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A Java based CSG Cad library
/**
* Vector3d.java
*
* Copyright 2014-2014 Michael Hoffer [email protected]. All rights
* reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY Michael Hoffer [email protected] "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL Michael Hoffer [email protected] OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* The views and conclusions contained in the software and documentation are
* those of the authors and should not be interpreted as representing official
* policies, either expressed or implied, of Michael Hoffer
* [email protected].
*/
package eu.mihosoft.vrl.v3d;
import static java.lang.Math.abs;
import static java.lang.Math.acos;
import static java.lang.Math.max;
import static java.lang.Math.min;
import java.util.Random;
// TODO: Auto-generated Javadoc
/**
* 3D Vector3d.
*
* @author Michael Hoffer <[email protected]>
*/
public class Vector3d extends javax.vecmath.Vector3d{
/**
*
*/
private static final long serialVersionUID = 1878117798187075166L;
/** The Constant ZERO. */
public static final Vector3d ZERO = new Vector3d(0, 0, 0);
/** The Constant UNITY. */
public static final Vector3d UNITY = new Vector3d(1, 1, 1);
/** The Constant X_ONE. */
public static final Vector3d X_ONE = new Vector3d(1, 0, 0);
/** The Constant Y_ONE. */
public static final Vector3d Y_ONE = new Vector3d(0, 1, 0);
/** The Constant Z_ONE. */
public static final Vector3d Z_ONE = new Vector3d(0, 0, 1);
/**
* Creates a new vector.
*
* @param x x value
* @param y y value
* @param z z value
*/
public Vector3d(double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
}
public Vector3d(Number x, Number y, Number z) {
this.x = x.doubleValue();
this.y = y.doubleValue();
this.z = z.doubleValue();
}
/**
* Creates a new vector with specified {@code x}, {@code y} and
* {@code z = 0}.
*
* @param x x value
* @param y y value
*/
public Vector3d(double x, double y) {
this.x = x;
this.y = y;
this.z = 0;
}
public Vector3d(Number x, Number y) {
this(x, y, (double) 0);
}
/**
* Creates a new vector with specified {@code x}, {@code y} and
* {@code z = 0}.
*
* @param x x value
* @param y y value
*/
public static Vector3d xy(double x, double y) {
return new Vector3d(x,y);
}
public static Vector3d xy(Number x, Number y) {
return xy(x.doubleValue(),y.doubleValue());
}
/**
* Creates a new vector with specified {@code x}, {@code y} and
* {@code z}.
*
* @param x x value
* @param y y value
* @param z z value
*/
public static Vector3d xyz(double x, double y, double z) {
return new Vector3d(x,y,z);
}
public static Vector3d xyz(Number x, Number y, Number z) {
return new Vector3d(x,y,z);
}
@Override
public Vector3d clone() {
return new Vector3d(x, y, z);
}
/**
* Returns a negated copy of this vector.
*
* Note: this vector is not modified.
*
* @return a negated copy of this vector
*/
public Vector3d negated() {
return new Vector3d(-x, -y, -z);
}
/**
* Returns the sum of this vector and the specified vector.
*
* @param v the vector to add
*
* Note: this vector is not modified.
*
* @return the sum of this vector and the specified vector
*/
public Vector3d plus(Vector3d v) {
return new Vector3d(x + v.x, y + v.y, z + v.z);
}
/**
* Returns the difference of this vector and the specified vector.
*
* @param v the vector to subtract
*
* Note: this vector is not modified.
*
* @return the difference of this vector and the specified vector
*/
public Vector3d minus(Vector3d v) {
return new Vector3d(x - v.x, y - v.y, z - v.z);
}
/**
* Returns the product of this vector and the specified value.
*
* @param a the value
*
* Note: this vector is not modified.
*
* @return the product of this vector and the specified value
*/
public Vector3d times(double a) {
return new Vector3d(x * a, y * a, z * a);
}
/**
* Returns the product of this vector and the specified vector.
*
* @param a the vector
*
* Note: this vector is not modified.
*
* @return the product of this vector and the specified vector
*/
public Vector3d times(Vector3d a) {
return new Vector3d(x * a.x, y * a.y, z * a.z);
}
/**
* Returns this vector devided by the specified value.
*
* @param a the value
*
* Note: this vector is not modified.
*
* @return this vector devided by the specified value
*/
public Vector3d dividedBy(double a) {
return new Vector3d(x / a, y / a, z / a);
}
/**
* Returns the dot product of this vector and the specified vector.
*
* Note: this vector is not modified.
*
* @param a the second vector
*
* @return the dot product of this vector and the specified vector
*/
public double dot(Vector3d a) {
return this.x * a.x + this.y * a.y + this.z * a.z;
}
/**
* Linearly interpolates between this and the specified vector.
*
* Note: this vector is not modified.
*
* @param a vector
* @param t interpolation value
*
* @return copy of this vector if {@code t = 0}; copy of a if {@code t = 1};
* the point midway between this and the specified vector if {@code t = 0.5}
*/
public Vector3d lerp(Vector3d a, double t) {
return this.plus(a.minus(this).times(t));
}
/**
* Returns the magnitude of this vector.
*
* Note: this vector is not modified.
*
* @return the magnitude of this vector
*/
public double magnitude() {
return Math.sqrt(this.dot(this));
}
/**
* Returns the squared magnitude of this vector (this.dot(this)).
*
* Note: this vector is not modified.
*
* @return the squared magnitude of this vector
*/
double magnitudeSq() {
return this.dot(this);
}
/**
* Returns a normalized copy of this vector with length {@code 1}.
*
* Note: this vector is not modified.
*
* @return a normalized copy of this vector with length {@code 1}
*/
public Vector3d normalized() {
return this.dividedBy(this.magnitude());
}
/**
* Returns the cross product of this vector and the specified vector.
*
* Note: this vector is not modified.
*
* @param a the vector
*
* @return the cross product of this vector and the specified vector.
*/
public Vector3d cross(Vector3d a) {
return new Vector3d(
this.y * a.z - this.z * a.y,
this.z * a.x - this.x * a.z,
this.x * a.y - this.y * a.x
);
}
/**
* Returns this vector in STL string format.
*
* @return this vector in STL string format
*/
public String toStlString() {
return toStlString(new StringBuilder()).toString();
}
/**
* Returns this vector in STL string format.
*
* @param sb string builder
* @return the specified string builder
*/
public StringBuilder toStlString(StringBuilder sb) {
return sb.append(this.x).append(" ").
append(this.y).append(" ").
append(this.z);
}
/**
* Returns this vector in OBJ string format.
*
* @return this vector in OBJ string format
*/
public String toObjString() {
return toObjString(new StringBuilder()).toString();
}
/**
* Returns this vector in OBJ string format.
*
* @param sb string builder
* @return the specified string builder
*/
public StringBuilder toObjString(StringBuilder sb) {
return sb.append(this.x).append(" ").
append(this.y).append(" ").
append(this.z);
}
/**
* Applies the specified transformation to this vector.
*
* @param transform the transform to apply
*
* @return this vector
*/
public Vector3d transform(Transform transform) {
return transform.transform(this);
}
/**
* Returns a transformed copy of this vector.
*
* @param transform the transform to apply
*
* Note: this vector is not modified.
*
* @return a transformed copy of this vector
*/
public Vector3d transformed(Transform transform) {
return clone().transform(transform);
}
/**
* Applies the specified transformation to this vector.
*
* @param transform the transform to apply
* @param amount the amount
* @return this vector
*/
public Vector3d transform(Transform transform, double amount) {
return transform.transform(this, amount);
}
/**
* Returns a transformed copy of this vector.
*
* @param transform the transform to apply
*
* Note: this vector is not modified.
* @param amount the amount
* @return a transformed copy of this vector
*/
public Vector3d transformed(Transform transform, double amount) {
return clone().transform(transform, amount);
}
/* (non-Javadoc)
* @see java.lang.Object#toString()
*/
@Override
public String toString() {
return "[" + x + ", " + y + ", " + z + "]";
}
/* (non-Javadoc)
* @see java.lang.Object#equals(java.lang.Object)
*/
@Override
public boolean equals(Object obj) {
return test(obj,Plane.EPSILON_Point);
}
public boolean test(Object obj, double epsilon) {
if (obj == null) {
return false;
}
if (getClass() != obj.getClass()) {
return false;
}
final Vector3d other = (Vector3d) obj;
if (abs(this.x - other.x) > epsilon) {
return false;
}
if (abs(this.y - other.y) > epsilon) {
return false;
}
if (abs(this.z - other.z) > epsilon) {
return false;
}
return true;
}
/**
* Returns the angle between this and the specified vector.
*
* @param v vector
* @return angle in radians
*/
public double angle(Vector3d v) {
double val = this.dot(v) / (this.magnitude() * v.magnitude());
return acos(max(min(val, 1), -1)); // compensate rounding errors
}
/* (non-Javadoc)
* @see java.lang.Object#hashCode()
*/
@Override
public int hashCode() {
int hash = 5;
hash = 97 * hash + (int) (Double.doubleToLongBits(this.x) ^ (Double.doubleToLongBits(this.x) >>> 32));
hash = 97 * hash + (int) (Double.doubleToLongBits(this.y) ^ (Double.doubleToLongBits(this.y) >>> 32));
hash = 97 * hash + (int) (Double.doubleToLongBits(this.z) ^ (Double.doubleToLongBits(this.z) >>> 32));
return hash;
}
// @Override
// public boolean equals(Object obj) {
// if (obj == null) {
// return false;
// }
// if (getClass() != obj.getClass()) {
// return false;
// }
// final Vector3d other = (Vector3d) obj;
// if (Double.doubleToLongBits(this.x) != Double.doubleToLongBits(other.x)) {
// return false;
// }
// if (Double.doubleToLongBits(this.y) != Double.doubleToLongBits(other.y)) {
// return false;
// }
// if (Double.doubleToLongBits(this.z) != Double.doubleToLongBits(other.z)) {
// return false;
// }
// return true;
// }
/**
* Creates a new vector with specified {@code x}.
*
* @param x x value
* @return a new vector {@code [x,0,0]}
*/
public static Vector3d x(double x) {
return new Vector3d(x, 0, 0);
}
/**
* Creates a new vector with specified {@code y}.
*
* @param y y value
* @return a new vector {@code [0,y,0]}
*/
public static Vector3d y(double y) {
return new Vector3d(0, y, 0);
}
/**
* Creates a new vector with specified {@code z}.
*
* @param z z value
* @return a new vector {@code [0,0,z]}
*/
public static Vector3d z(double z) {
return new Vector3d(0, 0, z);
}
/**
* Creates a new vector which is orthogonal to this.
*
* this_i , this_j , this_k greater than or equal to i,j,k € {1,2,3} permutation
*
* looking for orthogonal vector o to vector this: this_i * o_i + this_j *
* o_j + this_k * o_k = 0
*
* @return a new vector which is orthogonal to this
*/
public Vector3d orthogonal() {
// if ((this.x == Double.NaN) || (this.y == Double.NaN) || (this.z == Double.NaN)) {
// throw new IllegalStateException("NaN is not a valid entry for a vector.");
// }
double o1 = 0.0;
double o2 = 0.0;
double o3 = 0.0;
Random r = new Random();
int numberOfZeroEntries = 0;
if (this.x == 0) {
numberOfZeroEntries++;
o1 = r.nextDouble();
}
if (this.y == 0) {
numberOfZeroEntries++;
o2 = r.nextDouble();
}
if (this.z == 0) {
numberOfZeroEntries++;
o3 = r.nextDouble();
}
switch (numberOfZeroEntries) {
case 0:
// all this_i != 0
//
//we do not want o3 to be zero
while (o3 == 0) {
o3 = r.nextDouble();
}
//we do not want o2 to be zero
while (o2 == 0) {
o2 = r.nextDouble();
}
// calculate or choose randomly ??
// o2 = -this.z * o3 / this.y;
o1 = (-this.y * o2 - this.z * o3) / this.x;
break;
case 1:
// this_i = 0 , i € {1,2,3}
// this_j != 0 != this_k , j,k € {1,2,3}\{i}
//
// choose one none zero randomly and calculate the other one
if (this.x == 0) {
//we do not want o3 to be zero
while (o3 == 0) {
o3 = r.nextDouble();
}
o2 = -this.z * o3 / this.y;
} else if (this.y == 0) {
//we do not want o3 to be zero
while (o3 == 0) {
o3 = r.nextDouble();
}
o1 = -this.z * o3 / this.x;
} else if (this.z == 0) {
//we do not want o1 to be zero
while (o1 == 0) {
o1 = r.nextDouble();
}
o2 = -this.z * o1 / this.y;
}
break;
case 2:
// if two parts of this are 0 we can achieve orthogonality
// via setting the corressponding part of the orthogonal vector
// to zero this is ALREADY DONE in the init (o_i = 0.0)
// NO CODE NEEDED
// if (this.x == 0) {
// o1 = 0;
// } else if (this.y == 0) {
// o2 = 0;
// } else if (this.z == 0) {
// o3 = 0;
// }
break;
case 3:
System.err.println("This vector is equal to (0,0,0). ");
default:
System.err.println("The orthogonal one is set randomly.");
o1 = r.nextDouble();
o2 = r.nextDouble();
o3 = r.nextDouble();
}
Vector3d result = new Vector3d(o1, o2, o3);
// if ((this.x ==Double.NaN) || (this.y == Double.NaN) || (this.z == Double.NaN)) {
// throw new IllegalStateException("NaN is not a valid entry for a vector.");
// }
// System.out.println(" this : "+ this);
// System.out.println(" result : "+ result);
// check if the created vector is really orthogonal to this
// if not try one more time
while (this.dot(result) != 0.0) {
result = this.orthogonal();
}
return result;
}
// public double getX() {
// // TODO Auto-generated method stub
// return x;
// }
// public double getY() {
// // TODO Auto-generated method stub
// return y;
// }
// public double getZ() {
// // TODO Auto-generated method stub
// return z;
// }
}