/// <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(vector3D 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>
/// 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(vector3D other)
{
double x1 = other.x - x;
double y1 = other.y - y;
double z1 = other.z - z;
return(x1 * x1 + y1 * y1 + z1 * z1);
}
/// <summary>
/// subtract other vector from this
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">vector to be subtracted from this</param>
public void sub(vector3D other)
{
if (other == null)
{
return;
}
x -= other.x;
y -= other.y;
z -= other.z;
}
/// <summary>
/// add other vector to this
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">vector to be added to this</param>
public void add(vector3D other)
{
if (other == null)
{
return;
}
x += other.x;
y += other.y;
z += other.z;
}
/// <summary>
/// cross product
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">other vector to take cross product with</param>
public void cross(vector3D 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>
/// 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(vector3D other)
{
if (other == null)
{
x = y = z = 0;
return;
}
x = other.x;
y = other.y;
z = other.z;
}
/// <summary>
/// calcultes new translation when combining translations
///
/// Rt = Ra Rb
/// Ct = Cb
/// Tt = Ra (Cb + Tb - Ca) + Ca + Ta - Cb
///
/// for theory:
/// http://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 vector3D rotationOffset(vector3D ta, classRotation ra, vector3D ca, vector3D tb, vector3D cb)
{
vector3D result = new vector3D(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>
/// 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(vector3D 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(vector3D 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(vector3D 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>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version does not alter P1 but returns the result.
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
/// <returns>translated point</returns>
public vector3D getTransform(vector3D p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
vector3D p2 = new vector3D();
p2.x = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
p2.y = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
p2.z = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
return(p2);
}
/// <summary>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version returns the result in p1
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
public void transform(vector3D p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
double resultx = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
//double resulty = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
//double resultz = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
p1.x = resultx;
p1.y = resultx;
p1.z = resultx;
}
/// <summary>
/// scale this vector by inverse of other
/// </summary>
/// <param name="other">scale value</param>
public void scaleInv(vector3D 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(vector3D other)
{
double x1 = other.x - x;
double y1 = other.y - y;
double z1 = other.z - z;
return x1 * x1 + y1 * y1 + z1 * z1;
}
/// <summary>
/// dot product
/// for theory see:
/// http://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(vector3D other)
{
return((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(vector3D other)
{
x /= other.x;
y /= other.y;
z /= other.z;
}
/// <summary>
/// cross product
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">other vector to take cross product with</param>
public void cross(vector3D 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>
/// subtract other vector from this
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">vector to be subtracted from this</param>
public void sub(vector3D other)
{
if (other == null) return;
x -= other.x;
y -= other.y;
z -= other.z;
}
/// <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(vector3D 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>
/// 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(vector3D 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 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(vector3D other)
{
if (other.x > x) return true;
if (other.y > y) return true;
if (other.z > z) return true;
return false;
}
/// <summary>
/// copy constructor
/// </summary>
/// <param name="in1">set values to save value in1</param>
public vector3D(vector3D in1)
{
x = (in1 != null) ? in1.x : 0;
y = (in1 != null) ? in1.y : 0;
z = (in1 != null) ? in1.z : 1;
}
/// <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(vector3D other)
{
if (other == null)
{
x = y = z = 0;
return;
}
x = other.x;
y = other.y;
z = other.z;
}
/// <summary>
/// returns true if this vector has an equal value to other vector
/// </summary>
/// <param name="v2"></param>
/// <returns></returns>
public bool Equals(vector3D 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>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version returns the result in p1
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
public void transform(vector3D p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
double resultx = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
double resulty = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
double resultz = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
p1.x = resultx;
p1.y = resultx;
p1.z = resultx;
}
/// <summary>
/// calculates the effect of this rotation on a point
/// the new point is given by=q * P1 * q'
/// this version does not alter P1 but returns the result.
///
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
/// </summary>
/// <param name="point">point to be transformed</param>
/// <returns>translated point</returns>
public vector3D getTransform(vector3D p1)
{
double wh = angle;
double xh = x;
double yh = y;
double zh = z;
if (coding == (int)cde.CODING_AXISANGLE)
{
double s = Math.Sin(angle / 2);
xh = x * s;
yh = y * s;
zh = z * s;
wh = Math.Cos(angle / 2);
}
vector3D p2 = new vector3D();
p2.x = wh * wh * p1.x + 2 * yh * wh * p1.z - 2 * zh * wh * p1.y + xh * xh * p1.x + 2 * yh * xh * p1.y + 2 * zh * xh * p1.z - zh * zh * p1.x - yh * yh * p1.x;
p2.y = 2 * xh * yh * p1.x + yh * yh * p1.y + 2 * zh * yh * p1.z + 2 * wh * zh * p1.x - zh * zh * p1.y + wh * wh * p1.y - 2 * xh * wh * p1.z - xh * xh * p1.y;
p2.z = 2 * xh * zh * p1.x + 2 * yh * zh * p1.y + zh * zh * p1.z - 2 * wh * yh * p1.x - yh * yh * p1.z + 2 * wh * xh * p1.y - xh * xh * p1.z + wh * wh * p1.z;
return p2;
}
/// <summary>
/// scale this vector posibly different in x,y and z directions
/// </summary>
/// <param name="other">scale value</param>
public void scale(vector3D other)
{
x *= other.x;
y *= other.y;
z *= other.z;
}
/// <summary>
/// dot product
/// for theory see:
/// http://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(vector3D other)
{
return (x * other.x) + (y * other.y) + (z * other.z);
}
/// <summary>
/// add other vector to this
/// for theory see:
/// http://www.euclideanspace.com/maths/algebra/vectors/index.htm
/// </summary>
/// <param name="other">vector to be added to this</param>
public void add(vector3D other)
{
if (other == null) return;
x += other.x;
y += other.y;
z += other.z;
}
/// <summary>
/// scale this vector posibly different in x,y and z directions
/// </summary>
/// <param name="other">scale value</param>
public void scale(vector3D other)
{
x *= other.x;
y *= other.y;
z *= other.z;
}
/// <summary>
/// copy constructor
/// </summary>
/// <param name="in1">set values to save value in1</param>
public vector3D(vector3D in1)
{
x = (in1 != null) ? in1.x : 0;
y = (in1 != null) ? in1.y : 0;
z = (in1 != null) ? in1.z : 1;
}
/// <summary>
/// calcultes new translation when combining translations
///
/// Rt = Ra Rb
/// Ct = Cb
/// Tt = Ra (Cb + Tb - Ca) + Ca + Ta - Cb
///
/// for theory:
/// http://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 vector3D rotationOffset(vector3D ta, classRotation ra, vector3D ca, vector3D tb, vector3D cb)
{
vector3D result = new vector3D(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>
/// 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 vector3D add(vector3D a, vector3D b)
{
return new vector3D(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 vector3D sub(vector3D a, vector3D b)
{
return(new vector3D(a.x - b.x, a.y - b.y, a.z - b.z));
}
/// <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 vector3D add(vector3D a, vector3D b)
{
return(new vector3D(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 vector3D sub(vector3D a, vector3D b)
{
return new vector3D(a.x - b.x, a.y - b.y, a.z - b.z);
}
