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/* Starshatter: The Open Source Project
Copyright (c) 2021-2024, Starshatter: The Open Source Project Contributors
Copyright (c) 2011-2012, Starshatter OpenSource Distribution Contributors
Copyright (c) 1997-2006, Destroyer Studios LLC.
AUTHOR: John DiCamillo
OVERVIEW
========
Geometric classes: Rect, Vec3, Point, Matrix, Plane
*/
#ifndef Geometry_h
#define Geometry_h
#include "Types.h"
// +--------------------------------------------------------------------+
struct Rect;
struct Insets;
struct Matrix;
struct Vec3;
struct Point;
struct Quaternion;
struct Plane;
#ifndef PI
const double PI = 3.14159265358979323846;
#endif
const double DEGREES = (PI/180);
// +--------------------------------------------------------------------+
struct Rect
{
static const char* TYPENAME() { return "Rect"; }
Rect() : x(0), y(0), w(0), h(0) { }
Rect(int ix, int iy, int iw, int ih) : x(ix), y(iy), w(iw), h(ih) { }
int operator==(const Rect& r) const { return x==r.x && y==r.y && w==r.w && h==r.h; }
int operator!=(const Rect& r) const { return x!=r.x || y!=r.y || w!=r.w || h!=r.h; }
void Inflate(int dw, int dh);
void Deflate(int dw, int dh);
void Inset(int left, int right, int top, int bottom);
int Contains(int x, int y) const;
int x, y, w, h;
};
// +--------------------------------------------------------------------+
struct Insets
{
Insets() : left(0), right(0), top(0), bottom(0) { }
Insets(WORD l, WORD r, WORD t, WORD b) : left(l), right(r), top(t), bottom(b) { }
WORD left;
WORD right;
WORD top;
WORD bottom;
};
// +--------------------------------------------------------------------+
struct Matrix
{
static const char* TYPENAME() { return "Matrix"; }
Matrix();
Matrix(const Matrix& m);
Matrix(const Point& vrt, const Point& vup, const Point& vpn);
Matrix& operator = (const Matrix& m);
Matrix& operator *= (const Matrix& m);
double operator() (int i, int j) const { return elem[i][j]; }
double& operator() (int i, int j) { return elem[i][j]; }
void Identity();
void Transpose();
void Rotate(double roll, double pitch, double yaw);
void Roll(double roll);
void Pitch(double pitch);
void Yaw(double yaw);
void ComputeEulerAngles(double& roll, double& pitch, double& yaw) const;
double Cofactor(int i, int j) const;
void Invert();
Matrix Inverse() const {
Matrix result(*this);
result.Invert();
return result;
}
Matrix operator*(const Matrix& m) const;
Point operator*(const Point & p) const;
Vec3 operator*(const Vec3& v) const;
double elem[3][3];
private:
Matrix(int no_init) { }
};
// +--------------------------------------------------------------------+
struct Vec2
{
static const char* TYPENAME() { return "Vec2"; }
Vec2() { }
Vec2(int ix, int iy) : x((float) ix), y((float) iy) { }
Vec2(float ix, float iy) : x(ix), y(iy) { }
Vec2(double ix, double iy) : x((float) ix), y((float) iy) { }
operator void*() const { return (void*) (x || y); }
int operator==(const Vec2& p) const { return x==p.x && y==p.y; }
int operator!=(const Vec2& p) const { return x!=p.x || y!=p.y; }
Vec2 operator+ (const Vec2& p) const { return Vec2(x+p.x, y+p.y); }
Vec2 operator- (const Vec2& p) const { return Vec2(x-p.x, y-p.y); }
Vec2 operator- () const { return Vec2(-x, -y); }
Vec2 operator* (float s) const { return Vec2(x*s, y*s); }
Vec2 operator/ (float s) const { return Vec2(x/s, y/s); }
float operator*(const Vec2& p) const { return (x*p.x + y*p.y); }
Vec2& operator= (const Vec2& p) { x =p.x; y =p.y; return *this; }
Vec2& operator+=(const Vec2& p) { x+=p.x; y+=p.y; return *this; }
Vec2& operator-=(const Vec2& p) { x-=p.x; y-=p.y; return *this; }
Vec2& operator*=(float s) { x*=s; y*=s; return *this; }
Vec2& operator/=(float s) { x/=s; y/=s; return *this; }
float length() const { return (float) sqrt(x*x+y*y); }
float Normalize();
float dot(const Vec2& p) const { return (x*p.x + y*p.y); }
Vec2 normal() const { return Vec2(-y, x); }
float x, y;
};
// +--------------------------------------------------------------------+
struct Vec3
{
static const char* TYPENAME() { return "Vec3"; }
Vec3() { }
Vec3(int ix, int iy, int iz) : x((float) ix), y((float) iy), z((float) iz) { }
Vec3(float ix, float iy, float iz) : x(ix), y(iy), z(iz) { }
Vec3(double ix, double iy, double iz) : x((float) ix), y((float) iy), z((float) iz) { }
operator void*() const { return (void*) (x || y || z); }
int operator==(const Vec3& p) const { return x==p.x && y==p.y && z==p.z; }
int operator!=(const Vec3& p) const { return x!=p.x || y!=p.y || z!=p.z; }
Vec3 operator+ (const Vec3& p) const { return Vec3(x+p.x, y+p.y, z+p.z); }
Vec3 operator- (const Vec3& p) const { return Vec3(x-p.x, y-p.y, z-p.z); }
Vec3 operator- () const { return Vec3(-x, -y, -z); }
Vec3 operator* (float s) const { return Vec3(x*s, y*s, z*s); }
Vec3 operator/ (float s) const { return Vec3(x/s, y/s, z/s); }
float operator* (const Vec3& p) const { return (x*p.x + y*p.y + z*p.z); }
Vec3 operator* (const Matrix&) const;
Vec3& operator= (const Vec3& p) { x =p.x; y =p.y; z =p.z; return *this; }
Vec3& operator+=(const Vec3& p) { x+=p.x; y+=p.y; z+=p.z; return *this; }
Vec3& operator-=(const Vec3& p) { x-=p.x; y-=p.y; z-=p.z; return *this; }
Vec3& operator*=(float s) { x*=s; y*=s; z*=s; return *this; }
Vec3& operator/=(float s) { x/=s; y/=s; z/=s; return *this; }
void SwapYZ() { float t = y; y = z; z = t; }
float length() const { return (float) sqrt(x*x+y*y+z*z); }
float Normalize();
float dot(const Vec3& p) const { return (x*p.x + y*p.y + z*p.z); }
Vec3 cross(const Vec3& v) const { return Vec3((y*v.z) - (z*v.y),
(z*v.x) - (x*v.z),
(x*v.y) - (y*v.x)); }
float x, y, z;
};
double ClosestApproachTime(const Vec3& loc1, const Vec3& vel1,
const Vec3& loc2, const Vec3& vel2);
// +--------------------------------------------------------------------+
struct Point
{
static const char* TYPENAME() { return "Point"; }
Point() : x(0), y(0), z(0) { }
Point(double ix, double iy, double iz) : x(ix), y(iy), z(iz) { }
Point(const Point& p) : x(p.x), y(p.y), z(p.z) { }
Point(const Vec3& v) : x(v.x), y(v.y), z(v.z) { }
operator Vec3() const { return Vec3((float) x, (float) y, (float) z); }
operator void*() const { return (void*) (x || y || z); }
int operator==(const Point& p) const { return x==p.x && y==p.y && z==p.z; }
int operator!=(const Point& p) const { return x!=p.x || y!=p.y || z!=p.z; }
Point operator+ (const Point& p) const { return Point(x+p.x, y+p.y, z+p.z); }
Point operator- (const Point& p) const { return Point(x-p.x, y-p.y, z-p.z); }
Point operator- () const { return Point(-x, -y, -z); }
Point operator* (double s) const { return Point(x*s, y*s, z*s); }
Point operator/ (double s) const { return Point(x/s, y/s, z/s); }
double operator*(const Point& p) const { return (x*p.x + y*p.y + z*p.z); }
Point operator* (const Matrix& m) const;
Point& operator= (const Point& p) { x =p.x; y =p.y; z =p.z; return *this; }
Point& operator+=(const Point& p) { x+=p.x; y+=p.y; z+=p.z; return *this; }
Point& operator-=(const Point& p) { x-=p.x; y-=p.y; z-=p.z; return *this; }
Point& operator*=(double s) { x*=s; y*=s; z*=s; return *this; }
Point& operator/=(double s) { x/=s; y/=s; z/=s; return *this; }
double length() const { return sqrt(x*x+y*y+z*z); }
double Normalize();
void SwapYZ() { double t = y; y = z; z = t; }
Point OtherHand() const { return Point(-x, z, y); }
void SetElement(int i, double v);
double dot(const Point& p) const { return (x*p.x + y*p.y + z*p.z); }
Point cross(const Point& p) const { return Point((y*p.z) - (z*p.y),
(z*p.x) - (x*p.z),
(x*p.y) - (y*p.x)); }
double x, y, z;
};
double ClosestApproachTime(const Point& loc1, const Point& vel1,
const Point& loc2, const Point& vel2);
// +--------------------------------------------------------------------+
struct Quaternion
{
static const char* TYPENAME() { return "Quaternion"; }
Quaternion() : x(0), y(0), z(0), w(0) { }
Quaternion(double ix,
double iy,
double iz,
double iw) : x(ix), y(iy), z(iz), w(iw) { }
Quaternion(const Quaternion& q) : x(q.x), y(q.y), z(q.z), w(q.w) { }
int operator==(const Quaternion& q) const { return x==q.x && y==q.y && z==q.z && w==q.w; }
int operator!=(const Quaternion& q) const { return x!=q.x || y!=q.y || z!=q.z || w!=q.w; }
Quaternion operator+ (const Quaternion& q) const { return Quaternion(x+q.x, y+q.y, z+q.z, w+q.w); }
Quaternion operator- (const Quaternion& q) const { return Quaternion(x-q.x, y-q.y, z-q.z, w-q.w); }
Quaternion operator- () const { return Quaternion(-x, -y, -z, -w); }
Quaternion operator* (double s) const { return Quaternion(x*s, y*s, z*s, w*s); }
Quaternion operator/ (double s) const { return Quaternion(x/s, y/s, z/s, w/s); }
Quaternion& operator= (const Quaternion& q) { x =q.x; y =q.y; z =q.z; w =q.w; return *this; }
Quaternion& operator+=(const Quaternion& q) { x+=q.x; y+=q.y; z+=q.z; w+=q.w; return *this; }
Quaternion& operator-=(const Quaternion& q) { x-=q.x; y-=q.y; z-=q.z; w-=q.w; return *this; }
Quaternion& operator*=(double s) { x*=s; y*=s; z*=s; w*=s; return *this; }
Quaternion& operator/=(double s) { x/=s; y/=s; z/=s; w/=s; return *this; }
double length() const { return sqrt(x*x + y*y + z*z + w*w); }
double Normalize();
double x, y, z, w;
};
// +--------------------------------------------------------------------+
struct Plane
{
static const char* TYPENAME() { return "Plane"; }
Plane();
Plane(const Point& p0, const Point& p1, const Point& p2);
Plane(const Vec3& v0, const Vec3& v1, const Vec3& v2);
void Rotate(const Vec3& v0, const Matrix& m);
void Translate(const Vec3& v0);
float distance;
Vec3 normal;
};
// +--------------------------------------------------------------------+
double DotProduct(const Point& a, const Point& b);
void CrossProduct(const Point& a, const Point& b, Point& out);
void MConcat(double in1[3][3], double in2[3][3], double out[3][3]);
// +--------------------------------------------------------------------+
int lines_intersect(
/* 1st line segment */ double x1, double y1, double x2, double y2,
/* 2nd line segment */ double x3, double y3, double x4, double y4,
/* intersect point */ double& x, double& y);
// +--------------------------------------------------------------------+
#endif // Geometry_h
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