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#ifndef VECTOR_H
#define VECTOR_H
#ifdef _WIN32
#pragma once
#endif
#include <math.h>
#include <float.h>
#include "basetypes.h"
#include <stdlib.h>
#ifndef _X360
#include <xmmintrin.h>
#endif
#include "dbg.h"
#include "threadtools.h"
#include "vector2d.h"
#include "math_pfns.h"
#include "minmax.h"
#define X_INDEX 0
#define Y_INDEX 1
#define Z_INDEX 2
#ifdef VECTOR_PARANOIA
#define CHECK_VALID( _v) Assert( (_v).IsValid() )
#else
#ifdef GNUC
#define CHECK_VALID( _v)
#else
#define CHECK_VALID( _v) 0
#endif
#endif
#define VecToString(v) (static_cast<const char *>(CFmtStr("(%f, %f, %f)", (v).x, (v).y, (v).z)))
class VectorByValue;
class Vector
{
public:
vec_t x, y, z;
Vector(void);
Vector(vec_t X, vec_t Y, vec_t Z);
explicit Vector(vec_t XYZ);
void Init(vec_t ix = 0.0f, vec_t iy = 0.0f, vec_t iz = 0.0f);
bool IsValid() const;
void Invalidate();
vec_t operator[](int i) const;
vec_t& operator[](int i);
vec_t* Base();
vec_t const* Base() const;
Vector2D& AsVector2D();
const Vector2D& AsVector2D() const;
void Random(vec_t minVal, vec_t maxVal);
inline void Zero();
bool operator==(const Vector& v) const;
bool operator!=(const Vector& v) const;
FORCEINLINE Vector& operator+=(const Vector& v);
FORCEINLINE Vector& operator-=(const Vector& v);
FORCEINLINE Vector& operator*=(const Vector& v);
FORCEINLINE Vector& operator*=(float s);
FORCEINLINE Vector& operator/=(const Vector& v);
FORCEINLINE Vector& operator/=(float s);
FORCEINLINE Vector& operator+=(float fl);
FORCEINLINE Vector& operator-=(float fl);
void Negate();
inline vec_t Length() const;
FORCEINLINE vec_t LengthSqr(void) const
{
CHECK_VALID(*this);
return (x * x + y * y + z * z);
}
bool IsZero(float tolerance = 0.01f) const
{
return (x > -tolerance && x < tolerance&&
y > -tolerance && y < tolerance&&
z > -tolerance && z < tolerance);
}
vec_t NormalizeInPlace();
Vector Normalized() const;
bool IsLengthGreaterThan(float val) const;
bool IsLengthLessThan(float val) const;
FORCEINLINE bool WithinAABox(Vector const& boxmin, Vector const& boxmax);
vec_t DistTo(const Vector& vOther) const;
FORCEINLINE vec_t DistToSqr(const Vector& vOther) const
{
Vector delta;
delta.x = x - vOther.x;
delta.y = y - vOther.y;
delta.z = z - vOther.z;
return delta.LengthSqr();
}
void CopyToArray(float* rgfl) const;
void MulAdd(const Vector& a, const Vector& b, float scalar);
vec_t Dot(const Vector& vOther) const;
Vector& operator=(const Vector& vOther);
vec_t Length2D(void) const;
vec_t Length2DSqr(void) const;
operator VectorByValue& () { return *((VectorByValue*)(this)); }
operator const VectorByValue& () const { return *((const VectorByValue*)(this)); }
#ifndef VECTOR_NO_SLOW_OPERATIONS
Vector operator-(void) const;
Vector operator+(const Vector& v) const;
Vector operator-(const Vector& v) const;
Vector operator*(const Vector& v) const;
Vector operator/(const Vector& v) const;
Vector operator*(float fl) const;
Vector operator/(float fl) const;
Vector Cross(const Vector& vOther) const;
Vector Min(const Vector& vOther) const;
Vector Max(const Vector& vOther) const;
#else
private:
Vector(const Vector& vOther);
#endif
};
FORCEINLINE void NetworkVarConstruct(Vector& v) { v.Zero(); }
#define USE_M64S ( ( !defined( _X360 ) ) )
class ALIGN8 ShortVector
{
public:
short x, y, z, w;
void Init(short ix = 0, short iy = 0, short iz = 0, short iw = 0);
#if USE_M64S
__m64& AsM64() { return *(__m64*) & x; }
const __m64& AsM64() const { return *(const __m64*) & x; }
#endif
void Set(const ShortVector& vOther);
void Set(const short ix, const short iy, const short iz, const short iw);
short operator[](int i) const;
short& operator[](int i);
short* Base();
short const* Base() const;
bool operator==(const ShortVector& v) const;
bool operator!=(const ShortVector& v) const;
FORCEINLINE ShortVector& operator+=(const ShortVector& v);
FORCEINLINE ShortVector& operator-=(const ShortVector& v);
FORCEINLINE ShortVector& operator*=(const ShortVector& v);
FORCEINLINE ShortVector& operator*=(float s);
FORCEINLINE ShortVector& operator/=(const ShortVector& v);
FORCEINLINE ShortVector& operator/=(float s);
FORCEINLINE ShortVector operator*(float fl) const;
private:
} ALIGN8_POST;
class IntVector4D
{
public:
int x, y, z, w;
void Init(int ix = 0, int iy = 0, int iz = 0, int iw = 0);
#if USE_M64S
__m64& AsM64() { return *(__m64*) & x; }
const __m64& AsM64() const { return *(const __m64*) & x; }
#endif
void Set(const IntVector4D& vOther);
void Set(const int ix, const int iy, const int iz, const int iw);
int operator[](int i) const;
int& operator[](int i);
int* Base();
int const* Base() const;
bool operator==(const IntVector4D& v) const;
bool operator!=(const IntVector4D& v) const;
FORCEINLINE IntVector4D& operator+=(const IntVector4D& v);
FORCEINLINE IntVector4D& operator-=(const IntVector4D& v);
FORCEINLINE IntVector4D& operator*=(const IntVector4D& v);
FORCEINLINE IntVector4D& operator*=(float s);
FORCEINLINE IntVector4D& operator/=(const IntVector4D& v);
FORCEINLINE IntVector4D& operator/=(float s);
FORCEINLINE IntVector4D operator*(float fl) const;
private:
};
class VectorByValue : public Vector
{
public:
VectorByValue(void) : Vector() {}
VectorByValue(vec_t X, vec_t Y, vec_t Z) : Vector(X, Y, Z) {}
VectorByValue(const VectorByValue& vOther) { *this = vOther; }
};
class TableVector
{
public:
vec_t x, y, z;
operator Vector& () { return *((Vector*)(this)); }
operator const Vector& () const { return *((const Vector*)(this)); }
inline vec_t& operator[](int i)
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t operator[](int i) const
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
};
class ALIGN16 VectorAligned : public Vector
{
public:
inline VectorAligned(void) {};
inline VectorAligned(vec_t X, vec_t Y, vec_t Z)
{
Init(X, Y, Z);
}
#ifdef VECTOR_NO_SLOW_OPERATIONS
private:
VectorAligned(const VectorAligned& vOther);
VectorAligned(const Vector& vOther);
#else
public:
explicit VectorAligned(const Vector& vOther)
{
Init(vOther.x, vOther.y, vOther.z);
}
VectorAligned& operator=(const Vector& vOther)
{
Init(vOther.x, vOther.y, vOther.z);
return *this;
}
#endif
float w;
} ALIGN16_POST;
FORCEINLINE void VectorClear(Vector& a);
FORCEINLINE void VectorCopy(const Vector& src, Vector& dst);
FORCEINLINE void VectorAdd(const Vector& a, const Vector& b, Vector& result);
FORCEINLINE void VectorSubtract(const Vector& a, const Vector& b, Vector& result);
FORCEINLINE void VectorMultiply(const Vector& a, vec_t b, Vector& result);
FORCEINLINE void VectorMultiply(const Vector& a, const Vector& b, Vector& result);
FORCEINLINE void VectorDivide(const Vector& a, vec_t b, Vector& result);
FORCEINLINE void VectorDivide(const Vector& a, const Vector& b, Vector& result);
inline void VectorScale(const Vector& in, vec_t scale, Vector& result);
void VectorMA(const Vector& start, float scale, const Vector& direction, Vector& dest);
bool VectorsAreEqual(const Vector& src1, const Vector& src2, float tolerance = 0.0f);
#define VectorExpand(v) (v).x, (v).y, (v).z
inline vec_t VectorLength(const Vector& v);
FORCEINLINE vec_t DotProduct(const Vector& a, const Vector& b);
void CrossProduct(const Vector& a, const Vector& b, Vector& result);
void VectorMin(const Vector& a, const Vector& b, Vector& result);
void VectorMax(const Vector& a, const Vector& b, Vector& result);
void VectorLerp(const Vector& src1, const Vector& src2, vec_t t, Vector& dest);
Vector VectorLerp(const Vector& src1, const Vector& src2, vec_t t);
FORCEINLINE Vector ReplicateToVector(float x)
{
return Vector(x, x, x);
}
FORCEINLINE bool PointWithinViewAngle(Vector const& vecSrcPosition,
Vector const& vecTargetPosition,
Vector const& vecLookDirection, float flCosHalfFOV)
{
Vector vecDelta = vecTargetPosition - vecSrcPosition;
float cosDiff = DotProduct(vecLookDirection, vecDelta);
if (cosDiff < 0)
return false;
float flLen2 = vecDelta.LengthSqr();
return (cosDiff * cosDiff > flLen2 * flCosHalfFOV * flCosHalfFOV);
}
#ifndef VECTOR_NO_SLOW_OPERATIONS
Vector CrossProduct(const Vector& a, const Vector& b);
Vector RandomVector(vec_t minVal, vec_t maxVal);
#endif
float RandomVectorInUnitSphere(Vector* pVector);
float RandomVectorInUnitCircle(Vector2D* pVector);
inline Vector::Vector(void)
{
#ifdef _DEBUG
#ifdef VECTOR_PARANOIA
x = y = z = VEC_T_NAN;
#endif
#endif
}
inline Vector::Vector(vec_t X, vec_t Y, vec_t Z)
{
x = X; y = Y; z = Z;
CHECK_VALID(*this);
}
inline Vector::Vector(vec_t XYZ)
{
x = y = z = XYZ;
CHECK_VALID(*this);
}
#if 0
inline Vector::Vector(const Vector& vOther)
{
CHECK_VALID(vOther);
x = vOther.x; y = vOther.y; z = vOther.z;
}
#endif
inline void Vector::Init(vec_t ix, vec_t iy, vec_t iz)
{
x = ix; y = iy; z = iz;
CHECK_VALID(*this);
}
inline void Vector::Random(vec_t minVal, vec_t maxVal)
{
x = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
y = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
z = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
CHECK_VALID(*this);
}
inline void Vector::Zero()
{
x = y = z = 0.0f;
}
inline void VectorClear(Vector& a)
{
a.x = a.y = a.z = 0.0f;
}
inline Vector& Vector::operator=(const Vector& vOther)
{
CHECK_VALID(vOther);
x = vOther.x; y = vOther.y; z = vOther.z;
return *this;
}
inline vec_t& Vector::operator[](int i)
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t Vector::operator[](int i) const
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t* Vector::Base()
{
return (vec_t*)this;
}
inline vec_t const* Vector::Base() const
{
return (vec_t const*)this;
}
inline Vector2D& Vector::AsVector2D()
{
return *(Vector2D*)this;
}
inline const Vector2D& Vector::AsVector2D() const
{
return *(const Vector2D*)this;
}
inline bool Vector::IsValid() const
{
return IsFinite(x) && IsFinite(y) && IsFinite(z);
}
inline void Vector::Invalidate()
{
x = y = z = VEC_T_NAN;
}
inline bool Vector::operator==(const Vector& src) const
{
CHECK_VALID(src);
CHECK_VALID(*this);
return (src.x == x) && (src.y == y) && (src.z == z);
}
inline bool Vector::operator!=(const Vector& src) const
{
CHECK_VALID(src);
CHECK_VALID(*this);
return (src.x != x) || (src.y != y) || (src.z != z);
}
FORCEINLINE void VectorCopy(const Vector& src, Vector& dst)
{
CHECK_VALID(src);
dst.x = src.x;
dst.y = src.y;
dst.z = src.z;
}
inline void Vector::CopyToArray(float* rgfl) const
{
Assert(rgfl);
CHECK_VALID(*this);
rgfl[0] = x, rgfl[1] = y, rgfl[2] = z;
}
inline void Vector::Negate()
{
CHECK_VALID(*this);
x = -x; y = -y; z = -z;
}
FORCEINLINE Vector& Vector::operator+=(const Vector& v)
{
CHECK_VALID(*this);
CHECK_VALID(v);
x += v.x; y += v.y; z += v.z;
return *this;
}
FORCEINLINE Vector& Vector::operator-=(const Vector& v)
{
CHECK_VALID(*this);
CHECK_VALID(v);
x -= v.x; y -= v.y; z -= v.z;
return *this;
}
FORCEINLINE Vector& Vector::operator*=(float fl)
{
x *= fl;
y *= fl;
z *= fl;
CHECK_VALID(*this);
return *this;
}
FORCEINLINE Vector& Vector::operator*=(const Vector& v)
{
CHECK_VALID(v);
x *= v.x;
y *= v.y;
z *= v.z;
CHECK_VALID(*this);
return *this;
}
FORCEINLINE Vector& Vector::operator+=(float fl)
{
x += fl;
y += fl;
z += fl;
CHECK_VALID(*this);
return *this;
}
FORCEINLINE Vector& Vector::operator-=(float fl)
{
x -= fl;
y -= fl;
z -= fl;
CHECK_VALID(*this);
return *this;
}
FORCEINLINE Vector& Vector::operator/=(float fl)
{
Assert(fl != 0.0f);
float oofl = 1.0f / fl;
x *= oofl;
y *= oofl;
z *= oofl;
CHECK_VALID(*this);
return *this;
}
FORCEINLINE Vector& Vector::operator/=(const Vector& v)
{
CHECK_VALID(v);
Assert(v.x != 0.0f && v.y != 0.0f && v.z != 0.0f);
x /= v.x;
y /= v.y;
z /= v.z;
CHECK_VALID(*this);
return *this;
}
inline void ShortVector::Init(short ix, short iy, short iz, short iw)
{
x = ix; y = iy; z = iz; w = iw;
}
FORCEINLINE void ShortVector::Set(const ShortVector& vOther)
{
x = vOther.x;
y = vOther.y;
z = vOther.z;
w = vOther.w;
}
FORCEINLINE void ShortVector::Set(const short ix, const short iy, const short iz, const short iw)
{
x = ix;
y = iy;
z = iz;
w = iw;
}
inline short ShortVector::operator[](int i) const
{
Assert((i >= 0) && (i < 4));
return ((short*)this)[i];
}
inline short& ShortVector::operator[](int i)
{
Assert((i >= 0) && (i < 4));
return ((short*)this)[i];
}
inline short* ShortVector::Base()
{
return (short*)this;
}
inline short const* ShortVector::Base() const
{
return (short const*)this;
}
inline bool ShortVector::operator==(const ShortVector& src) const
{
return (src.x == x) && (src.y == y) && (src.z == z) && (src.w == w);
}
inline bool ShortVector::operator!=(const ShortVector& src) const
{
return (src.x != x) || (src.y != y) || (src.z != z) || (src.w != w);
}
FORCEINLINE ShortVector& ShortVector::operator+=(const ShortVector& v)
{
x += v.x; y += v.y; z += v.z; w += v.w;
return *this;
}
FORCEINLINE ShortVector& ShortVector::operator-=(const ShortVector& v)
{
x -= v.x; y -= v.y; z -= v.z; w -= v.w;
return *this;
}
FORCEINLINE ShortVector& ShortVector::operator*=(float fl)
{
x *= fl;
y *= fl;
z *= fl;
w *= fl;
return *this;
}
FORCEINLINE ShortVector& ShortVector::operator*=(const ShortVector& v)
{
x *= v.x;
y *= v.y;
z *= v.z;
w *= v.w;
return *this;
}
FORCEINLINE ShortVector& ShortVector::operator/=(float fl)
{
Assert(fl != 0.0f);
float oofl = 1.0f / fl;
x *= oofl;
y *= oofl;
z *= oofl;
w *= oofl;
return *this;
}
FORCEINLINE ShortVector& ShortVector::operator/=(const ShortVector& v)
{
Assert(v.x != 0 && v.y != 0 && v.z != 0 && v.w != 0);
x /= v.x;
y /= v.y;
z /= v.z;
w /= v.w;
return *this;
}
FORCEINLINE void ShortVectorMultiply(const ShortVector& src, float fl, ShortVector& res)
{
Assert(IsFinite(fl));
res.x = src.x * fl;
res.y = src.y * fl;
res.z = src.z * fl;
res.w = src.w * fl;
}
FORCEINLINE ShortVector ShortVector::operator*(float fl) const
{
ShortVector res;
ShortVectorMultiply(*this, fl, res);
return res;
}
inline void IntVector4D::Init(int ix, int iy, int iz, int iw)
{
x = ix; y = iy; z = iz; w = iw;
}
FORCEINLINE void IntVector4D::Set(const IntVector4D& vOther)
{
x = vOther.x;
y = vOther.y;
z = vOther.z;
w = vOther.w;
}
FORCEINLINE void IntVector4D::Set(const int ix, const int iy, const int iz, const int iw)
{
x = ix;
y = iy;
z = iz;
w = iw;
}
inline int IntVector4D::operator[](int i) const
{
Assert((i >= 0) && (i < 4));
return ((int*)this)[i];
}
inline int& IntVector4D::operator[](int i)
{
Assert((i >= 0) && (i < 4));
return ((int*)this)[i];
}
inline int* IntVector4D::Base()
{
return (int*)this;
}
inline int const* IntVector4D::Base() const
{
return (int const*)this;
}
inline bool IntVector4D::operator==(const IntVector4D& src) const
{
return (src.x == x) && (src.y == y) && (src.z == z) && (src.w == w);
}
inline bool IntVector4D::operator!=(const IntVector4D& src) const
{
return (src.x != x) || (src.y != y) || (src.z != z) || (src.w != w);
}
FORCEINLINE IntVector4D& IntVector4D::operator+=(const IntVector4D& v)
{
x += v.x; y += v.y; z += v.z; w += v.w;
return *this;
}
FORCEINLINE IntVector4D& IntVector4D::operator-=(const IntVector4D& v)
{
x -= v.x; y -= v.y; z -= v.z; w -= v.w;
return *this;
}
FORCEINLINE IntVector4D& IntVector4D::operator*=(float fl)
{
x *= fl;
y *= fl;
z *= fl;
w *= fl;
return *this;
}
FORCEINLINE IntVector4D& IntVector4D::operator*=(const IntVector4D& v)
{
x *= v.x;
y *= v.y;
z *= v.z;
w *= v.w;
return *this;
}
FORCEINLINE IntVector4D& IntVector4D::operator/=(float fl)
{
Assert(fl != 0.0f);
float oofl = 1.0f / fl;
x *= oofl;
y *= oofl;
z *= oofl;
w *= oofl;
return *this;
}
FORCEINLINE IntVector4D& IntVector4D::operator/=(const IntVector4D& v)
{
Assert(v.x != 0 && v.y != 0 && v.z != 0 && v.w != 0);
x /= v.x;
y /= v.y;
z /= v.z;
w /= v.w;
return *this;
}
FORCEINLINE void IntVector4DMultiply(const IntVector4D& src, float fl, IntVector4D& res)
{
Assert(IsFinite(fl));
res.x = src.x * fl;
res.y = src.y * fl;
res.z = src.z * fl;
res.w = src.w * fl;
}
FORCEINLINE IntVector4D IntVector4D::operator*(float fl) const
{
IntVector4D res;
IntVector4DMultiply(*this, fl, res);
return res;
}
FORCEINLINE void VectorAdd(const Vector& a, const Vector& b, Vector& c)
{
CHECK_VALID(a);
CHECK_VALID(b);
c.x = a.x + b.x;
c.y = a.y + b.y;
c.z = a.z + b.z;
}
FORCEINLINE void VectorSubtract(const Vector& a, const Vector& b, Vector& c)
{
CHECK_VALID(a);
CHECK_VALID(b);
c.x = a.x - b.x;
c.y = a.y - b.y;
c.z = a.z - b.z;
}
FORCEINLINE void VectorMultiply(const Vector& a, vec_t b, Vector& c)
{
CHECK_VALID(a);
Assert(IsFinite(b));
c.x = a.x * b;
c.y = a.y * b;
c.z = a.z * b;
}
FORCEINLINE void VectorMultiply(const Vector& a, const Vector& b, Vector& c)
{
CHECK_VALID(a);
CHECK_VALID(b);
c.x = a.x * b.x;
c.y = a.y * b.y;
c.z = a.z * b.z;
}
inline void VectorScale(const Vector& in, vec_t scale, Vector& result)
{
VectorMultiply(in, scale, result);
}
FORCEINLINE void VectorDivide(const Vector& a, vec_t b, Vector& c)
{
CHECK_VALID(a);
Assert(b != 0.0f);
vec_t oob = 1.0f / b;
c.x = a.x * oob;
c.y = a.y * oob;
c.z = a.z * oob;
}
FORCEINLINE void VectorDivide(const Vector& a, const Vector& b, Vector& c)
{
CHECK_VALID(a);
CHECK_VALID(b);
Assert((b.x != 0.0f) && (b.y != 0.0f) && (b.z != 0.0f));
c.x = a.x / b.x;
c.y = a.y / b.y;
c.z = a.z / b.z;
}
inline void Vector::MulAdd(const Vector& a, const Vector& b, float scalar)
{
CHECK_VALID(a);
CHECK_VALID(b);
x = a.x + b.x * scalar;
y = a.y + b.y * scalar;
z = a.z + b.z * scalar;
}
inline void VectorLerp(const Vector& src1, const Vector& src2, vec_t t, Vector& dest)
{
CHECK_VALID(src1);
CHECK_VALID(src2);
dest.x = src1.x + (src2.x - src1.x) * t;
dest.y = src1.y + (src2.y - src1.y) * t;
dest.z = src1.z + (src2.z - src1.z) * t;
}
inline Vector VectorLerp(const Vector& src1, const Vector& src2, vec_t t)
{
Vector result;
VectorLerp(src1, src2, t, result);
return result;
}
inline Vector& AllocTempVector()
{
static Vector s_vecTemp[128];
static CInterlockedInt s_nIndex;
int nIndex;
for (;;)
{
int nOldIndex = s_nIndex;
nIndex = ((nOldIndex + 0x10001) & 0x7F);
if (s_nIndex.AssignIf(nOldIndex, nIndex))
{
break;
}
ThreadPause();
}
return s_vecTemp[nIndex];
}
FORCEINLINE vec_t DotProduct(const Vector& a, const Vector& b)
{
CHECK_VALID(a);
CHECK_VALID(b);
return(a.x * b.x + a.y * b.y + a.z * b.z);
}
inline vec_t Vector::Dot(const Vector& vOther) const
{
CHECK_VALID(vOther);
return DotProduct(*this, vOther);
}
inline void CrossProduct(const Vector& a, const Vector& b, Vector& result)
{
CHECK_VALID(a);
CHECK_VALID(b);
Assert(&a != &result);
Assert(&b != &result);
result.x = a.y * b.z - a.z * b.y;
result.y = a.z * b.x - a.x * b.z;
result.z = a.x * b.y - a.y * b.x;
}
inline vec_t DotProductAbs(const Vector& v0, const Vector& v1)
{
CHECK_VALID(v0);
CHECK_VALID(v1);
return FloatMakePositive(v0.x * v1.x) + FloatMakePositive(v0.y * v1.y) + FloatMakePositive(v0.z * v1.z);
}
inline vec_t DotProductAbs(const Vector& v0, const float* v1)
{
return FloatMakePositive(v0.x * v1[0]) + FloatMakePositive(v0.y * v1[1]) + FloatMakePositive(v0.z * v1[2]);
}
inline vec_t VectorLength(const Vector& v)
{
CHECK_VALID(v);
return (vec_t)FastSqrt(v.x * v.x + v.y * v.y + v.z * v.z);
}
inline vec_t Vector::Length(void) const
{
CHECK_VALID(*this);
return VectorLength(*this);
}
bool Vector::WithinAABox(Vector const& boxmin, Vector const& boxmax)
{
return (
(x >= boxmin.x) && (x <= boxmax.x) &&
(y >= boxmin.y) && (y <= boxmax.y) &&
(z >= boxmin.z) && (z <= boxmax.z)
);
}
inline vec_t Vector::DistTo(const Vector& vOther) const
{
Vector delta;
VectorSubtract(*this, vOther, delta);
return delta.Length();
}
inline bool VectorsAreEqual(const Vector& src1, const Vector& src2, float tolerance)
{
if (FloatMakePositive(src1.x - src2.x) > tolerance)
return false;
if (FloatMakePositive(src1.y - src2.y) > tolerance)
return false;
return (FloatMakePositive(src1.z - src2.z) <= tolerance);
}
inline void ComputeClosestPoint(const Vector& vecStart, float flMaxDist, const Vector& vecTarget, Vector* pResult)
{
Vector vecDelta;
VectorSubtract(vecTarget, vecStart, vecDelta);
float flDistSqr = vecDelta.LengthSqr();
if (flDistSqr <= flMaxDist * flMaxDist)
{
*pResult = vecTarget;
}
else
{
vecDelta /= FastSqrt(flDistSqr);
VectorMA(vecStart, flMaxDist, vecDelta, *pResult);
}
}
inline void VectorAbs(const Vector& src, Vector& dst)
{
dst.x = FloatMakePositive(src.x);
dst.y = FloatMakePositive(src.y);
dst.z = FloatMakePositive(src.z);
}
#ifndef VECTOR_NO_SLOW_OPERATIONS
inline Vector Vector::Min(const Vector& vOther) const
{
return Vector(x < vOther.x ? x : vOther.x,
y < vOther.y ? y : vOther.y,
z < vOther.z ? z : vOther.z);
}
inline Vector Vector::Max(const Vector& vOther) const
{
return Vector(x > vOther.x ? x : vOther.x,
y > vOther.y ? y : vOther.y,
z > vOther.z ? z : vOther.z);
}
inline Vector Vector::operator-(void) const
{
return Vector(-x, -y, -z);
}
inline Vector Vector::operator+(const Vector& v) const
{
Vector res;
VectorAdd(*this, v, res);
return res;
}
inline Vector Vector::operator-(const Vector& v) const
{
Vector res;
VectorSubtract(*this, v, res);
return res;
}
inline Vector Vector::operator*(float fl) const
{
Vector res;
VectorMultiply(*this, fl, res);
return res;
}
inline Vector Vector::operator*(const Vector& v) const
{
Vector res;
VectorMultiply(*this, v, res);
return res;
}
inline Vector Vector::operator/(float fl) const
{
Vector res;
VectorDivide(*this, fl, res);
return res;
}
inline Vector Vector::operator/(const Vector& v) const
{
Vector res;
VectorDivide(*this, v, res);
return res;
}
inline Vector operator*(float fl, const Vector& v)
{
return v * fl;
}
inline Vector Vector::Cross(const Vector& vOther) const
{
Vector res;
CrossProduct(*this, vOther, res);
return res;
}
inline vec_t Vector::Length2D(void) const
{
return (vec_t)FastSqrt(x * x + y * y);
}
inline vec_t Vector::Length2DSqr(void) const
{
return (x * x + y * y);
}
inline Vector CrossProduct(const Vector& a, const Vector& b)
{
return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
}
inline void VectorMin(const Vector& a, const Vector& b, Vector& result)
{
result.x = fpmin(a.x, b.x);
result.y = fpmin(a.y, b.y);
result.z = fpmin(a.z, b.z);
}
inline void VectorMax(const Vector& a, const Vector& b, Vector& result)
{
result.x = fpmax(a.x, b.x);
result.y = fpmax(a.y, b.y);
result.z = fpmax(a.z, b.z);
}
inline float ComputeVolume(const Vector& vecMins, const Vector& vecMaxs)
{
Vector vecDelta;
VectorSubtract(vecMaxs, vecMins, vecDelta);
return DotProduct(vecDelta, vecDelta);
}
inline Vector RandomVector(float minVal, float maxVal)
{
Vector random;
random.Random(minVal, maxVal);
return random;
}
#endif
inline bool operator==(float const* f, const Vector& v)
{
Assert(0);
return false;
}
inline bool operator==(const Vector& v, float const* f)
{
Assert(0);
return false;
}
inline bool operator!=(float const* f, const Vector& v)
{
Assert(0);
return false;
}
inline bool operator!=(const Vector& v, float const* f)
{
Assert(0);
return false;
}
typedef Vector AngularImpulse;
#ifndef VECTOR_NO_SLOW_OPERATIONS
inline AngularImpulse RandomAngularImpulse(float minVal, float maxVal)
{
AngularImpulse angImp;
angImp.Random(minVal, maxVal);
return angImp;
}
#endif
class RadianEuler;
class Quaternion
{
public:
inline Quaternion(void) {
#ifdef _DEBUG
#ifdef VECTOR_PARANOIA
x = y = z = w = VEC_T_NAN;
#endif
#endif
}
inline Quaternion(vec_t ix, vec_t iy, vec_t iz, vec_t iw) : x(ix), y(iy), z(iz), w(iw) { }
inline Quaternion(RadianEuler const& angle);
inline void Init(vec_t ix = 0.0f, vec_t iy = 0.0f, vec_t iz = 0.0f, vec_t iw = 0.0f) { x = ix; y = iy; z = iz; w = iw; }
bool IsValid() const;
void Invalidate();
bool operator==(const Quaternion& src) const;
bool operator!=(const Quaternion& src) const;
vec_t* Base() { return (vec_t*)this; }
const vec_t* Base() const { return (vec_t*)this; }
vec_t operator[](int i) const;
vec_t& operator[](int i);
vec_t x, y, z, w;
};
inline vec_t& Quaternion::operator[](int i)
{
Assert((i >= 0) && (i < 4));
return ((vec_t*)this)[i];
}
inline vec_t Quaternion::operator[](int i) const
{
Assert((i >= 0) && (i < 4));
return ((vec_t*)this)[i];
}
inline bool Quaternion::operator==(const Quaternion& src) const
{
return (x == src.x) && (y == src.y) && (z == src.z) && (w == src.w);
}
inline bool Quaternion::operator!=(const Quaternion& src) const
{
return !operator==(src);
}
inline bool QuaternionsAreEqual(const Quaternion& src1, const Quaternion& src2, float tolerance)
{
if (FloatMakePositive(src1.x - src2.x) > tolerance)
return false;
if (FloatMakePositive(src1.y - src2.y) > tolerance)
return false;
if (FloatMakePositive(src1.z - src2.z) > tolerance)
return false;
return (FloatMakePositive(src1.w - src2.w) <= tolerance);
}
class ALIGN16 QuaternionAligned : public Quaternion
{
public:
inline QuaternionAligned(void) {};
inline QuaternionAligned(vec_t X, vec_t Y, vec_t Z, vec_t W)
{
Init(X, Y, Z, W);
}
#ifdef VECTOR_NO_SLOW_OPERATIONS
private:
QuaternionAligned(const QuaternionAligned& vOther);
QuaternionAligned(const Quaternion& vOther);
#else
public:
explicit QuaternionAligned(const Quaternion& vOther)
{
Init(vOther.x, vOther.y, vOther.z, vOther.w);
}
QuaternionAligned& operator=(const Quaternion& vOther)
{
Init(vOther.x, vOther.y, vOther.z, vOther.w);
return *this;
}
#endif
} ALIGN16_POST;
class QAngle;
class RadianEuler
{
public:
inline RadianEuler(void) { }
inline RadianEuler(vec_t X, vec_t Y, vec_t Z) { x = X; y = Y; z = Z; }
inline RadianEuler(Quaternion const& q);
inline RadianEuler(QAngle const& angles);
inline void Init(vec_t ix = 0.0f, vec_t iy = 0.0f, vec_t iz = 0.0f) { x = ix; y = iy; z = iz; }
QAngle ToQAngle(void) const;
bool IsValid() const;
void Invalidate();
vec_t operator[](int i) const;
vec_t& operator[](int i);
vec_t x, y, z;
};
extern void AngleQuaternion(RadianEuler const& angles, Quaternion& qt);
extern void QuaternionAngles(Quaternion const& q, RadianEuler& angles);
FORCEINLINE void NetworkVarConstruct(Quaternion& q) { q.x = q.y = q.z = q.w = 0.0f; }
inline Quaternion::Quaternion(RadianEuler const& angle)
{
AngleQuaternion(angle, *this);
}
inline bool Quaternion::IsValid() const
{
return IsFinite(x) && IsFinite(y) && IsFinite(z) && IsFinite(w);
}
inline void Quaternion::Invalidate()
{
x = y = z = w = VEC_T_NAN;
}
inline RadianEuler::RadianEuler(Quaternion const& q)
{
QuaternionAngles(q, *this);
}
inline void VectorCopy(RadianEuler const& src, RadianEuler& dst)
{
CHECK_VALID(src);
dst.x = src.x;
dst.y = src.y;
dst.z = src.z;
}
inline void VectorScale(RadianEuler const& src, float b, RadianEuler& dst)
{
CHECK_VALID(src);
Assert(IsFinite(b));
dst.x = src.x * b;
dst.y = src.y * b;
dst.z = src.z * b;
}
inline bool RadianEuler::IsValid() const
{
return IsFinite(x) && IsFinite(y) && IsFinite(z);
}
inline void RadianEuler::Invalidate()
{
x = y = z = VEC_T_NAN;
}
inline vec_t& RadianEuler::operator[](int i)
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t RadianEuler::operator[](int i) const
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
class QAngleByValue;
class QAngle
{
public:
vec_t x, y, z;
QAngle(void);
QAngle(vec_t X, vec_t Y, vec_t Z);
operator QAngleByValue& () { return *((QAngleByValue*)(this)); }
operator const QAngleByValue& () const { return *((const QAngleByValue*)(this)); }
void Init(vec_t ix = 0.0f, vec_t iy = 0.0f, vec_t iz = 0.0f);
void Random(vec_t minVal, vec_t maxVal);
bool IsValid() const;
void Invalidate();
vec_t operator[](int i) const;
vec_t& operator[](int i);
vec_t* Base();
vec_t const* Base() const;
bool operator==(const QAngle& v) const;
bool operator!=(const QAngle& v) const;
QAngle& operator+=(const QAngle& v);
QAngle& operator-=(const QAngle& v);
QAngle& operator*=(float s);
QAngle& operator/=(float s);
vec_t Length() const;
vec_t LengthSqr() const;
QAngle& operator=(const QAngle& src);
#ifndef VECTOR_NO_SLOW_OPERATIONS
QAngle operator-(void) const;
QAngle operator+(const QAngle& v) const;
QAngle operator-(const QAngle& v) const;
QAngle operator*(float fl) const;
QAngle operator/(float fl) const;
#else
private:
QAngle(const QAngle& vOther);
#endif
};
FORCEINLINE void NetworkVarConstruct(QAngle& q) { q.x = q.y = q.z = 0.0f; }
class QAngleByValue : public QAngle
{
public:
QAngleByValue(void) : QAngle() {}
QAngleByValue(vec_t X, vec_t Y, vec_t Z) : QAngle(X, Y, Z) {}
QAngleByValue(const QAngleByValue& vOther) { *this = vOther; }
};
inline void VectorAdd(const QAngle& a, const QAngle& b, QAngle& result)
{
CHECK_VALID(a);
CHECK_VALID(b);
result.x = a.x + b.x;
result.y = a.y + b.y;
result.z = a.z + b.z;
}
inline void VectorMA(const QAngle& start, float scale, const QAngle& direction, QAngle& dest)
{
CHECK_VALID(start);
CHECK_VALID(direction);
dest.x = start.x + scale * direction.x;
dest.y = start.y + scale * direction.y;
dest.z = start.z + scale * direction.z;
}
inline QAngle::QAngle(void)
{
#ifdef _DEBUG
#ifdef VECTOR_PARANOIA
x = y = z = VEC_T_NAN;
#endif
#endif
}
inline QAngle::QAngle(vec_t X, vec_t Y, vec_t Z)
{
x = X; y = Y; z = Z;
CHECK_VALID(*this);
}
inline void QAngle::Init(vec_t ix, vec_t iy, vec_t iz)
{
x = ix; y = iy; z = iz;
CHECK_VALID(*this);
}
inline void QAngle::Random(vec_t minVal, vec_t maxVal)
{
x = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
y = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
z = minVal + ((float)rand() / VALVE_RAND_MAX) * (maxVal - minVal);
CHECK_VALID(*this);
}
#ifndef VECTOR_NO_SLOW_OPERATIONS
inline QAngle RandomAngle(float minVal, float maxVal)
{
Vector random;
random.Random(minVal, maxVal);
QAngle ret(random.x, random.y, random.z);
return ret;
}
#endif
inline RadianEuler::RadianEuler(QAngle const& angles)
{
Init(
angles.z * 3.14159265358979323846f / 180.f,
angles.x * 3.14159265358979323846f / 180.f,
angles.y * 3.14159265358979323846f / 180.f);
}
inline QAngle RadianEuler::ToQAngle(void) const
{
return QAngle(
y * 180.f / 3.14159265358979323846f,
z * 180.f / 3.14159265358979323846f,
x * 180.f / 3.14159265358979323846f);
}
inline QAngle& QAngle::operator=(const QAngle& vOther)
{
CHECK_VALID(vOther);
x = vOther.x; y = vOther.y; z = vOther.z;
return *this;
}
inline vec_t& QAngle::operator[](int i)
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t QAngle::operator[](int i) const
{
Assert((i >= 0) && (i < 3));
return ((vec_t*)this)[i];
}
inline vec_t* QAngle::Base()
{
return (vec_t*)this;
}
inline vec_t const* QAngle::Base() const
{
return (vec_t const*)this;
}
inline bool QAngle::IsValid() const
{
return IsFinite(x) && IsFinite(y) && IsFinite(z);
}
inline void QAngle::Invalidate()
{
x = y = z = VEC_T_NAN;
}
inline bool QAngle::operator==(const QAngle& src) const
{
CHECK_VALID(src);
CHECK_VALID(*this);
return (src.x == x) && (src.y == y) && (src.z == z);
}
inline bool QAngle::operator!=(const QAngle& src) const
{
CHECK_VALID(src);
CHECK_VALID(*this);
return (src.x != x) || (src.y != y) || (src.z != z);
}
inline void VectorCopy(const QAngle& src, QAngle& dst)
{
CHECK_VALID(src);
dst.x = src.x;
dst.y = src.y;
dst.z = src.z;
}
inline QAngle& QAngle::operator+=(const QAngle& v)
{
CHECK_VALID(*this);
CHECK_VALID(v);
x += v.x; y += v.y; z += v.z;
return *this;
}
inline QAngle& QAngle::operator-=(const QAngle& v)
{
CHECK_VALID(*this);
CHECK_VALID(v);
x -= v.x; y -= v.y; z -= v.z;
return *this;
}
inline QAngle& QAngle::operator*=(float fl)
{
x *= fl;
y *= fl;
z *= fl;
CHECK_VALID(*this);
return *this;
}
inline QAngle& QAngle::operator/=(float fl)
{
Assert(fl != 0.0f);
float oofl = 1.0f / fl;
x *= oofl;
y *= oofl;
z *= oofl;
CHECK_VALID(*this);
return *this;
}
inline vec_t QAngle::Length() const
{
CHECK_VALID(*this);
return (vec_t)FastSqrt(LengthSqr());
}
inline vec_t QAngle::LengthSqr() const
{
CHECK_VALID(*this);
return x * x + y * y + z * z;
}
inline bool QAnglesAreEqual(const QAngle& src1, const QAngle& src2, float tolerance = 0.0f)
{
if (FloatMakePositive(src1.x - src2.x) > tolerance)
return false;
if (FloatMakePositive(src1.y - src2.y) > tolerance)
return false;
return (FloatMakePositive(src1.z - src2.z) <= tolerance);
}
#ifndef VECTOR_NO_SLOW_OPERATIONS
inline QAngle QAngle::operator-(void) const
{
QAngle ret(-x, -y, -z);
return ret;
}
inline QAngle QAngle::operator+(const QAngle& v) const
{
QAngle res;
res.x = x + v.x;
res.y = y + v.y;
res.z = z + v.z;
return res;
}
inline QAngle QAngle::operator-(const QAngle& v) const
{
QAngle res;
res.x = x - v.x;
res.y = y - v.y;
res.z = z - v.z;
return res;
}
inline QAngle QAngle::operator*(float fl) const
{
QAngle res;
res.x = x * fl;
res.y = y * fl;
res.z = z * fl;
return res;
}
inline QAngle QAngle::operator/(float fl) const
{
QAngle res;
res.x = x / fl;
res.y = y / fl;
res.z = z / fl;
return res;
}
inline QAngle operator*(float fl, const QAngle& v)
{
QAngle ret(v * fl);
return ret;
}
#endif
inline void QAngleToAngularImpulse(const QAngle& angles, AngularImpulse& impulse)
{
impulse.x = angles.z;
impulse.y = angles.x;
impulse.z = angles.y;
}
inline void AngularImpulseToQAngle(const AngularImpulse& impulse, QAngle& angles)
{
angles.x = impulse.y;
angles.y = impulse.z;
angles.z = impulse.x;
}
#if !defined( _X360 )
FORCEINLINE vec_t InvRSquared(float const* v)
{
#if defined(__i386__) || defined(_M_IX86)
float sqrlen = v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + 1.0e-10f, result;
_mm_store_ss(&result, _mm_rcp_ss(_mm_max_ss(_mm_set_ss(1.0f), _mm_load_ss(&sqrlen))));
return result;
#else
return 1.f / fpmax(1.f, v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
#endif
}
FORCEINLINE vec_t InvRSquared(const Vector& v)
{
return InvRSquared(&v.x);
}
#if defined(__i386__) || defined(_M_IX86)
inline void _SSE_RSqrtInline(float a, float* out)
{
__m128 xx = _mm_load_ss(&a);
__m128 xr = _mm_rsqrt_ss(xx);
__m128 xt;
xt = _mm_mul_ss(xr, xr);
xt = _mm_mul_ss(xt, xx);
xt = _mm_sub_ss(_mm_set_ss(3.f), xt);
xt = _mm_mul_ss(xt, _mm_set_ss(0.5f));
xr = _mm_mul_ss(xr, xt);
_mm_store_ss(out, xr);
}
#endif
FORCEINLINE float VectorNormalize(Vector& vec)
{
#ifndef DEBUG
#if defined(__i386__) || defined(_M_IX86)
#define DO_SSE_OPTIMIZATION
#endif
#endif
#if defined( DO_SSE_OPTIMIZATION )
float sqrlen = vec.LengthSqr() + 1.0e-10f, invlen;
_SSE_RSqrtInline(sqrlen, &invlen);
vec.x *= invlen;
vec.y *= invlen;
vec.z *= invlen;
return sqrlen * invlen;
#else
extern float (FASTCALL * pfVectorNormalize)(Vector & v);
return (*pfVectorNormalize)(vec);
#endif
}
FORCEINLINE float VectorNormalize(float* v)
{
return VectorNormalize(*(reinterpret_cast<Vector*>(v)));
}
FORCEINLINE void VectorNormalizeFast(Vector& vec)
{
VectorNormalize(vec);
}
#else
FORCEINLINE float _VMX_InvRSquared(const Vector& v)
{
XMVECTOR xmV = XMVector3ReciprocalLength(XMLoadVector3(v.Base()));
xmV = XMVector3Dot(xmV, xmV);
return xmV.x;
}
FORCEINLINE float _VMX_VectorNormalize(Vector& vec)
{
float mag = XMVector3Length(XMLoadVector3(vec.Base())).x;
float den = 1.f / (mag + FLT_EPSILON);
vec.x *= den;
vec.y *= den;
vec.z *= den;
return mag;
}
#define InvRSquared(x) _VMX_InvRSquared(x)
FORCEINLINE float VectorNormalize(Vector& v)
{
return _VMX_VectorNormalize(v);
}
FORCEINLINE float VectorNormalize(float* pV)
{
return _VMX_VectorNormalize(*(reinterpret_cast<Vector*>(pV)));
}
FORCEINLINE void VectorNormalizeFast(Vector& vec)
{
XMVECTOR xmV = XMVector3LengthEst(XMLoadVector3(vec.Base()));
float den = 1.f / (xmV.x + FLT_EPSILON);
vec.x *= den;
vec.y *= den;
vec.z *= den;
}
#endif
inline vec_t Vector::NormalizeInPlace()
{
return VectorNormalize(*this);
}
inline Vector Vector::Normalized() const
{
Vector norm = *this;
VectorNormalize(norm);
return norm;
}
inline bool Vector::IsLengthGreaterThan(float val) const
{
return LengthSqr() > val * val;
}
inline bool Vector::IsLengthLessThan(float val) const
{
return LengthSqr() < val * val;
}
#endif
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