Math3D.h

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/*******************************************************************************
 * Copyright 2009-2016 Jörg Müller
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
 
#pragma once
 
#include "Audaspace.h"
 
#include <cmath>
#include <cstring>
 
AUD_NAMESPACE_BEGIN
 
class AUD_API Vector3
{
private:
    union
    {
        float m_v[3];
        struct
        {
            float m_x;
            float m_y;
            float m_z;
        };
    };
 
public:
    inline Vector3(float x = 0, float y = 0, float z = 0) :
        m_x(x), m_y(y), m_z(z)
    {
    }
 
    inline const float& x() const
    {
        return m_x;
    }
 
    inline const float& y() const
    {
        return m_y;
    }
 
    inline const float& z() const
    {
        return m_z;
    }
 
    inline void get(float* destination) const
    {
        std::memcpy(destination, m_v, sizeof(m_v));
    }
 
    inline float* get()
    {
        return m_v;
    }
 
    inline const float* get() const
    {
        return m_v;
    }
 
    inline float length() const
    {
        return std::sqrt(m_x*m_x + m_y*m_y + m_z*m_z);
    }
 
    inline Vector3 cross(const Vector3& op) const
    {
        return Vector3(m_y * op.m_z - m_z * op.m_y,
                       m_z * op.m_x - m_x * op.m_z,
                       m_x * op.m_y - m_y * op.m_x);
    }
 
    inline float operator*(const Vector3& op) const
    {
        return m_x * op.m_x + m_y * op.m_y + m_z * op.m_z;
    }
 
    inline Vector3 operator*(const float& op) const
    {
        return Vector3(m_x * op, m_y * op, m_z * op);
    }
 
    inline Vector3 operator+(const Vector3& op) const
    {
        return Vector3(m_x + op.m_x, m_y + op.m_y, m_z + op.m_z);
    }
 
    inline Vector3 operator-(const Vector3& op) const
    {
        return Vector3(m_x - op.m_x, m_y - op.m_y, m_z - op.m_z);
    }
 
    inline Vector3 operator-() const
    {
        return Vector3(-m_x, -m_y, -m_z);
    }
 
    inline Vector3& operator-=(const Vector3& op)
    {
        m_x -= op.m_x;
        m_y -= op.m_y;
        m_z -= op.m_z;
        return *this;
    }
};
 
class AUD_API Quaternion
{
private:
    union
    {
        float m_v[4];
        struct
        {
            float m_w;
            float m_x;
            float m_y;
            float m_z;
        };
    };
 
public:
    inline Quaternion(float w = 1, float x = 0, float y = 0, float z = 0) :
        m_w(w), m_x(x), m_y(y), m_z(z)
    {
    }
 
    inline const float& w() const
    {
        return m_w;
    }
 
    inline const float& x() const
    {
        return m_x;
    }
 
    inline const float& y() const
    {
        return m_y;
    }
 
    inline const float& z() const
    {
        return m_z;
    }
 
    inline void get(float* destination) const
    {
        std::memcpy(destination, m_v, sizeof(m_v));
    }
 
    inline float* get()
    {
        return m_v;
    }
 
    inline const float* get() const
    {
        return m_v;
    }
 
    inline Vector3 getLookAt() const
    {
        return Vector3(-2 * (m_w * m_y + m_x * m_z),
                        2 * (m_x * m_w - m_z * m_y),
                        2 * (m_x * m_x + m_y * m_y) - 1);
    }
 
    inline Vector3 getUp() const
    {
        return Vector3(2 * (m_x * m_y - m_w * m_z),
                            1 - 2 * (m_x * m_x + m_z * m_z),
                            2 * (m_w * m_x + m_y * m_z));
    }
};
 
AUD_NAMESPACE_END