db7fac3f24
git-svn-id: https://openfoam-extend.svn.sourceforge.net/svnroot/openfoam-extend/trunk/Core/OpenFOAM-1.5-dev@1731 e4e07f05-0c2f-0410-a05a-b8ba57e0c909
66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
//
|
|
// This module contains a bunch of well understood functions
|
|
// I apologise if the conventions used here are slightly
|
|
// different than what you are used to.
|
|
//
|
|
|
|
#ifndef GENERIC_VECTOR_H
|
|
#define GENERIC_VECTOR_H
|
|
|
|
#include <stdio.h>
|
|
#include <math.h>
|
|
|
|
|
|
class Vector {
|
|
public:
|
|
float x,y,z;
|
|
Vector(float _x=0.0,float _y=0.0,float _z=0.0){x=_x;y=_y;z=_z;};
|
|
operator float *() { return &x;};
|
|
};
|
|
|
|
float magnitude(Vector v);
|
|
Vector normalize(Vector v);
|
|
|
|
Vector operator+(Vector v1,Vector v2);
|
|
Vector operator-(Vector v);
|
|
Vector operator-(Vector v1,Vector v2);
|
|
Vector operator*(Vector v1,float s) ;
|
|
Vector operator*(float s,Vector v1) ;
|
|
Vector operator/(Vector v1,float s) ;
|
|
float operator^(Vector v1,Vector v2); // DOT product
|
|
Vector operator*(Vector v1,Vector v2); // CROSS product
|
|
Vector planelineintersection(Vector n,float d,Vector p1,Vector p2);
|
|
|
|
class matrix{
|
|
public:
|
|
Vector x,y,z;
|
|
matrix(){x=Vector(1.0f,0.0f,0.0f);
|
|
y=Vector(0.0f,1.0f,0.0f);
|
|
z=Vector(0.0f,0.0f,1.0f);};
|
|
matrix(Vector _x,Vector _y,Vector _z){x=_x;y=_y;z=_z;};
|
|
};
|
|
matrix transpose(matrix m);
|
|
Vector operator*(matrix m,Vector v);
|
|
matrix operator*(matrix m1,matrix m2);
|
|
|
|
class Quaternion{
|
|
public:
|
|
float r,x,y,z;
|
|
Quaternion(){x=y=z=0.0f;r=1.0f;};
|
|
Quaternion(Vector v,float t){v=normalize(v);r=float(cos(t/2.0));v=v*float(sin(t/2.0));x=v.x;y=v.y;z=v.z;};
|
|
Quaternion(float _r,float _x,float _y,float _z){r=_r;x=_x;y=_y;z=_z;};
|
|
float angle(){return float(acos(r)*2.0);}
|
|
Vector axis(){Vector a(x,y,z); return a*float(1/sin(angle()/2.0));}
|
|
Vector xdir(){return Vector(1-2*(y*y+z*z), 2*(x*y+r*z), 2*(x*z-r*y));}
|
|
Vector ydir(){return Vector( 2*(x*y-r*z),1-2*(x*x+z*z), 2*(y*z+r*x));}
|
|
Vector zdir(){return Vector( 2*(x*z+r*y), 2*(y*z-r*x),1-2*(x*x+y*y));}
|
|
matrix getmatrix(){return matrix(xdir(),ydir(),zdir());}
|
|
//operator matrix(){return getmatrix();}
|
|
};
|
|
Quaternion operator-(Quaternion q);
|
|
Quaternion operator*(Quaternion a,Quaternion b);
|
|
Vector operator*(Quaternion q,Vector v);
|
|
Vector operator*(Vector v,Quaternion q);
|
|
Quaternion slerp(Quaternion a,Quaternion b,float interp);
|
|
|
|
#endif
|