/*
* $Id$
* This file is a part of the Arakhne Foundation Classes, http://www.arakhne.org/afc
*
* Copyright (c) 2000-2012 Stephane GALLAND.
* Copyright (c) 2005-10, Multiagent Team, Laboratoire Systemes et Transports,
* Universite de Technologie de Belfort-Montbeliard.
* Copyright (c) 2013-2016 The original authors, and other authors.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.arakhne.afc.math.continous.object3d;
import org.arakhne.afc.math.generic.Point3D;
import org.arakhne.afc.math.generic.Tuple3D;
import org.arakhne.afc.math.generic.Vector3D;
import org.arakhne.afc.math.matrix.Matrix3d;
import org.arakhne.afc.math.matrix.Transform3D;
/** 3D Vector with 3 floating-point values.
*
* @author $Author: sgalland$
* @version $FullVersion$
* @mavengroupid $GroupId$
* @mavenartifactid $ArtifactId$
* @deprecated Replacement will be provided in Version 14.0
*/
@Deprecated
@SuppressWarnings("all")
public class Vector3f extends Tuple3f<Vector3D> implements Vector3D {
private static final long serialVersionUID = -1222875298451525734L;
/**
*/
public Vector3f() {
//
}
/**
* @param tuple is the tuple to copy.
*/
public Vector3f(Tuple3D<?> tuple) {
super(tuple);
}
/**
* @param tuple is the tuple to copy.
*/
public Vector3f(int[] tuple) {
super(tuple);
}
/**
* @param tuple is the tuple to copy.
*/
public Vector3f(float[] tuple) {
super(tuple);
}
/**
* @param x
* @param y
* @param z
*/
public Vector3f(int x, int y, int z) {
super(x,y,z);
}
/**
* @param x
* @param y
* @param z
*/
public Vector3f(float x, float y, float z) {
super(x,y,z);
}
/**
* @param x
* @param y
* @param z
*/
public Vector3f(double x, double y, double z) {
super((float)x,(float)y,(float)z);
}
/**
* @param x
* @param y
* @param z
*/
public Vector3f(long x, long y, long z) {
super(x,y,z);
}
/** {@inheritDoc}
*/
@Override
public Vector3f clone() {
return (Vector3f)super.clone();
}
/**
* {@inheritDoc}
*/
@Override
public float angle(Vector3D v1) {
double vDot = dot(v1) / ( length()*v1.length() );
if( vDot < -1.) vDot = -1.;
if( vDot > 1.) vDot = 1.;
return((float) (Math.acos( vDot )));
}
/**
* {@inheritDoc}
*/
@Override
public float dot(Vector3D v1) {
return (this.x*v1.getX() + this.y*v1.getY() + this.z*v1.getZ());
}
/**
* Multiply this vector, transposed, by the given matrix and replies the resulting vector.
*
* @param m
* @return transpose(this * m)
*/
public final Vector3f mul(Matrix3d m) {
Vector3f r = new Vector3f();
r.x = (float)(this.getX() * m.getM00() + this.getY() * m.getM01() + this.getZ() * m.getM02());
r.y = (float)(this.getX() * m.getM10() + this.getY() * m.getM11() + this.getZ() * m.getM12());
r.z = (float)(this.getX() * m.getM20() + this.getY() * m.getM21() + this.getZ() * m.getM22());
return r;
}
@Override
public Vector3D cross(Vector3D v1) {
return crossLeftHand(v1);
}
@Override
public void cross(Vector3D v1, Vector3D v2) {
crossLeftHand(v1, v2);
}
@Override
public Vector3D crossLeftHand(Vector3D v1) {
float x = v1.getY()*getZ() - v1.getZ()*getY();
float y = v1.getZ()*getX() - v1.getX()*getZ();
float z = v1.getX()*getY() - v1.getY()*getX();
return new Vector3f(x,y,z);
}
@Override
public void crossLeftHand(Vector3D v1, Vector3D v2) {
float x = v2.getY()*v1.getZ() - v2.getZ()*v1.getY();
float y = v2.getZ()*v1.getX() - v2.getX()*v1.getZ();
float z = v2.getX()*v1.getY() - v2.getY()*v1.getX();
set(x,y,z);
}
@Override
public Vector3D crossRightHand(Vector3D v1) {
float x = getY()*v1.getZ() - getZ()*v1.getY();
float y = getZ()*v1.getX() - getX()*v1.getZ();
float z = getX()*v1.getY() - getY()*v1.getX();
return new Vector3f(x,y,z);
}
@Override
public void crossRightHand(Vector3D v1, Vector3D v2) {
float x = v1.getY()*v2.getZ() - v1.getZ()*v2.getY();
float y = v1.getZ()*v2.getX() - v1.getX()*v2.getZ();
float z = v1.getX()*v2.getY() - v1.getY()*v2.getX();
set(x,y,z);
}
/**
* {@inheritDoc}
*/
@Override
public float length() {
return (float) Math.sqrt(this.x*this.x + this.y*this.y + this.z*this.z);
}
/**
* {@inheritDoc}
*/
@Override
public float lengthSquared() {
return (this.x*this.x + this.y*this.y + this.z*this.z);
}
/**
* {@inheritDoc}
*/
@Override
public void normalize(Vector3D v1) {
float norm = 1f / v1.length();
this.x = (int)(v1.getX()*norm);
this.y = (int)(v1.getY()*norm);
this.z = (int)(v1.getZ()*norm);
}
/**
* {@inheritDoc}
*/
@Override
public void normalize() {
float norm;
norm = (float)(1./Math.sqrt(this.x*this.x + this.y*this.y + this.z*this.z));
this.x *= norm;
this.y *= norm;
this.z *= norm;
}
/**
* {@inheritDoc}
*/
@Override
public void turnVector(Vector3D axis, float angle) {
Transform3D mat = new Transform3D();
mat.setRotation(new Quaternion(axis, angle));
mat.transform(this);
}
/**
* {@inheritDoc}
*/
@Override
public void add(Vector3D t1, Vector3D t2) {
this.x = t1.getX() + t2.getX();
this.y = t1.getY() + t2.getY();
this.z = t1.getZ() + t2.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void add(Vector3D t1) {
this.x += t1.getX();
this.y += t1.getY();
this.z += t1.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void scaleAdd(int s, Vector3D t1, Vector3D t2) {
this.x = s * t1.getX() + t2.getX();
this.y = s * t1.getY() + t2.getY();
this.z = s * t1.getZ() + t2.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void scaleAdd(float s, Vector3D t1, Vector3D t2) {
this.x = s * t1.getX() + t2.getX();
this.y = s * t1.getY() + t2.getY();
this.z = s * t1.getZ() + t2.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void scaleAdd(int s, Vector3D t1) {
this.x = s * this.x + t1.getX();
this.y = s * this.y + t1.getY();
this.z = s * this.z + t1.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void scaleAdd(float s, Vector3D t1) {
this.x = s * this.x + t1.getX();
this.y = s * this.y + t1.getY();
this.z = s * this.z + t1.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void sub(Vector3D t1, Vector3D t2) {
this.x = t1.getX() - t2.getX();
this.y = t1.getY() - t2.getY();
this.z = t1.getZ() - t2.getZ();
}
@Override
public void sub(Point3D t1, Point3D t2) {
this.x = t1.getX() - t2.getX();
this.y = t1.getY() - t2.getY();
this.z = t1.getZ() - t2.getZ();
}
/**
* {@inheritDoc}
*/
@Override
public void sub(Vector3D t1) {
this.x -= t1.getX();
this.y -= t1.getY();
this.z -= t1.getZ();
}
}