f0eca551b3
"Professional CMake" book suggest the following: "Targets should build successfully with or without compiler support for precompiled headers. It should be considered an optimization, not a requirement. In particular, do not explicitly include a precompile header (e.g. stdafx.h) in the source code, let CMake force-include an automatically generated precompile header on the compiler command line instead. This is more portable across the major compilers and is likely to be easier to maintain. It will also avoid warnings being generated from certain code checking tools like iwyu (include what you use)." Therefore, removed the "#include <PreCompiled.h>" from sources, also there is no need for the "#ifdef _PreComp_" anymore
520 lines
14 KiB
C++
520 lines
14 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2005 Imetric 3D GmbH *
|
|
* *
|
|
* This file is part of the FreeCAD CAx development system. *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Library General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2 of the License, or (at your option) any later version. *
|
|
* *
|
|
* This library 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 Library General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Library General Public *
|
|
* License along with this library; see the file COPYING.LIB. If not, *
|
|
* write to the Free Software Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307, USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
#include <cmath>
|
|
#include <limits>
|
|
|
|
#include <boost/math/special_functions/fpclassify.hpp>
|
|
|
|
#include "Vector3D.h"
|
|
#include "Tools.h"
|
|
|
|
|
|
using namespace Base;
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>::Vector3(float_type fx, float_type fy, float_type fz)
|
|
: x(fx)
|
|
, y(fy)
|
|
, z(fz)
|
|
{}
|
|
|
|
template<class float_type>
|
|
float_type& Vector3<float_type>::operator[](unsigned short usIndex)
|
|
{
|
|
switch (usIndex) {
|
|
case 0:
|
|
return x;
|
|
case 1:
|
|
return y;
|
|
case 2:
|
|
return z;
|
|
}
|
|
return x;
|
|
}
|
|
|
|
template<class float_type>
|
|
const float_type& Vector3<float_type>::operator[](unsigned short usIndex) const
|
|
{
|
|
switch (usIndex) {
|
|
case 0:
|
|
return x;
|
|
case 1:
|
|
return y;
|
|
case 2:
|
|
return z;
|
|
}
|
|
return x;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator+(const Vector3<float_type>& rcVct) const
|
|
{
|
|
Vector3<float_type> cVctRes;
|
|
cVctRes.x = x + rcVct.x;
|
|
cVctRes.y = y + rcVct.y;
|
|
cVctRes.z = z + rcVct.z;
|
|
return cVctRes;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator&(const Vector3<float_type>& rcVct) const
|
|
{
|
|
Vector3<float_type> cVctRes;
|
|
cVctRes.x = x * (float_type)fabs(rcVct.x);
|
|
cVctRes.y = y * (float_type)fabs(rcVct.y);
|
|
cVctRes.z = z * (float_type)fabs(rcVct.z);
|
|
return cVctRes;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator-(const Vector3<float_type>& rcVct) const
|
|
{
|
|
Vector3<float_type> cVctRes;
|
|
cVctRes.x = x - rcVct.x;
|
|
cVctRes.y = y - rcVct.y;
|
|
cVctRes.z = z - rcVct.z;
|
|
return cVctRes;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator-() const
|
|
{
|
|
return Vector3(-x, -y, -z);
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::operator+=(const Vector3<float_type>& rcVct)
|
|
{
|
|
x += rcVct.x;
|
|
y += rcVct.y;
|
|
z += rcVct.z;
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::operator-=(const Vector3<float_type>& rcVct)
|
|
{
|
|
x -= rcVct.x;
|
|
y -= rcVct.y;
|
|
z -= rcVct.z;
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::operator*=(float_type fScale)
|
|
{
|
|
x *= fScale;
|
|
y *= fScale;
|
|
z *= fScale;
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::operator/=(float_type fDiv)
|
|
{
|
|
x /= fDiv;
|
|
y /= fDiv;
|
|
z /= fDiv;
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator*(float_type fScale) const
|
|
{
|
|
return Vector3<float_type>(this->x * fScale, this->y * fScale, this->z * fScale);
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator/(float_type fDiv) const
|
|
{
|
|
return Vector3<float_type>(this->x / fDiv, this->y / fDiv, this->z / fDiv);
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::operator*(const Vector3<float_type>& rcVct) const
|
|
{
|
|
return (x * rcVct.x) + (y * rcVct.y) + (z * rcVct.z);
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::Dot(const Vector3<float_type>& rcVct) const
|
|
{
|
|
return (x * rcVct.x) + (y * rcVct.y) + (z * rcVct.z);
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::operator%(const Vector3<float_type>& rcVct) const
|
|
{
|
|
Vector3<float_type> cVctRes;
|
|
cVctRes.x = (y * rcVct.z) - (z * rcVct.y);
|
|
cVctRes.y = (z * rcVct.x) - (x * rcVct.z);
|
|
cVctRes.z = (x * rcVct.y) - (y * rcVct.x);
|
|
return cVctRes;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::Cross(const Vector3<float_type>& rcVct) const
|
|
{
|
|
Vector3<float_type> cVctRes;
|
|
cVctRes.x = (y * rcVct.z) - (z * rcVct.y);
|
|
cVctRes.y = (z * rcVct.x) - (x * rcVct.z);
|
|
cVctRes.z = (x * rcVct.y) - (y * rcVct.x);
|
|
return cVctRes;
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::IsOnLineSegment(const Vector3<float_type>& startVct,
|
|
const Vector3<float_type>& endVct) const
|
|
{
|
|
Vector3<float_type> vectorAB = endVct - startVct;
|
|
Vector3<float_type> vectorAC = *this - startVct;
|
|
Vector3<float_type> crossproduct = vectorAB.Cross(vectorAC);
|
|
float_type dotproduct = vectorAB.Dot(vectorAC);
|
|
|
|
if (crossproduct.Length() > traits_type::epsilon()) {
|
|
return false;
|
|
}
|
|
|
|
if (dotproduct < 0) {
|
|
return false;
|
|
}
|
|
|
|
if (dotproduct > vectorAB.Sqr()) {
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::operator!=(const Vector3<float_type>& rcVct) const
|
|
{
|
|
return !((*this) == rcVct);
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::operator==(const Vector3<float_type>& rcVct) const
|
|
{
|
|
return (std::fabs(x - rcVct.x) <= traits_type::epsilon())
|
|
&& (std::fabs(y - rcVct.y) <= traits_type::epsilon())
|
|
&& (std::fabs(z - rcVct.z) <= traits_type::epsilon());
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::IsEqual(const Vector3<float_type>& rclPnt, float_type tol) const
|
|
{
|
|
return Distance(*this, rclPnt) <= tol;
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::IsParallel(const Vector3<float_type>& rclDir, float_type tol) const
|
|
{
|
|
float_type angle = GetAngle(rclDir);
|
|
if (boost::math::isnan(angle)) {
|
|
return false;
|
|
}
|
|
|
|
return angle <= tol || traits_type::pi() - angle <= tol;
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::IsNormal(const Vector3<float_type>& rclDir, float_type tol) const
|
|
{
|
|
float_type angle = GetAngle(rclDir);
|
|
if (boost::math::isnan(angle)) {
|
|
return false;
|
|
}
|
|
|
|
float_type diff = std::abs(traits_type::pi() / 2.0 - angle); // NOLINT
|
|
return diff <= tol;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::ProjectToPlane(const Vector3<float_type>& rclBase,
|
|
const Vector3<float_type>& rclNorm)
|
|
{
|
|
Vector3<float_type> clTemp(rclNorm);
|
|
*this = *this - (clTemp *= ((*this - rclBase) * clTemp) / clTemp.Sqr());
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::ProjectToPlane(const Vector3& rclBase,
|
|
const Vector3& rclNorm,
|
|
Vector3& rclProj) const
|
|
{
|
|
Vector3<float_type> clTemp(rclNorm);
|
|
rclProj = *this - (clTemp *= ((*this - rclBase) * clTemp) / clTemp.Sqr());
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::DistanceToPlane(const Vector3<float_type>& rclBase,
|
|
const Vector3<float_type>& rclNorm) const
|
|
{
|
|
return ((*this - rclBase) * rclNorm) / rclNorm.Length();
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::Length() const
|
|
{
|
|
return static_cast<float_type>(std::sqrt((x * x) + (y * y) + (z * z)));
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::DistanceToLine(const Vector3<float_type>& base,
|
|
const Vector3<float_type>& dir) const
|
|
{
|
|
// clang-format off
|
|
return static_cast<float_type>(std::fabs((dir % Vector3(*this - base)).Length() / dir.Length()));
|
|
// clang-format on
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::DistanceToLineSegment(const Vector3& rclP1,
|
|
const Vector3& rclP2) const
|
|
{
|
|
float_type len2 = Base::DistanceP2(rclP1, rclP2);
|
|
if (len2 == 0) {
|
|
return rclP1;
|
|
}
|
|
|
|
Vector3<float_type> p2p1 = rclP2 - rclP1;
|
|
Vector3<float_type> pXp1 = *this - rclP1;
|
|
float_type dot = pXp1 * p2p1;
|
|
float_type t = clamp<float_type>(dot / len2, 0, 1);
|
|
Vector3<float_type> dist = t * p2p1 - pXp1;
|
|
return dist;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::ProjectToLine(const Vector3<float_type>& rclPoint,
|
|
const Vector3<float_type>& rclLine)
|
|
{
|
|
return (*this = ((((rclPoint * rclLine) / rclLine.Sqr()) * rclLine) - rclPoint));
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::Perpendicular(const Vector3<float_type>& rclBase,
|
|
const Vector3<float_type>& rclDir) const
|
|
{
|
|
float_type t = ((*this - rclBase) * rclDir) / (rclDir * rclDir);
|
|
return rclBase + t * rclDir;
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::Sqr() const
|
|
{
|
|
return (float_type)((x * x) + (y * y) + (z * z));
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::Set(float_type fX, float_type fY, float_type fZ)
|
|
{
|
|
x = fX;
|
|
y = fY;
|
|
z = fZ;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::ScaleX(float_type f)
|
|
{
|
|
x *= f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::ScaleY(float_type f)
|
|
{
|
|
y *= f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::ScaleZ(float_type f)
|
|
{
|
|
z *= f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::Scale(float_type fX, float_type fY, float_type fZ)
|
|
{
|
|
x *= fX;
|
|
y *= fY;
|
|
z *= fZ;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::MoveX(float_type f)
|
|
{
|
|
x += f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::MoveY(float_type f)
|
|
{
|
|
y += f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::MoveZ(float_type f)
|
|
{
|
|
z += f;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::Move(float_type fX, float_type fY, float_type fZ)
|
|
{
|
|
x += fX;
|
|
y += fY;
|
|
z += fZ;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::RotateX(float_type f)
|
|
{
|
|
Vector3 cPt(*this);
|
|
|
|
float_type fsin = static_cast<float_type>(sin(f));
|
|
float_type fcos = static_cast<float_type>(cos(f));
|
|
y = (cPt.y * fcos) - (cPt.z * fsin);
|
|
z = (cPt.y * fsin) + (cPt.z * fcos);
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::RotateY(float_type f)
|
|
{
|
|
Vector3 cPt(*this);
|
|
|
|
float_type fsin = static_cast<float_type>(sin(f));
|
|
float_type fcos = static_cast<float_type>(cos(f));
|
|
x = (cPt.z * fsin) + (cPt.x * fcos);
|
|
z = (cPt.z * fcos) - (cPt.x * fsin);
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::RotateZ(float_type f)
|
|
{
|
|
Vector3 cPt(*this);
|
|
|
|
float_type fsin = static_cast<float_type>(sin(f));
|
|
float_type fcos = static_cast<float_type>(cos(f));
|
|
x = (cPt.x * fcos) - (cPt.y * fsin);
|
|
y = (cPt.x * fsin) + (cPt.y * fcos);
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type>& Vector3<float_type>::Normalize()
|
|
{
|
|
float_type fLen = Length();
|
|
if (fLen != static_cast<float_type>(0.0) && fLen != static_cast<float_type>(1.0)) {
|
|
x /= fLen;
|
|
y /= fLen;
|
|
z /= fLen;
|
|
}
|
|
return *this;
|
|
}
|
|
|
|
template<class float_type>
|
|
Vector3<float_type> Vector3<float_type>::Normalized() const
|
|
{
|
|
Vector3<float_type> copy = *this;
|
|
copy.Normalize();
|
|
|
|
return copy;
|
|
}
|
|
|
|
template<class float_type>
|
|
bool Vector3<float_type>::IsNull() const
|
|
{
|
|
float_type n {0.0};
|
|
return (x == n) && (y == n) && (z == n);
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::GetAngle(const Vector3& rcVect) const
|
|
{
|
|
float_type len1 = Length();
|
|
float_type len2 = rcVect.Length();
|
|
if (len1 <= traits_type::epsilon() || len2 <= traits_type::epsilon()) {
|
|
return std::numeric_limits<float_type>::quiet_NaN(); // division by zero
|
|
}
|
|
|
|
float_type dot = Dot(rcVect);
|
|
dot /= len1;
|
|
dot /= len2;
|
|
|
|
if (dot <= -1.0) {
|
|
return traits_type::pi();
|
|
}
|
|
if (dot >= 1.0) {
|
|
return 0.0;
|
|
}
|
|
|
|
return float_type(acos(dot));
|
|
}
|
|
|
|
template<class float_type>
|
|
float_type Vector3<float_type>::GetAngleOriented(const Vector3& rcVect, const Vector3& norm) const
|
|
{
|
|
float_type angle = GetAngle(rcVect);
|
|
|
|
Vector3<float_type> crossProduct = Cross(rcVect);
|
|
|
|
// Use dot product to determine the sign
|
|
float_type dot = crossProduct.Dot(norm);
|
|
if (dot < 0) {
|
|
angle = 2 * traits_type::pi() - angle;
|
|
}
|
|
|
|
return angle;
|
|
}
|
|
|
|
template<class float_type>
|
|
void Vector3<float_type>::TransformToCoordinateSystem(const Vector3& rclBase,
|
|
const Vector3& rclDirX,
|
|
const Vector3& rclDirY)
|
|
{
|
|
Vector3 clVectX;
|
|
Vector3 clVectY;
|
|
Vector3 clVectZ;
|
|
Vector3 clVectOld;
|
|
|
|
clVectX = rclDirX;
|
|
clVectY = rclDirY;
|
|
clVectZ = rclDirX % rclDirY;
|
|
clVectX.Normalize();
|
|
clVectY.Normalize();
|
|
clVectZ.Normalize();
|
|
|
|
clVectOld = *this - rclBase;
|
|
|
|
x = clVectX * clVectOld;
|
|
y = clVectY * clVectOld;
|
|
z = clVectZ * clVectOld;
|
|
}
|
|
|
|
// explicit template instantiation
|
|
namespace Base
|
|
{
|
|
template class BaseExport Vector3<float>;
|
|
template class BaseExport Vector3<double>;
|
|
} // namespace Base
|