Maths - sfvec3f C#

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/*Title:      mjbWorld
Copyright (c) 1998-2007 Martin John BakerThis program 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.This program 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.For information about the GNU General Public License see http://www.gnu.org/To discuss this program http://sourceforge.net/forum/forum.php?forum_id=122133 also see website https://www.euclideanspace.com/ */ /* for theory see: https://www.euclideanspace.com/maths/algebra/vectors/index.htm */namespace mjbModel { using System; using System.ComponentModel; using System.IO; using System.Collections; using System.Reflection; using System.Text; using System.Xml;/// <summary> /// This class can represent a 3D vector. For instance a point in 3D space, or /// a relative position or movement. /// /// The class has methods to add, subtact, (cross and dot) multiply with other /// vectors. also many other methods, including the ability to load and save /// to from VRML and x3d /// </summary> class sfvec3f : property { /// <summary> /// VRML only supports float but allow override if higher resolution required /// </summary> public static bool saveAsDouble = false ; /// <summary> /// x coordinate /// </summary> public double x; /// <summary> /// y coordinate /// </summary> public double y; /// <summary> /// z coordinate /// </summary> public double z;/// <summary> /// a constructor to set initial values of x,y and z coodinates /// </summary> /// <param name="x1">value of x coordinate</param> /// <param name="y1">value of y coordinate</param> /// <param name="z1">value of z coordinate</param> public sfvec3f(double x1,double y1,double z1) { x=x1; y=y1; z=z1; }/// <summary> /// copy constructor /// </summary> /// <param name="in1">set values to save value in1</param> public sfvec3f(sfvec3f in1) { x=(in1!=null) ? in1.x : 0; y= (in1!=null) ? in1.y : 0; z= (in1!=null) ? in1.z : 1; }/// <summary> /// construct a vector with initial value zero. /// </summary> public sfvec3f() { }/// <summary> /// static method to return sum of two vectors /// </summary> /// <param name="a">first vector to be added</param> /// <param name="b">second vector to be added</param> /// <returns>the sum</returns> public static sfvec3f add(sfvec3f a,sfvec3f b){ return new sfvec3f(a.x + b.x,a.y + b.y,a.z + b.z); }/// <summary> /// static method to return difference of two vectors /// </summary> /// <param name="a">first vector</param> /// <param name="b">subract this vector</param> /// <returns>result</returns> public static sfvec3f sub(sfvec3f a,sfvec3f b){ return new sfvec3f(a.x - b.x,a.y - b.y,a.z - b.z); }/// <summary> /// static method to give the VRML name of this vector /// </summary> /// <returns></returns> public static string vrmlType_s(){ return "SFVec3f"; }/// <summary> /// method to give the VRML name of this vector /// sometimes we cant use vrmlType_s because static methods cant be overriden /// </summary> /// <returns></returns> public override string vrmlType(){ return "SFVec3f"; }/// <summary> /// finds the type of a class which can edit this property /// </summary> /// <returns>editor</returns> public static Type getEditClass(){ return typeof(sfvec3fEditor); }/// <summary> /// overrides base clone method /// </summary> /// <returns>new instance with same value of this</returns> public override property clone() { return new sfvec3f(this); }/// <summary> /// set the value of this instance to the value of other /// this can be used to reuse an instance without the overheads of garbidge collection /// </summary> /// <param name="other">instace we want to use value of, if null then set to zero</param> public void copy(sfvec3f other){ if (other==null) { x=y=z=0; return; } x= other.x; y= other.y; z= other.z; }/// <summary> /// subtract other vector from this /// for theory see: /// https://www.euclideanspace.com/maths/algebra/vectors/index.htm /// </summary> /// <param name="other">vector to be subtracted from this</param> public void sub(sfvec3f other){ if (other==null) return; x-= other.x; y-= other.y; z-= other.z; }/// <summary> /// add other vector to this /// for theory see: /// https://www.euclideanspace.com/maths/algebra/vectors/index.htm /// </summary> /// <param name="other">vector to be added to this</param> public void add(sfvec3f other){ if (other==null) return; x+= other.x; y+= other.y; z+= other.z; }/// <summary> /// convert this vector to unit length /// for theory see: /// https://www.euclideanspace.com/maths/algebra/vectors/normals/index.htm /// </summary> public void normalize(){ double t = Math.Sqrt(x*x + y*y + z*z); x /= t; y /= t; z /= t; }/// <summary> /// scale this vector equally in all directions /// </summary> /// <param name="sc">scale factor</param> public void scale(double sc){ x *= sc; y *= sc; z *= sc; }/// <summary> /// scale this vector posibly different in x,y and z directions /// </summary> /// <param name="other">scale value</param> public void scale(sfvec3f other){ x *= other.x; y *= other.y; z *= other.z; }/// <summary> /// scale this vector by inverse of other /// </summary> /// <param name="other">scale value</param> public void scaleInv(sfvec3f other){ x /= other.x; y /= other.y; z /= other.z; }/// <summary> /// return square of distance from end of this vector to end of other /// </summary> /// <param name="other">calcules distance from this vector</param> /// <returns>square of distance from end of this vector to end of other</returns> public double distanceSquared(sfvec3f other){ double x1 = other.x - x; double y1 = other.y - y; double z1 = other.z - z; return x1*x1 + y1*y1 + z1*z1; }/// <summary> /// cross product /// for theory see: /// https://www.euclideanspace.com/maths/algebra/vectors/index.htm /// </summary> /// <param name="other">other vector to take cross product with</param> public void cross(sfvec3f other) { double xh = y * other.z - other.y * z; double yh = z * other.x - other.z * x; double zh = x * other.y - other.x * y; x = xh; y = yh; z = zh; }/// <summary> /// dot product /// for theory see: /// https://www.euclideanspace.com/maths/algebra/vectors/index.htm /// </summary> /// <param name="other">vector to take dot product with</param> /// <returns>dot product</returns> public double dot(sfvec3f other) { return (x * other.x) + (y * other.y) + (z * other.z); }/// <summary> /// create an array of the appropriate type /// with a size given by the parameter /// </summary> /// <param name="size">array size</param> /// <returns>new instance of sfvec3f array</returns> public override property[] createArray(int size){ return new sfvec3f[size]; }/// <summary> /// set the x value only without althering the other dimensions /// </summary> /// <param name="v">new value for x</param> public void setX(double v) { x=v; }/// <summary> /// set the y value only without althering the other dimensions /// </summary> /// <param name="v">new value for y</param> public void setY(double v) { y=v; }/// <summary> /// set the z value only without althering the other dimensions /// </summary> /// <param name="v">new value for z</param> public void setZ(double v) { z=v; }/// <summary> /// gets the value in the x dimension /// </summary> /// <returns>the value in the x dimension</returns> public double getx() { return x; }/// <summary> /// gets the value in the y dimension /// </summary> /// <returns>the value in the y dimension</returns> public double gety() { return y; }/// <summary> /// gets the value in the z dimension /// </summary> /// <returns>the value in the z dimension</returns> public double getz() { return z; }/// <summary> /// inverts the direction of the vector /// </summary> public void minus() { x=-x; y=-y; z=-z; }/// <summary> /// return a vector pointing on the opposite direction to this without affecting the /// value of this instance /// </summary> /// <returns></returns> public sfvec3f getMinus() { return new sfvec3f(-x,-y,-z); }/// <summary> /// return a string which represents the value which can be used in source code /// </summary> /// <returns></returns> public String toStatic() { return String.Concat(x.ToString(),"f,", y.ToString(),"f,", z.ToString(),"f"); }/// <summary> /// output the value of this vector as a string, values are separated by commas and /// enclosed in brackets /// </summary> /// <returns>a string representing the value of this</returns> public override string ToString() { return String.Concat("(",x.ToString(),",", y.ToString(),",", z.ToString(),")"); }/// <summary> /// returns true if any dimension of other vector is greater than the same dimension /// of this /// </summary> /// <param name="other">vector to compare with this</param> /// <returns>true if greater</returns> public bool greaterThan(sfvec3f other) { if (other.x > x) return true; if (other.y > y) return true; if (other.z > z) return true; return false; }/// <summary> /// returns true if any dimension of other vector is less than the same dimension /// of this /// </summary> /// <param name="other">vector to compare with this</param> /// <returns>true if less</returns> public bool lessThan(sfvec3f other) { if (other.x < x) return true; if (other.y < y) return true; if (other.z < z) return true; return false; }/// <summary> /// returns true if this vector has an equal value to other vector /// </summary> /// <param name="v2"></param> /// <returns></returns> public bool Equals(sfvec3f other) { if (other==null) return false; if (x!= other.x) return false; if (y!= other.y) return false; if (z!= other.z) return false; return true; }/// <summary> /// calcultes new translation when combining translations /// /// Rt = Ra Rb /// Ct = Cb /// Tt = Ra (Cb + Tb - Ca) + Ca + Ta - Cb /// /// for theory: /// https://www.euclideanspace.com/maths/geometry/rotations/rotationAndTranslation/nonMatrix/index.htm /// </summary> /// <param name="ta">Ta = translation of transform a in absolute coordinates</param> /// <param name="ra">Ra = rotation function of transform a in absolute coordinates</param> /// <param name="ca">Ca = centre of rotation of transform a in absolute coordinates</param> /// <param name="tb">Tb = translation of transform b in coordinates of transform a</param> /// <param name="cb">Cb = centre of rotation of transform b in coordinates of transform a</param> /// <returns>Tt total offset</returns> public sfvec3f rotationOffset(sfvec3f ta,sfrotation ra,sfvec3f ca,sfvec3f tb,sfvec3f cb) { sfvec3f result = new sfvec3f(cb); result.add(tb); result.sub(ca); if (ra != null) ra.transform(result); result.add(ca); result.add(ta); result.sub(cb); return result; }/// <summary> /// use to combine bounds /// if i=0 take minimum otherwise maximum /// </summary> /// <param name="other">vector to combine with</param> /// <param name="i">if i=0 take minimum otherwise maximum</param> public void bounds(sfvec3f other,int i){ if (i==0) { // take minimum if (other.x < x) x=other.x; if (other.y < y) y=other.y; if (other.z < z) z=other.z; } else { // take maximum if (other.x > x) x=other.x; if (other.y > y) y=other.y; if (other.z > z) z=other.z; } }/// <summary> /// used when reading XML /// called by sfparam which is called by mfparam which is called by filter_x3d /// </summary> /// <param name="val">expects val to be in following format (1.0 2.0 3.0)</param> /// <param name="type">not used</param> public override void setAttribute(string val,string type){ try { string[] tokens=val.Split("() \t\n\r\f".ToCharArray()); //Console.WriteLine("sfvec3f.setAttribute({0},{1}) x={2} y={3} z={4}",val,type,tokens[0],tokens[1],tokens[2]); int offset=0; while (tokens[offset].Equals("")) offset++; /* for (int t=0;t<tokens.Length;t++) { char[] c=tokens[t].ToCharArray(); Console.Write("sfrotation.setAttribute("+val+","+type+") offset"+offset+" t="+t); for (int p=0;p<c.Length;p++){ int i0 =(int)c[p]; Console.Write(" "+i0); } Console.WriteLine(""); }*/ x = Double.Parse(tokens[offset]); y = Double.Parse(tokens[offset+1]); z = Double.Parse(tokens[offset+2]); } catch (Exception e){ Console.WriteLine("sfvec3f.setAttribute("+val+","+type+") " + e); } }/// <summary> /// output as a string /// </summary> /// <param name="format">mode values /// 0 - output modified values /// 1 - output original values /// 2 - output attribute /// 3 - output attribute in brackets /// 4 - output with f prefix</param> /// <returns>string result</returns> public override string outstring(int format) { if (format == 3) { if (saveAsDouble) return String.Concat("(",x.ToString()," ", y.ToString()," ", z.ToString(),")"); else return String.Concat("(",((float)x).ToString()," ", ((float)y).ToString()," ", ((float)z).ToString(),")"); } else if (format == 4) { return String.Concat(((float)x).ToString(),"f,", ((float)y).ToString() , "f," , ((float)z).ToString() , "f"); } else { if (saveAsDouble) return String.Concat(x.ToString()," ", y.ToString()," ", z.ToString()); else return String.Concat(((float)x).ToString()," ", ((float)y).ToString()," ", ((float)z).ToString()); } }/// <summary> /// write to file /// </summary> /// <param name="f">filter = information about output</param> /// <param name="mode">mode values /// 0 - output VRML97 modified values /// 1 - output VRML97 original values /// 2 - output xml (x3d) /// 3 - output attribute in brackets /// 4 - output with f prefix</param> /// <param name="indent"></param> public override void write(filter f,int mode,int indent){ if (mode == 3) { if (saveAsDouble) { f.write(String.Concat("(",x.ToString()," ", y.ToString()," ", z.ToString(),")")); return; } else { f.write(String.Concat("(",((float)x).ToString()," ", ((float)y).ToString()," ", ((float)z).ToString(),")")); return; } } else if (mode == 4) { f.write(String.Concat(x.ToString(),"f,", y.ToString(),"f,", z.ToString(),"f")); return; } else { if (saveAsDouble) { f.write(String.Concat(x.ToString()," ", y.ToString()," ", z.ToString())); return; } else f.write(String.Concat(((float)x).ToString()," ", ((float)y).ToString()," ", ((float)z).ToString())); } // f->write(outstring(mode)); }/// <summary> /// read SFVec3f value from VRML file /// used by mfparam.vrml2par /// </summary> /// <param name="f"></param> /// <param name="sfp"></param> /// <param name="n"></param> /// <param name="mode"></param> /// <returns></returns> public override bool instring(filter f,sfparam sfp,nodeBean n,int mode) { String s; s=f.nextToken(); if (s!=null) if (s.Equals("IS")) { s=f.nextToken(); if (sfp!=null) sfp.setIs(s); return true; } x = Single.Parse(s); s=f.nextToken(); y = Single.Parse(s); s=f.nextToken(); z = Single.Parse(s); return true; }/// <summary> /// read from a string /// used by mfvec3f.instring /// </summary> /// <param name="f"></param> /// <param name="s1"></param> /// <returns></returns> public bool instring(filter f,String s1) { String s; x = Single.Parse(s1); s=f.nextToken(); y = Single.Parse(s); s=f.nextToken(); z = Single.Parse(s); return true; } } // class } //namespace mjbModel

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