Structs continued

src/math/all.h

@@ -0,0 +1,31 @@
+// * This file is part of the COLOBOT source code
+// * Copyright (C) 2012, Polish Portal of Colobot (PPC)
+// *
+// * This program is free software: you can redistribute it and/or modify
+// * it under the terms of the GNU General Public License as published by
+// * the Free Software Foundation, either version 3 of the License, or
+// * (at your option) any later version.
+// *
+// * This program is distributed in the hope that it will be useful,
+// * but WITHOUT ANY WARRANTY; without even the implied warranty of
+// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// * GNU General Public License for more details.
+// *
+// * You should have received a copy of the GNU General Public License
+// * along with this program. If not, see  http://www.gnu.org/licenses/.
+
+/** @defgroup MathAllModule math/all.h
+   Includes all other math module headers.
+ */
+
+#pragma once
+
+/* @{ */ // start of group
+
+#include "const.h"
+#include "func.h"
+#include "point.h"
+#include "vector.h"
+#include "matrix.h"
+
+/* @} */ // end of group

src/math/matrix.h

@@ -71,7 +71,7 @@ struct Matrix
 
   //! Creates the matrix from 1D array
   /** \a m matrix values in column-major order */
-  inline Matrix(const float (&m)[16])
+  inline explicit Matrix(const float (&m)[16])
   {
     for (int i = 0; i < 16; ++i)
       this->m[i] = m[i];
@@ -80,7 +80,7 @@ struct Matrix
   //! Creates the matrix from 2D array
   /** The array's first index is row, second is column.
       \a m array with values */
-  inline Matrix(const float (&m)[4][4])
+  inline explicit Matrix(const float (&m)[4][4])
   {
     for (int c = 0; c < 4; ++c)
     {
@@ -547,7 +547,21 @@ struct Matrix
     temp.LoadRotationY(angle.y);
     this->Multiply(temp);
   }
-};
+
+}; // struct Matrix
+
+//! Checks if two matrices are equal within given \a tolerance
+inline bool MatricesEqual(const Matrix &m1, const Matrix &m2,
+                                  float tolerance = TOLERANCE)
+{
+  for (int i = 0; i < 16; ++i)
+  {
+    if (! IsEqual(m1.m[i], m2.m[i], tolerance))
+      return false;
+  }
+
+  return true;
+}
 
 //! Convenience function for getting transposed matrix
 inline Matrix Transpose(const Matrix &m)
@@ -592,17 +606,22 @@ inline Vector MatrixVectorMultiply(const Matrix &m, const Vector &v)
   return Vector(x, y, z);
 }
 
-//! Checks if two matrices are equal within given \a tolerance
+//! Calculation point of view to look at a center two angles and a distance
-inline bool MatricesEqual(const Matrix &m1, const Matrix &m2,
+inline Vector RotateView(const Vector &center, float angleH, float angleV, float dist)
-                          float tolerance = TOLERANCE)
 {
-  for (int i = 0; i < 16; ++i)
+  Matrix mat1, mat2, mat;
-  {
-    if (! IsEqual(m1.m[i], m2.m[i], tolerance))
-      return false;
-  }
 
-  return true;
+  mat1.LoadRotationZ(-angleV);
+  mat2.LoadRotationY(-angleH);
+  mat = MultiplyMatrices(mat1, mat2);
+
+  Vector eye;
+  eye.x = 0.0f+dist;
+  eye.y = 0.0f;
+  eye.z = 0.0f;
+  eye = MatrixVectorMultiply(mat, eye);
+
+  return eye + center;
 }
 
 /* @} */ // end of group

src/math/point.h

@@ -26,17 +26,6 @@
 #include <cmath>
 
 
-/* TODO
-
- FPOINT    RotatePoint(FPOINT center, float angle, FPOINT p);
- FPOINT    RotatePoint(float angle, FPOINT p);
- FPOINT    RotatePoint(float angle, float dist);
- void      RotatePoint(float cx, float cy, float angle, float &px, float &py);
-
- float   RotateAngle(FPOINT center, FPOINT p1, FPOINT p2);
- 
- */
-
 // Math module namespace
 namespace Math
 {
@@ -66,7 +55,7 @@ struct Point
   }
 
   //! Constructs a point from given coords: (x,y)
-  inline Point(float x, float y)
+  inline explicit Point(float x, float y)
   {
     this->x = x;
     this->y = y;
@@ -81,9 +70,85 @@ struct Point
   //! Returns the distance from (0,0) to the point (x,y)
   inline float Length()
   {
-    return std::sqrt(x*x + y*y);
+    return sqrt(x*x + y*y);
   }
-};
+
+    //! Returns the inverted point
+  inline Point operator-() const
+  {
+    return Point(-x, -y);
+  }
+
+  //! Adds the given point
+  inline const Point& operator+=(const Point &right)
+  {
+    x += right.x;
+    y += right.y;
+    return *this;
+  }
+
+  //! Adds two points
+  inline friend const Point operator+(const Point &left, const Point &right)
+  {
+    return Point(left.x + right.x, left.y + right.y);
+  }
+
+  //! Subtracts the given vector
+  inline const Point& operator-=(const Point &right)
+  {
+    x -= right.x;
+    y -= right.y;
+    return *this;
+  }
+
+  //! Subtracts two points
+  inline friend const Point operator-(const Point &left, const Point &right)
+  {
+    return Point(left.x - right.x, left.y - right.y);
+  }
+
+  //! Multiplies by given scalar
+  inline const Point& operator*=(const float &right)
+  {
+    x *= right;
+    y *= right;
+    return *this;
+  }
+
+  //! Multiplies point by scalar
+  inline friend const Point operator*(const float &left, const Point &right)
+  {
+    return Point(left * right.x, left * right.y);
+  }
+
+  //! Multiplies point by scalar
+  inline friend const Point operator*(const Point &left, const float &right)
+  {
+    return Point(left.x * right, left.y * right);
+  }
+
+  //! Divides by given scalar
+  inline const Point& operator/=(const float &right)
+  {
+    x /= right;
+    y /= right;
+    return *this;
+  }
+
+  //! Divides point by scalar
+  inline friend const Point operator/(const Point &left, const float &right)
+  {
+    return Point(left.x / right, left.y / right);
+  }
+
+}; // struct Point
+
+
+//! Checks if two vectors are equal within given \a tolerance
+inline bool PointsEqual(const Point &a, const Point &b, float tolerance = TOLERANCE)
+{
+  return IsEqual(a.x, b.x, tolerance) && IsEqual(a.y, b.y, tolerance);
+}
 
 //! Permutes two points
 inline void Swap(Point &a, Point &b)
@@ -161,6 +226,73 @@ inline bool IsInsideTriangle(Point a, Point b, Point c, const Point &p)
   return true;
 }
 
+//! Rotates a point around a center
+/** \a center center of rotation
+    \a angle angle is in radians (positive is counterclockwise (CCW) )
+    \a p the point */
+inline Point RotatePoint(const Point &center, float angle, const Point &p)
+{
+  Point a;
+  a.x = p.x-center.x;
+  a.y = p.y-center.y;
+
+  Point b;
+  b.x = a.x*cosf(angle) - a.y*sinf(angle);
+  b.y = a.x*sinf(angle) + a.y*cosf(angle);
+
+  b.x += center.x;
+  b.y += center.y;
+
+  return b;
+}
+
+//! Rotates a point around the origin (0,0)
+/** \a angle angle in radians (positive is counterclockwise (CCW) )
+    \a p the point */
+inline Point RotatePoint(float angle, const Point &p)
+{
+  float x = p.x*cosf(angle) - p.y*sinf(angle);
+  float y = p.x*sinf(angle) + p.y*cosf(angle);
+
+  return Point(x, y);
+}
+
+//! Rotates a vector (dist, 0).
+/** \a angle angle is in radians (positive is counterclockwise (CCW) )
+    \a dist distance to origin */
+inline Point RotatePoint(float angle, float dist)
+{
+  float x = dist*cosf(angle);
+  float y = dist*sinf(angle);
+
+  return Point(x, y);
+}
+
+//! Calculates the angle between two points and one center
+/** \a center the center point
+    \a p1,p2 the two points
+    \returns The angle in radians  (positive is counterclockwise (CCW) ) */
+inline float RotateAngle(const Point &center, const Point &p1, const Point &p2)
+{
+  if (PointsEqual(p1, center))
+    return 0;
+
+  if (PointsEqual(p2, center))
+    return 0;
+
+  float a1 = asinf((p1.y - center.y) / Distance(p1, center));
+  float a2 = asinf((p2.y - center.y) / Distance(p2, center));
+
+  if (p1.x < center.x) a1 = PI - a1;
+  if (p2.x < center.x) a2 = PI - a2;
+
+  float a = a2 - a1;
+  if (a < 0)
+    a += PI_MUL_2;
+
+  return a;
+}
+
 /* @} */ // end of group
 
 }; // namespace Math

src/math/vector.h

@@ -26,20 +26,6 @@
 #include <cmath>
 
 
-/*
- TODO
- 
-void      RotatePoint(D3DVECTOR center, float angleH, float angleV, D3DVECTOR &p);
-void      RotatePoint2(D3DVECTOR center, float angleH, float angleV, D3DVECTOR &p);
-
-BOOL      Intersect(D3DVECTOR a, D3DVECTOR b, D3DVECTOR c, D3DVECTOR d, D3DVECTOR e, D3DVECTOR &i);
-BOOL      IntersectY(D3DVECTOR a, D3DVECTOR b, D3DVECTOR c, D3DVECTOR &p);
-
-D3DVECTOR RotateView(D3DVECTOR center, float angleH, float angleV, float dist);
-D3DVECTOR LookatPoint( D3DVECTOR eye, float angleH, float angleV, float length );
-
- */
-
 // Math module namespace
 namespace Math
 {
@@ -73,7 +59,7 @@ struct Vector
   }
 
   //! Creates a vector from given values
-  inline Vector(float x, float y, float z)
+  inline explicit Vector(float x, float y, float z)
   {
     this->x = x;
     this->y = y;
@@ -135,6 +121,9 @@ struct Vector
     return acos(CosAngle(right));
   }
 
+
+  /* Operators */
+
   //! Returns the inverted vector
   inline Vector operator-() const
   {
@@ -206,7 +195,16 @@ struct Vector
   {
     return Vector(left.x / right, left.y / right, left.z / right);
   }
-};
+
+}; // struct Point
+
+//! Checks if two vectors are equal within given \a tolerance
+inline bool VectorsEqual(const Vector &a, const Vector &b, float tolerance = TOLERANCE)
+{
+  return IsEqual(a.x, b.x, tolerance)
+      && IsEqual(a.y, b.y, tolerance)
+      && IsEqual(a.z, b.z, tolerance);
+}
 
 //! Convenience function for getting normalized vector
 inline Vector Normalize(const Vector &v)
@@ -234,27 +232,19 @@ inline float Angle(const Vector &a, const Vector &b)
   return a.Angle(b);
 }
 
-//! Checks if two vectors are equal within given \a tolerance
-inline bool VectorsEqual(const Vector &a, const Vector &b, float tolerance = TOLERANCE)
-{
-  return IsEqual(a.x, b.x, tolerance)
-      && IsEqual(a.y, b.y, tolerance)
-      && IsEqual(a.z, b.z, tolerance);
-}
-
 //! Returns the distance between two points
 inline float Distance(const Vector &a, const Vector &b)
 {
-  return std::sqrt( (a.x-b.x)*(a.x-b.x) +
+  return sqrt( (a.x-b.x)*(a.x-b.x) +
-                    (a.y-b.y)*(a.y-b.y) +
+               (a.y-b.y)*(a.y-b.y) +
-                    (a.z-b.z)*(a.z-b.z) );
+               (a.z-b.z)*(a.z-b.z) );
 }
 
 //! Returns the distance between projections on XZ plane of two vectors
 inline float DistanceProjected(const Vector &a, const Vector &b)
 {
-  return std::sqrt( (a.x-b.x)*(a.x-b.x) +
+  return sqrt( (a.x-b.x)*(a.x-b.x) +
-                    (a.z-b.z)*(a.z-b.z) );
+               (a.z-b.z)*(a.z-b.z) );
 }
 
 //! Returns the normal vector to a plane
@@ -275,7 +265,7 @@ inline float DistanceToPlane(const Vector &a, const Vector &b, const Vector &c,
   Vector n = NormalToPlane(a, b, c);
   float d = -(n.x*a.x + n.y*a.y + n.z*a.z);
 
-  return std::fabs(n.x*p.x + n.y*p.y + n.z*p.z + d);
+  return fabs(n.x*p.x + n.y*p.y + n.z*p.z + d);
 }
 
 //! Checks if two planes defined by three points are the same
@@ -286,9 +276,9 @@ inline bool IsSamePlane(const Vector (&plane1)[3], const Vector (&plane2)[3])
   Vector n1 = NormalToPlane(plane1[0], plane1[1], plane1[2]);
   Vector n2 = NormalToPlane(plane2[0], plane2[1], plane2[2]);
 
-  if ( std::fabs(n1.x-n2.x) > 0.1f ||
+  if ( fabs(n1.x-n2.x) > 0.1f ||
-       std::fabs(n1.y-n2.y) > 0.1f ||
+       fabs(n1.y-n2.y) > 0.1f ||
-       std::fabs(n1.z-n2.z) > 0.1f )
+       fabs(n1.z-n2.z) > 0.1f )
     return false;
 
   float dist = DistanceToPlane(plane1[0], plane1[1], plane1[2], plane2[0]);
@@ -317,6 +307,107 @@ inline Vector SegmentPoint(const Vector &p1, const Vector &p2, float dist)
   return p1 + (p2 - p1) * dist;
 }
 
+//! Rotates a point around a center in space.
+/** \a center center of rotation
+    \a angleH,angleV rotation angles in radians (positive is counterclockwise (CCW) ) )
+    \a p the point
+    \returns the rotated point */
+inline Vector RotatePoint(const Vector &center, float angleH, float angleV, Vector p)
+{
+  Vector a, b;
+
+  p.x -= center.x;
+  p.y -= center.y;
+  p.z -= center.z;
+
+  b.x = p.x*cosf(angleH) - p.z*sinf(angleH);
+  b.y = p.z*sinf(angleV) + p.y*cosf(angleV);
+  b.z = p.x*sinf(angleH) + p.z*cosf(angleH);
+
+  float x = center.x+b.x;
+  float y = center.y+b.y;
+  float z = center.z+b.z;
+
+  return Vector(x, y, z);
+}
+
+//! Rotates a point around a center in space.
+/** \a center center of rotation
+    \a angleH,angleV rotation angles in radians (positive is counterclockwise (CCW) ) )
+    \a p the point
+    \returns the rotated point */
+inline Vector RotatePoint2(const Vector center, float angleH, float angleV, Vector p)
+{
+  Vector a, b;
+
+  p.x -= center.x;
+  p.y -= center.y;
+  p.z -= center.z;
+
+  a.x = p.x*cosf(angleH) - p.z*sinf(angleH);
+  a.y = p.y;
+  a.z = p.x*sinf(angleH) + p.z*cosf(angleH);
+
+  b.x = a.x;
+  b.y = a.z*sinf(angleV) + a.y*cosf(angleV);
+  b.z = a.z*cosf(angleV) - a.y*sinf(angleV);
+
+  float x = center.x+b.x;
+  float y = center.y+b.y;
+  float z = center.z+b.z;
+
+  return Vector(x, y, z);
+}
+
+//! Calculates the intersection "i" right "of" the plane "abc".
+inline bool Intersect(const Vector &a, const Vector &b, const Vector &c, const Vector &d, const Vector &e, Vector &i)
+{
+  float d1 = (d.x-a.x)*((b.y-a.y)*(c.z-a.z)-(c.y-a.y)*(b.z-a.z)) -
+     (d.y-a.y)*((b.x-a.x)*(c.z-a.z)-(c.x-a.x)*(b.z-a.z)) +
+     (d.z-a.z)*((b.x-a.x)*(c.y-a.y)-(c.x-a.x)*(b.y-a.y));
+
+  float d2 = (d.x-e.x)*((b.y-a.y)*(c.z-a.z)-(c.y-a.y)*(b.z-a.z)) -
+     (d.y-e.y)*((b.x-a.x)*(c.z-a.z)-(c.x-a.x)*(b.z-a.z)) +
+     (d.z-e.z)*((b.x-a.x)*(c.y-a.y)-(c.x-a.x)*(b.y-a.y));
+
+  if (d2 == 0)
+    return false;
+
+  i.x = d.x + d1/d2*(e.x-d.x);
+  i.y = d.y + d1/d2*(e.y-d.y);
+  i.z = d.z + d1/d2*(e.z-d.z);
+
+  return true;
+}
+
+//! Calculates the intersection of the straight line passing through p (x, z)
+/** Line is parallel to the y axis, with the plane abc. Returns p.y. */
+inline bool IntersectY(const Vector &a, const Vector &b, const Vector &c, Vector &p)
+{
+  float d  = (b.x-a.x)*(c.z-a.z) - (c.x-a.x)*(b.z-a.z);
+  float d1 = (p.x-a.x)*(c.z-a.z) - (c.x-a.x)*(p.z-a.z);
+  float d2 = (b.x-a.x)*(p.z-a.z) - (p.x-a.x)*(b.z-a.z);
+
+  if (d == 0.0f)
+    return false;
+
+  p.y = a.y + d1/d*(b.y-a.y) + d2/d*(c.y-a.y);
+
+  return true;
+}
+
+//! Calculates the end point
+inline Vector LookatPoint(const Vector &eye, float angleH, float angleV, float length)
+{
+
+  Vector lookat = eye;
+  lookat.z += length;
+
+  RotatePoint(eye, angleH, angleV, lookat);
+
+  return lookat;
+}
+
 /* @} */ // end of group
 
 }; // namespace Math