660 lines
14 KiB
C++
660 lines
14 KiB
C++
///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2004, Industrial Light & Magic, a division of Lucas
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// Digital Ltd. LLC
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//
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Industrial Light & Magic nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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///////////////////////////////////////////////////////////////////////////
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#ifndef INCLUDED_IMATHSHEAR_H
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#define INCLUDED_IMATHSHEAR_H
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//----------------------------------------------------
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//
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// Shear6 class template.
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//
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//----------------------------------------------------
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#include "ImathExc.h"
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#include "ImathLimits.h"
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#include "ImathMath.h"
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#include "ImathVec.h"
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#include <iostream>
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namespace Imath {
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template <class T> class Shear6
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{
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public:
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//-------------------
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// Access to elements
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//-------------------
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T xy, xz, yz, yx, zx, zy;
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T & operator [] (int i);
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const T & operator [] (int i) const;
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//-------------
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// Constructors
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//-------------
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Shear6 (); // (0 0 0 0 0 0)
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Shear6 (T XY, T XZ, T YZ); // (XY XZ YZ 0 0 0)
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Shear6 (const Vec3<T> &v); // (v.x v.y v.z 0 0 0)
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template <class S> // (v.x v.y v.z 0 0 0)
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Shear6 (const Vec3<S> &v);
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Shear6 (T XY, T XZ, T YZ, // (XY XZ YZ YX ZX ZY)
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T YX, T ZX, T ZY);
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//---------------------------------
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// Copy constructors and assignment
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//---------------------------------
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Shear6 (const Shear6 &h);
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template <class S> Shear6 (const Shear6<S> &h);
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const Shear6 & operator = (const Shear6 &h);
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template <class S>
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const Shear6 & operator = (const Vec3<S> &v);
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//----------------------
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// Compatibility with Sb
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//----------------------
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template <class S>
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void setValue (S XY, S XZ, S YZ, S YX, S ZX, S ZY);
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template <class S>
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void setValue (const Shear6<S> &h);
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template <class S>
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void getValue (S &XY, S &XZ, S &YZ,
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S &YX, S &ZX, S &ZY) const;
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template <class S>
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void getValue (Shear6<S> &h) const;
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T * getValue();
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const T * getValue() const;
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//---------
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// Equality
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//---------
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template <class S>
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bool operator == (const Shear6<S> &h) const;
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template <class S>
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bool operator != (const Shear6<S> &h) const;
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//-----------------------------------------------------------------------
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// Compare two shears and test if they are "approximately equal":
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//
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// equalWithAbsError (h, e)
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//
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// Returns true if the coefficients of this and h are the same with
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// an absolute error of no more than e, i.e., for all i
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//
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// abs (this[i] - h[i]) <= e
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//
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// equalWithRelError (h, e)
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//
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// Returns true if the coefficients of this and h are the same with
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// a relative error of no more than e, i.e., for all i
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//
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// abs (this[i] - h[i]) <= e * abs (this[i])
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//-----------------------------------------------------------------------
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bool equalWithAbsError (const Shear6<T> &h, T e) const;
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bool equalWithRelError (const Shear6<T> &h, T e) const;
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//------------------------
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// Component-wise addition
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//------------------------
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const Shear6 & operator += (const Shear6 &h);
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Shear6 operator + (const Shear6 &h) const;
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//---------------------------
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// Component-wise subtraction
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//---------------------------
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const Shear6 & operator -= (const Shear6 &h);
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Shear6 operator - (const Shear6 &h) const;
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//------------------------------------
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// Component-wise multiplication by -1
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//------------------------------------
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Shear6 operator - () const;
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const Shear6 & negate ();
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//------------------------------
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// Component-wise multiplication
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//------------------------------
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const Shear6 & operator *= (const Shear6 &h);
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const Shear6 & operator *= (T a);
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Shear6 operator * (const Shear6 &h) const;
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Shear6 operator * (T a) const;
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//------------------------
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// Component-wise division
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//------------------------
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const Shear6 & operator /= (const Shear6 &h);
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const Shear6 & operator /= (T a);
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Shear6 operator / (const Shear6 &h) const;
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Shear6 operator / (T a) const;
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//----------------------------------------------------------
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// Number of dimensions, i.e. number of elements in a Shear6
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//----------------------------------------------------------
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static unsigned int dimensions() {return 6;}
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//-------------------------------------------------
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// Limitations of type T (see also class limits<T>)
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//-------------------------------------------------
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static T baseTypeMin() {return limits<T>::min();}
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static T baseTypeMax() {return limits<T>::max();}
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static T baseTypeSmallest() {return limits<T>::smallest();}
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static T baseTypeEpsilon() {return limits<T>::epsilon();}
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//--------------------------------------------------------------
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// Base type -- in templates, which accept a parameter, V, which
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// could be either a Vec2<T> or a Shear6<T>, you can refer to T as
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// V::BaseType
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//--------------------------------------------------------------
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typedef T BaseType;
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};
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//--------------
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// Stream output
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//--------------
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template <class T>
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std::ostream & operator << (std::ostream &s, const Shear6<T> &h);
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//----------------------------------------------------
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// Reverse multiplication: scalar * Shear6<T>
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//----------------------------------------------------
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template <class S, class T> Shear6<T> operator * (S a, const Shear6<T> &h);
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//-------------------------
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// Typedefs for convenience
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//-------------------------
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typedef Vec3 <float> Shear3f;
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typedef Vec3 <double> Shear3d;
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typedef Shear6 <float> Shear6f;
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typedef Shear6 <double> Shear6d;
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//-----------------------
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// Implementation of Shear6
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//-----------------------
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template <class T>
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inline T &
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Shear6<T>::operator [] (int i)
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{
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return (&xy)[i];
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}
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template <class T>
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inline const T &
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Shear6<T>::operator [] (int i) const
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{
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return (&xy)[i];
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}
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template <class T>
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inline
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Shear6<T>::Shear6 ()
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{
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xy = xz = yz = yx = zx = zy = 0;
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}
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template <class T>
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inline
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Shear6<T>::Shear6 (T XY, T XZ, T YZ)
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{
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xy = XY;
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xz = XZ;
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yz = YZ;
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yx = 0;
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zx = 0;
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zy = 0;
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}
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template <class T>
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inline
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Shear6<T>::Shear6 (const Vec3<T> &v)
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{
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xy = v.x;
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xz = v.y;
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yz = v.z;
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yx = 0;
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zx = 0;
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zy = 0;
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}
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template <class T>
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template <class S>
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inline
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Shear6<T>::Shear6 (const Vec3<S> &v)
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{
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xy = T (v.x);
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xz = T (v.y);
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yz = T (v.z);
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yx = 0;
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zx = 0;
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zy = 0;
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}
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template <class T>
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inline
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Shear6<T>::Shear6 (T XY, T XZ, T YZ, T YX, T ZX, T ZY)
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{
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xy = XY;
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xz = XZ;
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yz = YZ;
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yx = YX;
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zx = ZX;
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zy = ZY;
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}
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template <class T>
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inline
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Shear6<T>::Shear6 (const Shear6 &h)
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{
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xy = h.xy;
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xz = h.xz;
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yz = h.yz;
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yx = h.yx;
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zx = h.zx;
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zy = h.zy;
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}
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template <class T>
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template <class S>
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inline
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Shear6<T>::Shear6 (const Shear6<S> &h)
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{
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xy = T (h.xy);
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xz = T (h.xz);
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yz = T (h.yz);
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yx = T (h.yx);
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zx = T (h.zx);
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zy = T (h.zy);
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator = (const Shear6 &h)
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{
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xy = h.xy;
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xz = h.xz;
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yz = h.yz;
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yx = h.yx;
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zx = h.zx;
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zy = h.zy;
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return *this;
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}
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template <class T>
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template <class S>
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inline const Shear6<T> &
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Shear6<T>::operator = (const Vec3<S> &v)
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{
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xy = T (v.x);
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xz = T (v.y);
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yz = T (v.z);
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yx = 0;
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zx = 0;
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zy = 0;
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return *this;
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}
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template <class T>
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template <class S>
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inline void
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Shear6<T>::setValue (S XY, S XZ, S YZ, S YX, S ZX, S ZY)
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{
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xy = T (XY);
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xz = T (XZ);
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yz = T (YZ);
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yx = T (YX);
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zx = T (ZX);
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zy = T (ZY);
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}
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template <class T>
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template <class S>
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inline void
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Shear6<T>::setValue (const Shear6<S> &h)
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{
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xy = T (h.xy);
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xz = T (h.xz);
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yz = T (h.yz);
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yx = T (h.yx);
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zx = T (h.zx);
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zy = T (h.zy);
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}
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template <class T>
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template <class S>
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inline void
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Shear6<T>::getValue (S &XY, S &XZ, S &YZ, S &YX, S &ZX, S &ZY) const
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{
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XY = S (xy);
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XZ = S (xz);
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YZ = S (yz);
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YX = S (yx);
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ZX = S (zx);
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ZY = S (zy);
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}
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template <class T>
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template <class S>
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inline void
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Shear6<T>::getValue (Shear6<S> &h) const
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{
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h.xy = S (xy);
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h.xz = S (xz);
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h.yz = S (yz);
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h.yx = S (yx);
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h.zx = S (zx);
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h.zy = S (zy);
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}
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template <class T>
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inline T *
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Shear6<T>::getValue()
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{
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return (T *) &xy;
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}
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template <class T>
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inline const T *
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Shear6<T>::getValue() const
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{
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return (const T *) &xy;
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}
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template <class T>
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template <class S>
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inline bool
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Shear6<T>::operator == (const Shear6<S> &h) const
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{
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return xy == h.xy && xz == h.xz && yz == h.yz &&
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yx == h.yx && zx == h.zx && zy == h.zy;
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}
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template <class T>
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template <class S>
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inline bool
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Shear6<T>::operator != (const Shear6<S> &h) const
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{
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return xy != h.xy || xz != h.xz || yz != h.yz ||
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yx != h.yx || zx != h.zx || zy != h.zy;
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}
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template <class T>
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bool
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Shear6<T>::equalWithAbsError (const Shear6<T> &h, T e) const
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{
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for (int i = 0; i < 6; i++)
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if (!Imath::equalWithAbsError ((*this)[i], h[i], e))
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return false;
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return true;
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}
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template <class T>
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bool
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Shear6<T>::equalWithRelError (const Shear6<T> &h, T e) const
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{
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for (int i = 0; i < 6; i++)
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if (!Imath::equalWithRelError ((*this)[i], h[i], e))
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return false;
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return true;
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator += (const Shear6 &h)
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{
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xy += h.xy;
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xz += h.xz;
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yz += h.yz;
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yx += h.yx;
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zx += h.zx;
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zy += h.zy;
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return *this;
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}
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template <class T>
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inline Shear6<T>
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Shear6<T>::operator + (const Shear6 &h) const
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{
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return Shear6 (xy + h.xy, xz + h.xz, yz + h.yz,
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yx + h.yx, zx + h.zx, zy + h.zy);
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator -= (const Shear6 &h)
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{
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xy -= h.xy;
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xz -= h.xz;
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yz -= h.yz;
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yx -= h.yx;
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zx -= h.zx;
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zy -= h.zy;
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return *this;
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}
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template <class T>
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inline Shear6<T>
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Shear6<T>::operator - (const Shear6 &h) const
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{
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return Shear6 (xy - h.xy, xz - h.xz, yz - h.yz,
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yx - h.yx, zx - h.zx, zy - h.zy);
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}
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template <class T>
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inline Shear6<T>
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Shear6<T>::operator - () const
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{
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return Shear6 (-xy, -xz, -yz, -yx, -zx, -zy);
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::negate ()
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{
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xy = -xy;
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xz = -xz;
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yz = -yz;
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yx = -yx;
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zx = -zx;
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zy = -zy;
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return *this;
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator *= (const Shear6 &h)
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{
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xy *= h.xy;
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xz *= h.xz;
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yz *= h.yz;
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yx *= h.yx;
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zx *= h.zx;
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zy *= h.zy;
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return *this;
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator *= (T a)
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{
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xy *= a;
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xz *= a;
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yz *= a;
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yx *= a;
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zx *= a;
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zy *= a;
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return *this;
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}
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template <class T>
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inline Shear6<T>
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Shear6<T>::operator * (const Shear6 &h) const
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{
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return Shear6 (xy * h.xy, xz * h.xz, yz * h.yz,
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yx * h.yx, zx * h.zx, zy * h.zy);
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}
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template <class T>
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inline Shear6<T>
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Shear6<T>::operator * (T a) const
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{
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return Shear6 (xy * a, xz * a, yz * a,
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yx * a, zx * a, zy * a);
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}
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template <class T>
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inline const Shear6<T> &
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Shear6<T>::operator /= (const Shear6 &h)
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{
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xy /= h.xy;
|
|
xz /= h.xz;
|
|
yz /= h.yz;
|
|
yx /= h.yx;
|
|
zx /= h.zx;
|
|
zy /= h.zy;
|
|
return *this;
|
|
}
|
|
|
|
template <class T>
|
|
inline const Shear6<T> &
|
|
Shear6<T>::operator /= (T a)
|
|
{
|
|
xy /= a;
|
|
xz /= a;
|
|
yz /= a;
|
|
yx /= a;
|
|
zx /= a;
|
|
zy /= a;
|
|
return *this;
|
|
}
|
|
|
|
template <class T>
|
|
inline Shear6<T>
|
|
Shear6<T>::operator / (const Shear6 &h) const
|
|
{
|
|
return Shear6 (xy / h.xy, xz / h.xz, yz / h.yz,
|
|
yx / h.yx, zx / h.zx, zy / h.zy);
|
|
}
|
|
|
|
template <class T>
|
|
inline Shear6<T>
|
|
Shear6<T>::operator / (T a) const
|
|
{
|
|
return Shear6 (xy / a, xz / a, yz / a,
|
|
yx / a, zx / a, zy / a);
|
|
}
|
|
|
|
|
|
//-----------------------------
|
|
// Stream output implementation
|
|
//-----------------------------
|
|
|
|
template <class T>
|
|
std::ostream &
|
|
operator << (std::ostream &s, const Shear6<T> &h)
|
|
{
|
|
return s << '('
|
|
<< h.xy << ' ' << h.xz << ' ' << h.yz
|
|
<< h.yx << ' ' << h.zx << ' ' << h.zy
|
|
<< ')';
|
|
}
|
|
|
|
|
|
//-----------------------------------------
|
|
// Implementation of reverse multiplication
|
|
//-----------------------------------------
|
|
|
|
template <class S, class T>
|
|
inline Shear6<T>
|
|
operator * (S a, const Shear6<T> &h)
|
|
{
|
|
return Shear6<T> (a * h.xy, a * h.xz, a * h.yz,
|
|
a * h.yx, a * h.zx, a * h.zy);
|
|
}
|
|
|
|
|
|
} // namespace Imath
|
|
|
|
#endif
|