Vector4.h

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////////////////////////////////////////////////////////////////////////////////
//    Scorched3D (c) 2000-2009
//
//    This file is part of Scorched3D.
//
//    Scorched3D 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 2 of the License, or
//    (at your option) any later version.
//
//    Scorched3D 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 Scorched3D; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
////////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_Vector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_)
#define AFX_Vector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_

#include <common/Vector.h>

class Vector4  
{
public:
        Vector4()
        {
                V[0] = V[1] = V[2] = V[3] = 0.0f;
        }

        Vector4(const Vector &v, float a = 1.0f)
        {
                V[0] = ((Vector &) v)[0];
                V[1] = ((Vector &) v)[1];
                V[2] = ((Vector &) v)[2];
                V[3] = a;
        }

        Vector4(const Vector4 &c1, const Vector4 &c2, float scal) 
        {
                V[0] = (c1[0]*(1-scal) + c2[0]*scal);
                V[1] = (c1[1]*(1-scal) + c2[1]*scal);
                V[2] = (c1[2]*(1-scal) + c2[2]*scal);
                V[3] = (c1[3]*(1-scal) + c2[3]*scal);
        }

        Vector4(const Vector4 &v)
        {
                V[0] = ((Vector4 &) v)[0];
                V[1] = ((Vector4 &) v)[1];
                V[2] = ((Vector4 &) v)[2];
                V[3] = ((Vector4 &) v)[3];
        }

        Vector4(const float Pt[4])
        {
                V[0] = Pt[0];
                V[1] = Pt[1];
                V[2] = Pt[2];
                V[3] = Pt[3];
        }

        Vector4(const float ptA, const float ptB, const float ptC, float ptD=0.0f)
        {
                V[0] = ptA;
                V[1] = ptB;
                V[2] = ptC;
                V[3] = ptD;
        }

        Vector4(const int ptA, const int ptB, const int ptC, const int ptD=0)
        {
                V[0] = (float) ptA;
                V[1] = (float) ptB;
                V[2] = (float) ptC;
                V[3] = (float) ptD;
        }

        void zero()
        {
                V[0] = V[1] = V[2] = V[3] = 0.0f;
        }

        bool operator==(const Vector4 &Vin1)
        {
                return (Vin1.V[0]==V[0] && Vin1.V[1]==V[1] && Vin1.V[2]==V[2] && Vin1.V[3]==V[3]);
        }

        bool operator!=(const Vector4 &Vin1)
        {
                return !((*this) == Vin1);
        }

        Vector4 &operator+=(const Vector4 &qc)
        {
                V[0] += qc.V[0];
                V[1] += qc.V[1];
                V[2] += qc.V[2];
                V[3] += qc.V[3];

                return *this;
        }

        Vector4 operator*(const Vector4 &qc)
        {
                Vector4 qa;
                Vector4 &qb = *this;
                
                // dQMultiply0 from ODE
                qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
                qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
                qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
                qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
        
                return qa;
        }

        ///> component wise linear interpolation
        Vector4 lerp(Vector4 &c1, Vector4 &c2) 
        {
                return Vector4(
                        c1[0] * (1.0f - V[0]) + c2[0] * V[0],
                        c1[1] * (1.0f - V[1]) + c2[1] * V[1],
                        c1[2] * (1.0f - V[2]) + c2[2] * V[2],
                        c1[3] * (1.0f - V[3]) + c2[3] * V[3]);
        }

        void Normalize();

        // Quaternion maths
        void setQuatFromAxisAndAngle(Vector &axis, float angle);
        void getRotationMatrix(float *R); // R = float[4*3];
        void getOpenGLRotationMatrix(float *R); // R = float[16];
        void getRelativeVector(Vector &result, Vector &position);
        static void dDQfromW(Vector4 &dq, Vector &w, Vector4 &q);

        float &operator[](const int m) { DIALOG_ASSERT(m<=3); return V[m]; }
        float const &operator[](const int m) const { DIALOG_ASSERT(m<=3); return V[m]; }

        operator float*() { return V; }
        static Vector4 &getNullVector();

protected:
        float V[4];

};

#endif // !defined(AFX_Vector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_)

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