { - val_[0] -= vector[0]; - val_[1] -= vector[1]; - val_[2] -= vector[2]; - - return *this; - } - - inline Vector3 &operator=(const Vector3 &vector) - { - val_[0] = vector[0]; - val_[1] = vector[1]; - val_[2] = vector[2]; - - return *this; - } - - private: - float val_[3]; - }; - - - /** - * \relates Vector3 - * \brief Computes the scalar multiplication of the specified three-dimensional vector with the specified scalar value. - * \param scalar The scalar value with which the scalar multiplication should be computed. - * \param vector The three-dimensional vector with which the scalar multiplication should be computed. - * \return The scalar multiplication of the three-dimensional vector with the scalar value. - */ - inline Vector3 operator*(float scalar, const Vector3 &vector) - { - return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]); - } - - /** - * \relates Vector3 - * \brief Computes the cross product of the specified three-dimensional vectors. - * \param vector1 The first vector with which the cross product should be computed. - * \param vector2 The second vector with which the cross product should be computed. - * \return The cross product of the two specified vectors. - */ - inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) - { - return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]); - } - - /** - * \relates Vector3 - * \brief Inserts the specified three-dimensional vector into the specified output stream. - * \param os The output stream into which the three-dimensional vector should be inserted. - * \param vector The three-dimensional vector which to insert into the output stream. - * \return A reference to the output stream. - */ - inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector) - { - os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")"; - - return os; - } - - /** - * \relates Vector3 - * \brief Computes the length of a specified three-dimensional vector. - * \param vector The three-dimensional vector whose length is to be computed. - * \return The length of the three-dimensional vector. - */ - inline float abs(const Vector3 &vector) - { - return std::sqrt(vector * vector); - } - - /** - * \relates Vector3 - * \brief Computes the squared length of a specified three-dimensional vector. - * \param vector The three-dimensional vector whose squared length is to be computed. - * \return The squared length of the three-dimensional vector. - */ - inline float absSq(const Vector3 &vector) - { - return vector * vector; - } - - /** - * \relates Vector3 - * \brief Computes the normalization of the specified three-dimensional vector. - * \param vector The three-dimensional vector whose normalization is to be computed. - * \return The normalization of the three-dimensional vector. - */ - inline Vector3 normalize(const Vector3 &vector) - { - return vector / abs(vector); - } -} - -#endif +/** + * @brief Defines a three-dimensional vector. + */ +class Vector3 { + public: + /** + * @brief Constructs and initializes a three-dimensional vector instance to + * zero. + */ + Vector3(); + + /** + * @brief Constructs and initializes a three-dimensional vector from the + * specified three-dimensional vector. + * @param[in] vector The three-dimensional vector containing the + * xyz-coordinates. + */ + Vector3(const Vector3 &vector); + + /** + * @brief Constructs and initializes a three-dimensional vector from the + * specified three-element array. + * @param[in] val The three-element array containing the xyz-coordinates. + */ + explicit Vector3(const float val[3]); + + /** + * @brief Constructs and initializes a three-dimensional vector from the + * specified xyz-coordinates. + * @param[in] x The x-coordinate of the three-dimensional vector. + * @param[in] y The y-coordinate of the three-dimensional vector. + * @param[in] z The z-coordinate of the three-dimensional vector. + */ + Vector3(float x, float y, float z); + + /** + * @brief Destroys this three-dimensional vector instance. + */ + ~Vector3(); + + /** + * @brief Returns the x-coordinate of this three-dimensional vector. + * @return The x-coordinate of the three-dimensional vector. + */ + float x() const { return val_[0]; } + + /** + * @brief Returns the y-coordinate of this three-dimensional vector. + * @return The y-coordinate of the three-dimensional vector. + */ + float y() const { return val_[1]; } + + /** + * @brief Returns the z-coordinate of this three-dimensional vector. + * @return The z-coordinate of the three-dimensional vector. + */ + float z() const { return val_[2]; } + + /** + * @brief Assigns a copy of the specified three-dimensional vector to + * this three-dimensional vector instance. + * @param[in] vector The three-dimensional vector containing the + * xyz-coordinates. + * @return A reference to this three-dimensional vector instance. + */ + Vector3 &operator=(const Vector3 &vector); + + /** + * @brief Returns the specified coordinate of this three-dimensional + * vector. + * @param[in] i The coordinate that should be returned (0 <= i < 3). + * @return The specified coordinate of the three-dimensional vector. + */ + float operator[](std::size_t i) const; + + /** + * @brief Returns a reference to the specified coordinate of this + * three-dimensional vector. + * @param[in] i The coordinate to which a reference should be returned + * (0 <= i < 3). + * @return A reference to the specified coordinate of the three-dimensional + * vector. + */ + float &operator[](std::size_t i); + + /** + * @brief Computes the negation of this three-dimensional vector. + * @return The negation of this three-dimensional vector. + */ + Vector3 operator-() const; + + /** + * @brief Computes the dot product of this three-dimensional vector with + * the specified three-dimensional vector. + * @param[in] vector The three-dimensional vector with which the dot product + * should be computed. + * @return The dot product of this three-dimensional vector with a + * specified three-dimensional vector. + */ + float operator*(const Vector3 &vector) const; + + /** + * @brief Computes the scalar multiplication of this three-dimensional + * vector with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @return The scalar multiplication of this three-dimensional vector with + * a specified scalar value. + */ + Vector3 operator*(float scalar) const; + + /** + * @brief Computes the scalar division of this three-dimensional vector + * with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar division should be + * computed. + * @return The scalar division of this three-dimensional vector with a + * specified scalar value. + */ + Vector3 operator/(float scalar) const; + + /** + * @brief Computes the vector sum of this three-dimensional vector with + * the specified three-dimensional vector. + * @param[in] vector The three-dimensional vector with which the vector sum + * should be computed. + * @return The vector sum of this three-dimensional vector with a specified + * three-dimensional vector. + */ + Vector3 operator+(const Vector3 &vector) const; + + /** + * @brief Computes the vector difference of this three-dimensional vector + * with the specified three-dimensional vector. + * @param[in] vector The three-dimensional vector with which the vector + * difference should be computed. + * @return The vector difference of this three-dimensional vector with a + * specified three-dimensional vector. + */ + Vector3 operator-(const Vector3 &vector) const; + + /** + * @brief Tests this three-dimensional vector for equality with the + * specified three-dimensional vector. + * @param[in] vector The three-dimensional vector with which to test for + * equality. + * @return True if the three-dimensional vectors are equal. + */ + bool operator==(const Vector3 &vector) const; + + /** + * @brief Tests this three-dimensional vector for inequality with the + * specified three-dimensional vector + * @param[in] vector The three-dimensional vector with which to test for + * inequality. + * @return True if the three-dimensional vectors are not equal. + */ + bool operator!=(const Vector3 &vector) const; + + /** + * @brief Sets the value of this three-dimensional vector to the scalar + * multiplication of itself with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @return A reference to this three-dimensional vector. + */ + Vector3 &operator*=(float scalar); + + /** + * @brief Sets the value of this three-dimensional vector to the scalar + * division of itself with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar division should be + * computed. + * @return A reference to this three-dimensional vector. + */ + Vector3 &operator/=(float scalar); + + /** + * @brief Sets the value of this three-dimensional vector to the vector + * sum of itself with the specified three-dimensional vector. + * @param[in] vector The three-dimensional vector with which the vector sum + * should be computed. + * @return A reference to this three-dimensional vector. + */ + Vector3 &operator+=(const Vector3 &vector); + + /** + * @brief Sets the value of this three-dimensional vector to the vector + * difference of itself with the specified three-dimensional + * vector. + * @param[in] vector The three-dimensional vector with which the vector + * difference should be computed. + * @return A reference to this three-dimensional vector. + */ + Vector3 &operator-=(const Vector3 &vector); + + private: + float val_[3]; +}; + +/** + * @relates Vector3 + * @brief Computes the scalar multiplication of the specified + * three-dimensional vector with the specified scalar value. + * @param[in] scalar The scalar value with which the scalar multiplication + * should be computed. + * @param[in] vector The three-dimensional vector with which the scalar + * multiplication should be computed. + * @return The scalar multiplication of the three-dimensional vector with the + * scalar value. + */ +Vector3 operator*(float scalar, const Vector3 &vector); + +/** + * @relates Vector3 + * @brief Inserts the specified three-dimensional vector into the + * specified output stream. + * @param[in,out] os The output stream into which the three-dimensional + * vector should be inserted. + * @param[in] vector The three-dimensional vector which to insert into the + * output stream. + * @return A reference to the output stream. + */ +std::ostream &operator<<(std::ostream &stream, + const Vector3 &vector); + +/** + * @relates Vector3 + * @brief Computes the length of a specified three-dimensional vector. + * @param[in] vector The three-dimensional vector whose length is to be + * computed. + * @return The length of the three-dimensional vector. + */ +float abs(const Vector3 &vector); + +/** + * @relates Vector3 + * @brief Computes the squared length of a specified three-dimensional + * vector. + * @param[in] vector The three-dimensional vector whose squared length is to be + * computed. + * @return The squared length of the three-dimensional vector. + */ +float absSq(const Vector3 &vector); + +/** + * @relates Vector3 + * @brief Computes the cross product of the specified three-dimensional + * vectors. + * @param[in] vector1 The first vector with which the cross product should be + * computed. + * @param[in] vector2 The second vector with which the cross product should be + * computed. + * @return The cross product of the two specified vectors. + */ +Vector3 cross(const Vector3 &vector1, const Vector3 &vector2); + +/** + * @relates Vector3 + * @brief Computes the normalization of the specified three-dimensiona + * vector. + * @param[in] vector The three-dimensional vector whose normalization is to be + * computed. + * @return The normalization of the three-dimensional vector. + */ +Vector3 normalize(const Vector3 &vector); +} /* namespace RVO3D */ + +#endif /* RVO3D_VECTOR3_H_ */ |