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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, 316 insertions, 277 deletions
diff --git a/thirdparty/rvo2/rvo2_3d/Vector3.h b/thirdparty/rvo2/rvo2_3d/Vector3.h index 8f4708942f..6fa4bb074c 100644 --- a/thirdparty/rvo2/rvo2_3d/Vector3.h +++ b/thirdparty/rvo2/rvo2_3d/Vector3.h @@ -2,8 +2,7 @@ * Vector3.h * RVO2-3D Library * - * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill - * SPDX-License-Identifier: Apache-2.0 + * Copyright 2008 University of North Carolina at Chapel Hill * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -31,284 +30,324 @@ * <https://gamma.cs.unc.edu/RVO2/> */ -#ifndef RVO3D_VECTOR3_H_ -#define RVO3D_VECTOR3_H_ - /** - * @file Vector3.h - * @brief Contains the Vector3 class. + * \file Vector3.h + * \brief Contains the Vector3 class. */ +#ifndef RVO3D_VECTOR3_H_ +#define RVO3D_VECTOR3_H_ +#include <cmath> #include <cstddef> -#include <iosfwd> +#include <ostream> namespace RVO3D { -/** - * @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_ */ + /** + * \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 |