corrade-vassal – Rev 1
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/*
* Copyright (c) 2006-2014, openmetaverse.org
* All rights reserved.
*
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* modification, are permitted provided that the following conditions are met:
*
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* of its contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Runtime.InteropServices;
using System.Globalization;
namespace OpenMetaverse
{
/// <summary>
/// A three-dimensional vector with floating-point values
/// </summary>
[Serializable]
[StructLayout(LayoutKind.Sequential)]
public struct Vector3 : IComparable<Vector3>, IEquatable<Vector3>
{
/// <summary>X value</summary>
public float X;
/// <summary>Y value</summary>
public float Y;
/// <summary>Z value</summary>
public float Z;
#region Constructors
public Vector3(float x, float y, float z)
{
X = x;
Y = y;
Z = z;
}
public Vector3(float value)
{
X = value;
Y = value;
Z = value;
}
public Vector3(Vector2 value, float z)
{
X = value.X;
Y = value.Y;
Z = z;
}
public Vector3(Vector3d vector)
{
X = (float)vector.X;
Y = (float)vector.Y;
Z = (float)vector.Z;
}
/// <summary>
/// Constructor, builds a vector from a byte array
/// </summary>
/// <param name="byteArray">Byte array containing three four-byte floats</param>
/// <param name="pos">Beginning position in the byte array</param>
public Vector3(byte[] byteArray, int pos)
{
X = Y = Z = 0f;
FromBytes(byteArray, pos);
}
public Vector3(Vector3 vector)
{
X = vector.X;
Y = vector.Y;
Z = vector.Z;
}
#endregion Constructors
#region Public Methods
public float Length()
{
return (float)Math.Sqrt(DistanceSquared(this, Zero));
}
public float LengthSquared()
{
return DistanceSquared(this, Zero);
}
public void Normalize()
{
this = Normalize(this);
}
/// <summary>
/// Test if this vector is equal to another vector, within a given
/// tolerance range
/// </summary>
/// <param name="vec">Vector to test against</param>
/// <param name="tolerance">The acceptable magnitude of difference
/// between the two vectors</param>
/// <returns>True if the magnitude of difference between the two vectors
/// is less than the given tolerance, otherwise false</returns>
public bool ApproxEquals(Vector3 vec, float tolerance)
{
Vector3 diff = this - vec;
return (diff.LengthSquared() <= tolerance * tolerance);
}
/// <summary>
/// IComparable.CompareTo implementation
/// </summary>
public int CompareTo(Vector3 vector)
{
return Length().CompareTo(vector.Length());
}
/// <summary>
/// Test if this vector is composed of all finite numbers
/// </summary>
public bool IsFinite()
{
return (Utils.IsFinite(X) && Utils.IsFinite(Y) && Utils.IsFinite(Z));
}
/// <summary>
/// Builds a vector from a byte array
/// </summary>
/// <param name="byteArray">Byte array containing a 12 byte vector</param>
/// <param name="pos">Beginning position in the byte array</param>
public void FromBytes(byte[] byteArray, int pos)
{
if (!BitConverter.IsLittleEndian)
{
// Big endian architecture
byte[] conversionBuffer = new byte[12];
Buffer.BlockCopy(byteArray, pos, conversionBuffer, 0, 12);
Array.Reverse(conversionBuffer, 0, 4);
Array.Reverse(conversionBuffer, 4, 4);
Array.Reverse(conversionBuffer, 8, 4);
X = BitConverter.ToSingle(conversionBuffer, 0);
Y = BitConverter.ToSingle(conversionBuffer, 4);
Z = BitConverter.ToSingle(conversionBuffer, 8);
}
else
{
// Little endian architecture
X = BitConverter.ToSingle(byteArray, pos);
Y = BitConverter.ToSingle(byteArray, pos + 4);
Z = BitConverter.ToSingle(byteArray, pos + 8);
}
}
/// <summary>
/// Returns the raw bytes for this vector
/// </summary>
/// <returns>A 12 byte array containing X, Y, and Z</returns>
public byte[] GetBytes()
{
byte[] byteArray = new byte[12];
ToBytes(byteArray, 0);
return byteArray;
}
/// <summary>
/// Writes the raw bytes for this vector to a byte array
/// </summary>
/// <param name="dest">Destination byte array</param>
/// <param name="pos">Position in the destination array to start
/// writing. Must be at least 12 bytes before the end of the array</param>
public void ToBytes(byte[] dest, int pos)
{
Buffer.BlockCopy(BitConverter.GetBytes(X), 0, dest, pos + 0, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Y), 0, dest, pos + 4, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Z), 0, dest, pos + 8, 4);
if (!BitConverter.IsLittleEndian)
{
Array.Reverse(dest, pos + 0, 4);
Array.Reverse(dest, pos + 4, 4);
Array.Reverse(dest, pos + 8, 4);
}
}
#endregion Public Methods
#region Static Methods
public static Vector3 Add(Vector3 value1, Vector3 value2)
{
value1.X += value2.X;
value1.Y += value2.Y;
value1.Z += value2.Z;
return value1;
}
public static Vector3 Clamp(Vector3 value1, Vector3 min, Vector3 max)
{
return new Vector3(
Utils.Clamp(value1.X, min.X, max.X),
Utils.Clamp(value1.Y, min.Y, max.Y),
Utils.Clamp(value1.Z, min.Z, max.Z));
}
public static Vector3 Cross(Vector3 value1, Vector3 value2)
{
return new Vector3(
value1.Y * value2.Z - value2.Y * value1.Z,
value1.Z * value2.X - value2.Z * value1.X,
value1.X * value2.Y - value2.X * value1.Y);
}
public static float Distance(Vector3 value1, Vector3 value2)
{
return (float)Math.Sqrt(DistanceSquared(value1, value2));
}
public static float DistanceSquared(Vector3 value1, Vector3 value2)
{
return
(value1.X - value2.X) * (value1.X - value2.X) +
(value1.Y - value2.Y) * (value1.Y - value2.Y) +
(value1.Z - value2.Z) * (value1.Z - value2.Z);
}
public static Vector3 Divide(Vector3 value1, Vector3 value2)
{
value1.X /= value2.X;
value1.Y /= value2.Y;
value1.Z /= value2.Z;
return value1;
}
public static Vector3 Divide(Vector3 value1, float value2)
{
float factor = 1f / value2;
value1.X *= factor;
value1.Y *= factor;
value1.Z *= factor;
return value1;
}
public static float Dot(Vector3 value1, Vector3 value2)
{
return value1.X * value2.X + value1.Y * value2.Y + value1.Z * value2.Z;
}
public static Vector3 Lerp(Vector3 value1, Vector3 value2, float amount)
{
return new Vector3(
Utils.Lerp(value1.X, value2.X, amount),
Utils.Lerp(value1.Y, value2.Y, amount),
Utils.Lerp(value1.Z, value2.Z, amount));
}
public static float Mag(Vector3 value)
{
return (float)Math.Sqrt((value.X * value.X) + (value.Y * value.Y) + (value.Z * value.Z));
}
public static Vector3 Max(Vector3 value1, Vector3 value2)
{
return new Vector3(
Math.Max(value1.X, value2.X),
Math.Max(value1.Y, value2.Y),
Math.Max(value1.Z, value2.Z));
}
public static Vector3 Min(Vector3 value1, Vector3 value2)
{
return new Vector3(
Math.Min(value1.X, value2.X),
Math.Min(value1.Y, value2.Y),
Math.Min(value1.Z, value2.Z));
}
public static Vector3 Multiply(Vector3 value1, Vector3 value2)
{
value1.X *= value2.X;
value1.Y *= value2.Y;
value1.Z *= value2.Z;
return value1;
}
public static Vector3 Multiply(Vector3 value1, float scaleFactor)
{
value1.X *= scaleFactor;
value1.Y *= scaleFactor;
value1.Z *= scaleFactor;
return value1;
}
public static Vector3 Negate(Vector3 value)
{
value.X = -value.X;
value.Y = -value.Y;
value.Z = -value.Z;
return value;
}
public static Vector3 Normalize(Vector3 value)
{
const float MAG_THRESHOLD = 0.0000001f;
float factor = Distance(value, Zero);
if (factor > MAG_THRESHOLD)
{
factor = 1f / factor;
value.X *= factor;
value.Y *= factor;
value.Z *= factor;
}
else
{
value.X = 0f;
value.Y = 0f;
value.Z = 0f;
}
return value;
}
/// <summary>
/// Parse a vector from a string
/// </summary>
/// <param name="val">A string representation of a 3D vector, enclosed
/// in arrow brackets and separated by commas</param>
public static Vector3 Parse(string val)
{
char[] splitChar = { ',' };
string[] split = val.Replace("<", String.Empty).Replace(">", String.Empty).Split(splitChar);
return new Vector3(
Single.Parse(split[0].Trim(), Utils.EnUsCulture),
Single.Parse(split[1].Trim(), Utils.EnUsCulture),
Single.Parse(split[2].Trim(), Utils.EnUsCulture));
}
public static bool TryParse(string val, out Vector3 result)
{
try
{
result = Parse(val);
return true;
}
catch (Exception)
{
result = Vector3.Zero;
return false;
}
}
/// <summary>
/// Calculate the rotation between two vectors
/// </summary>
/// <param name="a">Normalized directional vector (such as 1,0,0 for forward facing)</param>
/// <param name="b">Normalized target vector</param>
public static Quaternion RotationBetween(Vector3 a, Vector3 b)
{
float dotProduct = Dot(a, b);
Vector3 crossProduct = Cross(a, b);
float magProduct = a.Length() * b.Length();
double angle = Math.Acos(dotProduct / magProduct);
Vector3 axis = Normalize(crossProduct);
float s = (float)Math.Sin(angle / 2d);
return new Quaternion(
axis.X * s,
axis.Y * s,
axis.Z * s,
(float)Math.Cos(angle / 2d));
}
/// <summary>
/// Interpolates between two vectors using a cubic equation
/// </summary>
public static Vector3 SmoothStep(Vector3 value1, Vector3 value2, float amount)
{
return new Vector3(
Utils.SmoothStep(value1.X, value2.X, amount),
Utils.SmoothStep(value1.Y, value2.Y, amount),
Utils.SmoothStep(value1.Z, value2.Z, amount));
}
public static Vector3 Subtract(Vector3 value1, Vector3 value2)
{
value1.X -= value2.X;
value1.Y -= value2.Y;
value1.Z -= value2.Z;
return value1;
}
public static Vector3 Transform(Vector3 position, Matrix4 matrix)
{
return new Vector3(
(position.X * matrix.M11) + (position.Y * matrix.M21) + (position.Z * matrix.M31) + matrix.M41,
(position.X * matrix.M12) + (position.Y * matrix.M22) + (position.Z * matrix.M32) + matrix.M42,
(position.X * matrix.M13) + (position.Y * matrix.M23) + (position.Z * matrix.M33) + matrix.M43);
}
public static Vector3 TransformNormal(Vector3 position, Matrix4 matrix)
{
return new Vector3(
(position.X * matrix.M11) + (position.Y * matrix.M21) + (position.Z * matrix.M31),
(position.X * matrix.M12) + (position.Y * matrix.M22) + (position.Z * matrix.M32),
(position.X * matrix.M13) + (position.Y * matrix.M23) + (position.Z * matrix.M33));
}
#endregion Static Methods
#region Overrides
public override bool Equals(object obj)
{
return (obj is Vector3) ? this == (Vector3)obj : false;
}
public bool Equals(Vector3 other)
{
return this == other;
}
public override int GetHashCode()
{
int hash = X.GetHashCode();
hash = hash * 31 + Y.GetHashCode();
hash = hash * 31 + Z.GetHashCode();
return hash;
}
/// <summary>
/// Get a formatted string representation of the vector
/// </summary>
/// <returns>A string representation of the vector</returns>
public override string ToString()
{
return String.Format(Utils.EnUsCulture, "<{0}, {1}, {2}>", X, Y, Z);
}
/// <summary>
/// Get a string representation of the vector elements with up to three
/// decimal digits and separated by spaces only
/// </summary>
/// <returns>Raw string representation of the vector</returns>
public string ToRawString()
{
CultureInfo enUs = new CultureInfo("en-us");
enUs.NumberFormat.NumberDecimalDigits = 3;
return String.Format(enUs, "{0} {1} {2}", X, Y, Z);
}
#endregion Overrides
#region Operators
public static bool operator ==(Vector3 value1, Vector3 value2)
{
return value1.X == value2.X
&& value1.Y == value2.Y
&& value1.Z == value2.Z;
}
public static bool operator !=(Vector3 value1, Vector3 value2)
{
return !(value1 == value2);
}
public static Vector3 operator +(Vector3 value1, Vector3 value2)
{
value1.X += value2.X;
value1.Y += value2.Y;
value1.Z += value2.Z;
return value1;
}
public static Vector3 operator -(Vector3 value)
{
value.X = -value.X;
value.Y = -value.Y;
value.Z = -value.Z;
return value;
}
public static Vector3 operator -(Vector3 value1, Vector3 value2)
{
value1.X -= value2.X;
value1.Y -= value2.Y;
value1.Z -= value2.Z;
return value1;
}
public static Vector3 operator *(Vector3 value1, Vector3 value2)
{
value1.X *= value2.X;
value1.Y *= value2.Y;
value1.Z *= value2.Z;
return value1;
}
public static Vector3 operator *(Vector3 value, float scaleFactor)
{
value.X *= scaleFactor;
value.Y *= scaleFactor;
value.Z *= scaleFactor;
return value;
}
public static Vector3 operator *(Vector3 vec, Quaternion rot)
{
float rw = -rot.X * vec.X - rot.Y * vec.Y - rot.Z * vec.Z;
float rx = rot.W * vec.X + rot.Y * vec.Z - rot.Z * vec.Y;
float ry = rot.W * vec.Y + rot.Z * vec.X - rot.X * vec.Z;
float rz = rot.W * vec.Z + rot.X * vec.Y - rot.Y * vec.X;
vec.X = -rw * rot.X + rx * rot.W - ry * rot.Z + rz * rot.Y;
vec.Y = -rw * rot.Y + ry * rot.W - rz * rot.X + rx * rot.Z;
vec.Z = -rw * rot.Z + rz * rot.W - rx * rot.Y + ry * rot.X;
return vec;
}
public static Vector3 operator *(Vector3 vector, Matrix4 matrix)
{
return Transform(vector, matrix);
}
public static Vector3 operator /(Vector3 value1, Vector3 value2)
{
value1.X /= value2.X;
value1.Y /= value2.Y;
value1.Z /= value2.Z;
return value1;
}
public static Vector3 operator /(Vector3 value, float divider)
{
float factor = 1f / divider;
value.X *= factor;
value.Y *= factor;
value.Z *= factor;
return value;
}
/// <summary>
/// Cross product between two vectors
/// </summary>
public static Vector3 operator %(Vector3 value1, Vector3 value2)
{
return Cross(value1, value2);
}
/// <summary>
/// Explicit casting for Vector3d > Vector3
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
public static explicit operator Vector3(Vector3d value)
{
Vector3d foo = (Vector3d)Vector3.Zero;
return new Vector3(value);
}
#endregion Operators
/// <summary>A vector with a value of 0,0,0</summary>
public readonly static Vector3 Zero = new Vector3();
/// <summary>A vector with a value of 1,1,1</summary>
public readonly static Vector3 One = new Vector3(1f, 1f, 1f);
/// <summary>A unit vector facing forward (X axis), value 1,0,0</summary>
public readonly static Vector3 UnitX = new Vector3(1f, 0f, 0f);
/// <summary>A unit vector facing left (Y axis), value 0,1,0</summary>
public readonly static Vector3 UnitY = new Vector3(0f, 1f, 0f);
/// <summary>A unit vector facing up (Z axis), value 0,0,1</summary>
public readonly static Vector3 UnitZ = new Vector3(0f, 0f, 1f);
}
}