dvec3d.h

Go to the documentation of this file.

/*--------------------------------------------------------------------------------------+
|
|   Supplied under applicable software license agreement.
|
|   Copyright (c) 2018 Bentley Systems, Incorporated. All rights reserved.
|
+---------------------------------------------------------------------------------------*/
#pragma once

#ifndef dvec3d_H_
#define dvec3d_H_

BEGIN_BENTLEY_NAMESPACE
#ifdef __cplusplus
struct GEOMDLLIMPEXP DVec3d : public DPoint3d
{


static DVec3d FromArray (const   double  *pXyz);

static DVec3d UnitX (){return DVec3d::From (1,0,0);}
static DVec3d UnitY() { return DVec3d::From(0, 1, 0);}
static DVec3d UnitZ() { return DVec3d::From (0, 0, 1);}

void InitFromArray (double const* pXyz);

static DVec3d From (double ax, double ay, double az = 0.0);

void Init (double ax, double ay, double az);
void Init (double ax, double  ay);


static DVec3d From (DPoint3dCR point);

static DVec3d From (DVec2dCR vector);

void Init (DPoint3dCR point);


static DVec3d FromStartEnd (DPoint3dCR start, DPoint3dCR end);

static DVec3d FromStartEnd (TransformCR start, DPoint3dCR target);





static DVec3d FromStartEndNormalize (DPoint3dCR start, DPoint3dCR end);

static DVec3d FromCCWPerpendicularXY (DVec3d source);

static DVec3d FromRotate90Towards (DVec3dCR source, DVec3dCR target);

static DVec3d FromRotate90Around (DVec3dCR source, DVec3dCR axis);

double Normalize (DVec3dCR vector);

bool TryNormalize (DVec3dCR source, double &magnitude);

ValidatedDVec3d ValidatedNormalize () const;
double Normalize ();


double ScaleToLength (DVec3dCR vector, double length);

double ScaleToLength (double length);



double NormalizedDifference
(
DPoint3dCR      target,
DPoint3dCR      origin
);


void DifferenceOf  (DVec3dCR vector1, DVec3dCR vector2);

void DifferenceOf  (DPoint3dCR target, DPoint3dCR base);

void Subtract (DVec3dCR vector2);


static DVec3d FromXYAngleAndMagnitude
(
double          theta,
double          magnitude
);


void InitFromXYAngleAndMagnitude
(
double          theta,
double          magnitude
);









static DVec3d FromTranslation (TransformCR source);

static DVec3d FromMatrixColumn (TransformCR transform, int i);

static DVec3d FromMatrixRow (TransformCR transform, int i);


static DVec3d FromColumn (RotMatrixCR matrix, int i);
void InitFromColumn
(
RotMatrixCR     matrix,
int             col
);

static DVec3d FromRow (RotMatrixCR matrix, int i);
void InitFromRow  (RotMatrixCR matrix, int row);



void Multiply  (RotMatrixCR matrix, DVec3dCR vector);

void MultiplyTranspose  (RotMatrixCR matrix, DVec3dCR vector);

void Multiply  (RotMatrixCR matrix, double x, double y, double z);

void MultiplyTranspose  (RotMatrixCR matrix, double x, double y, double z);





void XyzOf (DPoint4dCR hPoint);

static DVec3d FromStartEnd (DPoint4dCR start, DPoint4dCR end);




static DVec3d FromCrossProduct  (DVec3dCR vector0, DVec3dCR vector1);

void CrossProduct  (DVec3dCR vector1, DVec3dCR vector2);

void CrossProduct  (DVec3dCR vector1, DPoint3dCR point2);

void CrossProduct (DPoint3dCR point1, DVec3dCR vector2);


void CrossProductToPoints  (DPoint3dCR origin, DPoint3dCR target1, DPoint3dCR target2);

static DVec3d FromCrossProductToPoints  (DPoint3dCR origin, DPoint3dCR target1, DPoint3dCR target2);

static DVec3d FromNormalizedCrossProductToPoints  (DPoint3dCR origin, DPoint3dCR target1, DPoint3dCR target2);



static DVec3d FromNormalizedCrossProduct  (DVec3dCR vector0, DVec3dCR vector1);


double NormalizedCrossProduct (DVec3dCR  vector1, DVec3dCR vector2);

double SizedCrossProduct
(
DVec3dCR        vector1,
DVec3dCR        vector2,
double          productLength
);

double GeometricMeanCrossProduct
(
DVec3dCR        vector1,
DVec3dCR        vector2
);


static DVec3d FromCrossProduct  (double x0, double y0, double z0, double x1, double y1, double z1);


static DVec3d FromMatrixColumnCrossProduct (TransformCR transform, int i, int j);

static DVec3d FromColumnCrossProduct (RotMatrixCR matrix, int i, int j);



void RotateXY  (DVec3dCR vector, double theta);

void RotateXY (double theta);

bool UnitPerpendicularXY(DVec3dCR vector);

static ValidatedDVec3d FromUnitPerpendicularXY (DVec3dCR vector);


static DVec3d FromInterpolate (DVec3dCR vector0, double fraction, DVec3dCR vector1);
void Interpolate  (DVec3dCR vector0, double fractionParameter, DVec3dCR vector1);




static DVec3d FromInterpolateBilinear (DVec3dCR vector00, DVec3dCR vector10, DVec3dCR vector01, DVec3dCR vector11, double u, double v);



void SumOf  (DVec3dCR vector1, DVec3dCR vector2);

void Add (DVec3dCR vector);


static DVec3d FromSumOf (DVec3dCR vector0, DVec3dCR vector1);

static DVec3d FromSumOf (DVec3dCR vector0, double scale0, DVec3dCR vector1, double scale1);
void SumOf  (DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2);




static DVec3d FromSumOf (DVec3dCR vector0, double scale0, DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2);
void SumOf  (DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2, DVec3dCR vector3, double scale3);

static DVec3d FromSumOf (DVec3dCR vector0, DVec3dCR vector1, double scale1);
static DVec3d FromSumOf (DVec3dCR vector0, DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2);
static DVec3d FromSumOf (DVec3dCR vector0, DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2, DVec3dCR vector3, double scale3);



void SumOf  (DVec3dCR origin, DVec3dCR vector, double scale);

void SumOf  (DVec3dCR origin, DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2);

void SumOf  (DVec3dCR origin, DVec3dCR vector1, double scale1, DVec3dCR vector2, double scale2, DVec3dCR vector3, double scale3);



static DVec3d FromScale (DVec3dCR vector, double scale);

void Scale (DVec3dCR vector, double scale);

void Scale (double scale);


 
bool SafeDivide (DVec3dCR vector, double denominator);

void Negate (DVec3dCR vector);


void Negate ();


void WeightedDifferenceOf  (DPoint4dCR hPoint1, DPoint4dCR hPoint2);

void WeightedDifferenceCrossProduct  (DPoint4dCR basePoint, DPoint4dCR target1, DPoint4dCR target2);

static DVec3d FromWeightedDifferenceOf (DPoint4dCR hPoint1, DPoint3dCR point2);


double DotProduct (DVec3dCR vector2) const;

double DotProductXY (DVec3dCR vector2) const;

double DotProduct  (double ax, double ay, double az) const;


double DotProduct (DPoint3dCR point2) const;


double DotProductRow (RotMatrixCR matrix, int index) const;

double DotProductColumn (RotMatrixCR matrix, int index) const;

double DotProductMatrixRow (TransformCR matrix, int index) const;

double DotProductMatrixColumn (TransformCR matrix, int index) const;

double TripleProduct  (DVec3dCR vector2, DVec3dCR vector3) const;


double Magnitude () const;

double MagnitudeSquared() const;

double SafeOneOverMagnitudeSquared(double defaultValue) const;

ValidatedDouble ValidatedFractionOfProjection(DVec3dCR vectorToProject, double defaultValue = 0.0) const;


double MagnitudeXY() const;


double MagnitudeSquaredXY() const;

double MaxAbs () const;


double Distance (DVec3dCR vector2) const;

double DistanceSquared (DVec3dCR vector2) const;

double DistanceSquaredXY (DVec3dCR vector2) const;

double DistanceXY (DVec3dCR vector2) const;






double CrossProductMagnitude (DVec3dCR other) const;

double CrossProductXY (DVec3dCR vector2) const;


void SetComponent
(
double          a,
int             index
);

double GetComponent (int index) const;


void GetComponents
(
double          &xCoord,
double          &yCoord,
double          &zCoord
) const;





bool GetTriad
(
DVec3dR         xAxis,
DVec3dR         yAxis,
DVec3dR         zAxis
) const;
bool GetNormalizedTriad
(
DVec3dR         xAxis,
DVec3dR         yAxis,
DVec3dR         zAxis
) const;

bool ProjectToVector (DVec3dCR targetVector, double &fraction) const;

bool ProjectToPlane (DVec3dCR vectorU, DVec3dCR vectorV, DPoint2dR uv) const;


bool GetPerpendicularParts (DVec3dCR hypotenuse, double &fraction, DVec3dR parallelPart, DVec3dR perpendicularPart) const;


double AngleTo (DVec3dCR vector2) const;

double AngleToXY (DVec3dCR vector2) const;

double SmallerUnorientedAngleTo (DVec3dCR vector2) const;

double SmallerUnorientedAngleToXY (DVec3dCR vector2) const;

double AngleFromPerpendicular (DVec3dCR vector2) const;

double SignedAngleTo
(
DVec3dCR        vector2,
DVec3dCR        orientationVector
) const;

double PlanarAngleTo
(
DVec3dCR        vector2,
DVec3dCR        planeNormal
) const;


bool AngleAndAxisOfRotationFromVectorToVector
(
DVec3dCR target,
DVec3dR axis,
double &radians
) const;


bool IsVectorInSmallerSector  (DVec3dCR vector0, DVec3dCR vector1) const;

bool IsVectorInCCWSector  (DVec3dCR vector0, DVec3dCR vector1, DVec3dCR upVector) const;

bool IsVectorInCCWXYSector
(
DVec3dCR        vector0,
DVec3dCR        vector1
) const;



bool IsParallelTo (DVec3dCR vector2) const;

bool IsPositiveParallelTo (DVec3dCR vector2) const;


bool IsPerpendicularTo (DVec3dCR vector2) const;


bool IsEqual (DVec3dCR vector2) const;

bool IsEqual
(
DVec3dCR        vector2,
double          tolerance
) const;



bool AlmostEqual (DVec3d const & dataB) const;

bool      IsZero ();


#endif
};


END_BENTLEY_NAMESPACE

#endif // dvec3d_H_