Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

myVectorClass.h@0:345b3bc7a0ea, 2012-03-28 (annotated)

Committer:
mbedalvaro
Date:
Wed Mar 28 14:40:01 2012 +0000
Revision:
0:345b3bc7a0ea
Child:
2:34157ebbf56b
This version (using rigid frame, base and child classes, etc) works, but the blob is strangely smaller. Need to check this.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1 // class vector2D (for the time being, only 2d):
mbedalvaro 0:345b3bc7a0ea 2
mbedalvaro 0:345b3bc7a0ea 3 #include "mbed.h"
mbedalvaro 0:345b3bc7a0ea 4
mbedalvaro 0:345b3bc7a0ea 5 #ifndef vector2D_H
mbedalvaro 0:345b3bc7a0ea 6 #define vector2D_H
mbedalvaro 0:345b3bc7a0ea 7
mbedalvaro 0:345b3bc7a0ea 8 #ifndef DEG_TO_RAD
mbedalvaro 0:345b3bc7a0ea 9 #define DEG_TO_RAD (PI/180.0)
mbedalvaro 0:345b3bc7a0ea 10 #endif
mbedalvaro 0:345b3bc7a0ea 11
mbedalvaro 0:345b3bc7a0ea 12 #ifndef RAD_TO_DEG
mbedalvaro 0:345b3bc7a0ea 13 #define RAD_TO_DEG (180.0/PI)
mbedalvaro 0:345b3bc7a0ea 14 #endif
mbedalvaro 0:345b3bc7a0ea 15
mbedalvaro 0:345b3bc7a0ea 16 #ifndef CW
mbedalvaro 0:345b3bc7a0ea 17 #define CW 1.0
mbedalvaro 0:345b3bc7a0ea 18 #endif
mbedalvaro 0:345b3bc7a0ea 19
mbedalvaro 0:345b3bc7a0ea 20 #ifndef CCW
mbedalvaro 0:345b3bc7a0ea 21 #define CCW -1.0
mbedalvaro 0:345b3bc7a0ea 22 #endif
mbedalvaro 0:345b3bc7a0ea 23
mbedalvaro 0:345b3bc7a0ea 24 #ifndef PI
mbedalvaro 0:345b3bc7a0ea 25 #define PI 3.14159265889
mbedalvaro 0:345b3bc7a0ea 26 #endif
mbedalvaro 0:345b3bc7a0ea 27
mbedalvaro 0:345b3bc7a0ea 28 class vector2D {
mbedalvaro 0:345b3bc7a0ea 29
mbedalvaro 0:345b3bc7a0ea 30 public:
mbedalvaro 0:345b3bc7a0ea 31
mbedalvaro 0:345b3bc7a0ea 32 // Overloaded constructor with parameters:
mbedalvaro 0:345b3bc7a0ea 33 vector2D( float _x=0.0f, float _y=0.0f );
mbedalvaro 0:345b3bc7a0ea 34
mbedalvaro 0:345b3bc7a0ea 35 // Explicit setting:
mbedalvaro 0:345b3bc7a0ea 36 void set( float _x, float _y );
mbedalvaro 0:345b3bc7a0ea 37 void set( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 38
mbedalvaro 0:345b3bc7a0ea 39 // Comparison:
mbedalvaro 0:345b3bc7a0ea 40 bool operator==( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 41 bool operator!=( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 42 bool match( const vector2D& vec, float tollerance=0.0001 );
mbedalvaro 0:345b3bc7a0ea 43
mbedalvaro 0:345b3bc7a0ea 44 // Overloaded operators:
mbedalvaro 0:345b3bc7a0ea 45 //
mbedalvaro 0:345b3bc7a0ea 46 void operator=( const vector2D& vec ); // I cannot declare this if we want also operator chaining?
mbedalvaro 0:345b3bc7a0ea 47 //vector2D & operator=( const vector2D& vec ); // this is to enable operator chaining (vec1=vec2=vec3).
mbedalvaro 0:345b3bc7a0ea 48 vector2D operator+( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 49 vector2D& operator+=( const vector2D& vec ); // why it has an output? for doing vec1=vec2+=vec3? YES!!! (operator chaining).
mbedalvaro 0:345b3bc7a0ea 50 vector2D operator-( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 51 vector2D& operator-=( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 52 vector2D operator*( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 53 vector2D& operator*=( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 54 vector2D operator/( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 55 vector2D& operator/=( const vector2D& vec );
mbedalvaro 0:345b3bc7a0ea 56
mbedalvaro 0:345b3bc7a0ea 57 //operator overloading for float:
mbedalvaro 0:345b3bc7a0ea 58 void operator=( const float f); // I cannot declare this if we want also operator chaining?
mbedalvaro 0:345b3bc7a0ea 59 //vector2D & operator=( const float& val ); // to allow operator chaining
mbedalvaro 0:345b3bc7a0ea 60 vector2D operator+( const float f ) const;
mbedalvaro 0:345b3bc7a0ea 61 vector2D& operator+=( const float f );
mbedalvaro 0:345b3bc7a0ea 62 vector2D operator-( const float f ) const;
mbedalvaro 0:345b3bc7a0ea 63 vector2D& operator-=( const float f );
mbedalvaro 0:345b3bc7a0ea 64 vector2D operator-() const;
mbedalvaro 0:345b3bc7a0ea 65 vector2D operator*( const float f ) const;
mbedalvaro 0:345b3bc7a0ea 66 vector2D& operator*=( const float f );
mbedalvaro 0:345b3bc7a0ea 67 vector2D operator/( const float f ) const;
mbedalvaro 0:345b3bc7a0ea 68 vector2D& operator/=( const float f );
mbedalvaro 0:345b3bc7a0ea 69
mbedalvaro 0:345b3bc7a0ea 70 // Distance (between end points of two vector2Ds):
mbedalvaro 0:345b3bc7a0ea 71 float distance( const vector2D& pnt) const;
mbedalvaro 0:345b3bc7a0ea 72 float squareDistance( const vector2D& pnt ) const;
mbedalvaro 0:345b3bc7a0ea 73
mbedalvaro 0:345b3bc7a0ea 74 // Length of vector2D (norm):
mbedalvaro 0:345b3bc7a0ea 75 float length() const;
mbedalvaro 0:345b3bc7a0ea 76 float squareLength() const; // faster, no sqrt
mbedalvaro 0:345b3bc7a0ea 77
mbedalvaro 0:345b3bc7a0ea 78 // Scaling:
mbedalvaro 0:345b3bc7a0ea 79 vector2D getScaled( const float length ) const;
mbedalvaro 0:345b3bc7a0ea 80 vector2D& scale( const float length );
mbedalvaro 0:345b3bc7a0ea 81
mbedalvaro 0:345b3bc7a0ea 82 // Normalization:
mbedalvaro 0:345b3bc7a0ea 83 vector2D getNormalized() const;
mbedalvaro 0:345b3bc7a0ea 84 vector2D& normalize();
mbedalvaro 0:345b3bc7a0ea 85
mbedalvaro 0:345b3bc7a0ea 86 // Perpendicular normalized vector2D.
mbedalvaro 0:345b3bc7a0ea 87 vector2D getPerpendicularNormed(int orientation) const;
mbedalvaro 0:345b3bc7a0ea 88 vector2D& perpendicular(int orientation);
mbedalvaro 0:345b3bc7a0ea 89
mbedalvaro 0:345b3bc7a0ea 90 // Rotation
mbedalvaro 0:345b3bc7a0ea 91 vector2D getRotatedDeg( float angle ) const;
mbedalvaro 0:345b3bc7a0ea 92 vector2D getRotatedRad( float angle ) const;
mbedalvaro 0:345b3bc7a0ea 93 vector2D& rotateDeg( float angle );
mbedalvaro 0:345b3bc7a0ea 94 vector2D& rotateRad( float angle );
mbedalvaro 0:345b3bc7a0ea 95
mbedalvaro 0:345b3bc7a0ea 96 //vector2D product (for 3d vector2Ds - for 2d vector2Ds, something like this is just the "angle" between them):
mbedalvaro 0:345b3bc7a0ea 97 //vector2D getvector2DProduct(const vector2D& vec) const;
mbedalvaro 0:345b3bc7a0ea 98 //vector2D& vector2DProduct(const vector2D& vec) const;
mbedalvaro 0:345b3bc7a0ea 99
mbedalvaro 0:345b3bc7a0ea 100 //Angle (deg) between two vector2Ds (using atan2, so between -180 and 180)
mbedalvaro 0:345b3bc7a0ea 101 float angleDeg( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 102 float angleRad( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 103 float angleDegHoriz( ) const; // particular case when the second vector is just (1,0)
mbedalvaro 0:345b3bc7a0ea 104
mbedalvaro 0:345b3bc7a0ea 105 //Dot Product:
mbedalvaro 0:345b3bc7a0ea 106 float dot( const vector2D& vec ) const;
mbedalvaro 0:345b3bc7a0ea 107
mbedalvaro 0:345b3bc7a0ea 108
mbedalvaro 0:345b3bc7a0ea 109 // =================================================================
mbedalvaro 0:345b3bc7a0ea 110
mbedalvaro 0:345b3bc7a0ea 111 // Actual variables:
mbedalvaro 0:345b3bc7a0ea 112 float x, y; // or make a class "point"
mbedalvaro 0:345b3bc7a0ea 113
mbedalvaro 0:345b3bc7a0ea 114 };
mbedalvaro 0:345b3bc7a0ea 115
mbedalvaro 0:345b3bc7a0ea 116 /////////////////
mbedalvaro 0:345b3bc7a0ea 117 // Implementation
mbedalvaro 0:345b3bc7a0ea 118 /////////////////
mbedalvaro 0:345b3bc7a0ea 119
mbedalvaro 0:345b3bc7a0ea 120
mbedalvaro 0:345b3bc7a0ea 121 inline vector2D::vector2D( float _x, float _y ) {
mbedalvaro 0:345b3bc7a0ea 122 x = _x;
mbedalvaro 0:345b3bc7a0ea 123 y = _y;
mbedalvaro 0:345b3bc7a0ea 124 }
mbedalvaro 0:345b3bc7a0ea 125
mbedalvaro 0:345b3bc7a0ea 126 inline void vector2D::set( float _x, float _y ) {
mbedalvaro 0:345b3bc7a0ea 127 x = _x;
mbedalvaro 0:345b3bc7a0ea 128 y = _y;
mbedalvaro 0:345b3bc7a0ea 129 }
mbedalvaro 0:345b3bc7a0ea 130
mbedalvaro 0:345b3bc7a0ea 131 inline void vector2D::set( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 132 x=vec.x;
mbedalvaro 0:345b3bc7a0ea 133 y=vec.y;
mbedalvaro 0:345b3bc7a0ea 134 }
mbedalvaro 0:345b3bc7a0ea 135
mbedalvaro 0:345b3bc7a0ea 136 inline bool vector2D::operator==( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 137 return (x == vec.x) && (y == vec.y);
mbedalvaro 0:345b3bc7a0ea 138 }
mbedalvaro 0:345b3bc7a0ea 139
mbedalvaro 0:345b3bc7a0ea 140 inline bool vector2D::operator!=( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 141 return (x != vec.x) || (y != vec.y);
mbedalvaro 0:345b3bc7a0ea 142 }
mbedalvaro 0:345b3bc7a0ea 143
mbedalvaro 0:345b3bc7a0ea 144 inline bool vector2D::match( const vector2D& vec, float tollerance ) {
mbedalvaro 0:345b3bc7a0ea 145 return (abs(x - vec.x) < tollerance)
mbedalvaro 0:345b3bc7a0ea 146 && (abs(y - vec.y) < tollerance);
mbedalvaro 0:345b3bc7a0ea 147 }
mbedalvaro 0:345b3bc7a0ea 148
mbedalvaro 0:345b3bc7a0ea 149
mbedalvaro 0:345b3bc7a0ea 150 /*
mbedalvaro 0:345b3bc7a0ea 151 inline vector2D & operator=( const vector2D& vec ){ // returning a reference to the vector2D object for allowing operator chaining
mbedalvaro 0:345b3bc7a0ea 152 x = vec.x;
mbedalvaro 0:345b3bc7a0ea 153 y = vec.y;
mbedalvaro 0:345b3bc7a0ea 154 return *this;
mbedalvaro 0:345b3bc7a0ea 155 }
mbedalvaro 0:345b3bc7a0ea 156 */
mbedalvaro 0:345b3bc7a0ea 157
mbedalvaro 0:345b3bc7a0ea 158
mbedalvaro 0:345b3bc7a0ea 159 inline void vector2D::operator=( const vector2D& vec ){
mbedalvaro 0:345b3bc7a0ea 160 x = vec.x;
mbedalvaro 0:345b3bc7a0ea 161 y = vec.y;
mbedalvaro 0:345b3bc7a0ea 162 }
mbedalvaro 0:345b3bc7a0ea 163
mbedalvaro 0:345b3bc7a0ea 164
mbedalvaro 0:345b3bc7a0ea 165 inline vector2D vector2D::operator+( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 166 return vector2D( x+vec.x, y+vec.y);
mbedalvaro 0:345b3bc7a0ea 167 }
mbedalvaro 0:345b3bc7a0ea 168
mbedalvaro 0:345b3bc7a0ea 169 inline vector2D& vector2D::operator+=( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 170 x += vec.x;
mbedalvaro 0:345b3bc7a0ea 171 y += vec.y;
mbedalvaro 0:345b3bc7a0ea 172 return *this;
mbedalvaro 0:345b3bc7a0ea 173 }
mbedalvaro 0:345b3bc7a0ea 174
mbedalvaro 0:345b3bc7a0ea 175 inline vector2D vector2D::operator-( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 176 return vector2D(x-vec.x, y-vec.y);
mbedalvaro 0:345b3bc7a0ea 177 }
mbedalvaro 0:345b3bc7a0ea 178
mbedalvaro 0:345b3bc7a0ea 179 inline vector2D& vector2D::operator-=( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 180 x -= vec.x;
mbedalvaro 0:345b3bc7a0ea 181 y -= vec.y;
mbedalvaro 0:345b3bc7a0ea 182 return *this;
mbedalvaro 0:345b3bc7a0ea 183 }
mbedalvaro 0:345b3bc7a0ea 184
mbedalvaro 0:345b3bc7a0ea 185 inline vector2D vector2D::operator*( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 186 return vector2D(x*vec.x, y*vec.y);
mbedalvaro 0:345b3bc7a0ea 187 }
mbedalvaro 0:345b3bc7a0ea 188
mbedalvaro 0:345b3bc7a0ea 189 inline vector2D& vector2D::operator*=( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 190 x*=vec.x;
mbedalvaro 0:345b3bc7a0ea 191 y*=vec.y;
mbedalvaro 0:345b3bc7a0ea 192 return *this;
mbedalvaro 0:345b3bc7a0ea 193 }
mbedalvaro 0:345b3bc7a0ea 194
mbedalvaro 0:345b3bc7a0ea 195 inline vector2D vector2D::operator/( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 196 return vector2D( vec.x!=0 ? x/vec.x : x , vec.y!=0 ? y/vec.y : y);
mbedalvaro 0:345b3bc7a0ea 197 }
mbedalvaro 0:345b3bc7a0ea 198
mbedalvaro 0:345b3bc7a0ea 199 inline vector2D& vector2D::operator/=( const vector2D& vec ) {
mbedalvaro 0:345b3bc7a0ea 200 vec.x!=0 ? x/=vec.x : x;
mbedalvaro 0:345b3bc7a0ea 201 vec.y!=0 ? y/=vec.y : y;
mbedalvaro 0:345b3bc7a0ea 202 return *this;
mbedalvaro 0:345b3bc7a0ea 203 }
mbedalvaro 0:345b3bc7a0ea 204
mbedalvaro 0:345b3bc7a0ea 205 //operator overloading for float:
mbedalvaro 0:345b3bc7a0ea 206 /*
mbedalvaro 0:345b3bc7a0ea 207 inline vector2D & operator=( const float& val ){
mbedalvaro 0:345b3bc7a0ea 208 x = val;
mbedalvaro 0:345b3bc7a0ea 209 y = val;
mbedalvaro 0:345b3bc7a0ea 210 return *this;
mbedalvaro 0:345b3bc7a0ea 211 }
mbedalvaro 0:345b3bc7a0ea 212 */
mbedalvaro 0:345b3bc7a0ea 213
mbedalvaro 0:345b3bc7a0ea 214 inline void vector2D::operator=( const float f){
mbedalvaro 0:345b3bc7a0ea 215 x = f;
mbedalvaro 0:345b3bc7a0ea 216 y = f;
mbedalvaro 0:345b3bc7a0ea 217 }
mbedalvaro 0:345b3bc7a0ea 218
mbedalvaro 0:345b3bc7a0ea 219
mbedalvaro 0:345b3bc7a0ea 220 inline vector2D vector2D::operator+( const float f ) const {
mbedalvaro 0:345b3bc7a0ea 221 return vector2D( x+f, y+f);
mbedalvaro 0:345b3bc7a0ea 222 }
mbedalvaro 0:345b3bc7a0ea 223
mbedalvaro 0:345b3bc7a0ea 224 inline vector2D& vector2D::operator+=( const float f ) {
mbedalvaro 0:345b3bc7a0ea 225 x += f;
mbedalvaro 0:345b3bc7a0ea 226 y += f;
mbedalvaro 0:345b3bc7a0ea 227 return *this;
mbedalvaro 0:345b3bc7a0ea 228 }
mbedalvaro 0:345b3bc7a0ea 229
mbedalvaro 0:345b3bc7a0ea 230 inline vector2D vector2D::operator-( const float f ) const {
mbedalvaro 0:345b3bc7a0ea 231 return vector2D( x-f, y-f);
mbedalvaro 0:345b3bc7a0ea 232 }
mbedalvaro 0:345b3bc7a0ea 233
mbedalvaro 0:345b3bc7a0ea 234 inline vector2D& vector2D::operator-=( const float f ) {
mbedalvaro 0:345b3bc7a0ea 235 x -= f;
mbedalvaro 0:345b3bc7a0ea 236 y -= f;
mbedalvaro 0:345b3bc7a0ea 237 return *this;
mbedalvaro 0:345b3bc7a0ea 238 }
mbedalvaro 0:345b3bc7a0ea 239
mbedalvaro 0:345b3bc7a0ea 240 inline vector2D vector2D::operator-() const {
mbedalvaro 0:345b3bc7a0ea 241 return vector2D(-x, -y);
mbedalvaro 0:345b3bc7a0ea 242 }
mbedalvaro 0:345b3bc7a0ea 243
mbedalvaro 0:345b3bc7a0ea 244 inline vector2D vector2D::operator*( const float f ) const {
mbedalvaro 0:345b3bc7a0ea 245 return vector2D(x*f, y*f);
mbedalvaro 0:345b3bc7a0ea 246 }
mbedalvaro 0:345b3bc7a0ea 247
mbedalvaro 0:345b3bc7a0ea 248 inline vector2D& vector2D::operator*=( const float f ) {
mbedalvaro 0:345b3bc7a0ea 249 x*=f;
mbedalvaro 0:345b3bc7a0ea 250 y*=f;
mbedalvaro 0:345b3bc7a0ea 251 return *this;
mbedalvaro 0:345b3bc7a0ea 252 }
mbedalvaro 0:345b3bc7a0ea 253
mbedalvaro 0:345b3bc7a0ea 254 inline vector2D vector2D::operator/( const float f ) const {
mbedalvaro 0:345b3bc7a0ea 255 //cout << "here" << endl;
mbedalvaro 0:345b3bc7a0ea 256 if(f == 0) return vector2D(x, y);
mbedalvaro 0:345b3bc7a0ea 257 return vector2D(x/f, y/f);
mbedalvaro 0:345b3bc7a0ea 258 }
mbedalvaro 0:345b3bc7a0ea 259
mbedalvaro 0:345b3bc7a0ea 260 inline vector2D& vector2D::operator/=( const float f ) {
mbedalvaro 0:345b3bc7a0ea 261 if(f == 0) return *this;
mbedalvaro 0:345b3bc7a0ea 262 x/=f;
mbedalvaro 0:345b3bc7a0ea 263 y/=f;
mbedalvaro 0:345b3bc7a0ea 264 return *this;
mbedalvaro 0:345b3bc7a0ea 265 }
mbedalvaro 0:345b3bc7a0ea 266
mbedalvaro 0:345b3bc7a0ea 267
mbedalvaro 0:345b3bc7a0ea 268 inline vector2D vector2D::getScaled( const float length ) const {
mbedalvaro 0:345b3bc7a0ea 269 float l = (float)sqrt(x*x + y*y);
mbedalvaro 0:345b3bc7a0ea 270 if( l > 0 )
mbedalvaro 0:345b3bc7a0ea 271 return vector2D( (x/l)*length, (y/l)*length );
mbedalvaro 0:345b3bc7a0ea 272 else
mbedalvaro 0:345b3bc7a0ea 273 return vector2D();
mbedalvaro 0:345b3bc7a0ea 274 }
mbedalvaro 0:345b3bc7a0ea 275
mbedalvaro 0:345b3bc7a0ea 276
mbedalvaro 0:345b3bc7a0ea 277 inline vector2D& vector2D::scale( const float length ) {
mbedalvaro 0:345b3bc7a0ea 278 float l = (float)sqrt(x*x + y*y);
mbedalvaro 0:345b3bc7a0ea 279 if (l > 0) {
mbedalvaro 0:345b3bc7a0ea 280 x = (x/l)*length;
mbedalvaro 0:345b3bc7a0ea 281 y = (y/l)*length;
mbedalvaro 0:345b3bc7a0ea 282 }
mbedalvaro 0:345b3bc7a0ea 283 return *this;
mbedalvaro 0:345b3bc7a0ea 284 }
mbedalvaro 0:345b3bc7a0ea 285
mbedalvaro 0:345b3bc7a0ea 286 // Rotation
mbedalvaro 0:345b3bc7a0ea 287 //
mbedalvaro 0:345b3bc7a0ea 288 //
mbedalvaro 0:345b3bc7a0ea 289
mbedalvaro 0:345b3bc7a0ea 290 inline vector2D vector2D::getRotatedDeg( float angle ) const {
mbedalvaro 0:345b3bc7a0ea 291 float a = (float)(angle*DEG_TO_RAD);
mbedalvaro 0:345b3bc7a0ea 292 return vector2D( x*cos(a) - y*sin(a),
mbedalvaro 0:345b3bc7a0ea 293 x*sin(a) + y*cos(a) );
mbedalvaro 0:345b3bc7a0ea 294 }
mbedalvaro 0:345b3bc7a0ea 295
mbedalvaro 0:345b3bc7a0ea 296 inline vector2D vector2D::getRotatedRad( float angle ) const {
mbedalvaro 0:345b3bc7a0ea 297 float a = angle;
mbedalvaro 0:345b3bc7a0ea 298 return vector2D( x*cos(a) - y*sin(a),
mbedalvaro 0:345b3bc7a0ea 299 x*sin(a) + y*cos(a) );
mbedalvaro 0:345b3bc7a0ea 300 }
mbedalvaro 0:345b3bc7a0ea 301
mbedalvaro 0:345b3bc7a0ea 302 inline vector2D& vector2D::rotateDeg( float angle ) {
mbedalvaro 0:345b3bc7a0ea 303 float a = (float)(angle * DEG_TO_RAD);
mbedalvaro 0:345b3bc7a0ea 304 float xrot = x*cos(a) - y*sin(a);
mbedalvaro 0:345b3bc7a0ea 305 y = x*sin(a) + y*cos(a);
mbedalvaro 0:345b3bc7a0ea 306 x = xrot;
mbedalvaro 0:345b3bc7a0ea 307 return *this;
mbedalvaro 0:345b3bc7a0ea 308 }
mbedalvaro 0:345b3bc7a0ea 309
mbedalvaro 0:345b3bc7a0ea 310 inline vector2D& vector2D::rotateRad( float angle ) {
mbedalvaro 0:345b3bc7a0ea 311 float a = angle;
mbedalvaro 0:345b3bc7a0ea 312 float xrot = x*cos(a) - y*sin(a);
mbedalvaro 0:345b3bc7a0ea 313 y = x*sin(a) + y*cos(a);
mbedalvaro 0:345b3bc7a0ea 314 x = xrot;
mbedalvaro 0:345b3bc7a0ea 315 return *this;
mbedalvaro 0:345b3bc7a0ea 316 }
mbedalvaro 0:345b3bc7a0ea 317
mbedalvaro 0:345b3bc7a0ea 318 inline float vector2D::distance( const vector2D& pnt) const {
mbedalvaro 0:345b3bc7a0ea 319 float vx = x-pnt.x;
mbedalvaro 0:345b3bc7a0ea 320 float vy = y-pnt.y;
mbedalvaro 0:345b3bc7a0ea 321 return (float)sqrt(vx*vx + vy*vy);
mbedalvaro 0:345b3bc7a0ea 322 }
mbedalvaro 0:345b3bc7a0ea 323
mbedalvaro 0:345b3bc7a0ea 324 inline float vector2D::squareDistance( const vector2D& pnt ) const {
mbedalvaro 0:345b3bc7a0ea 325 float vx = x-pnt.x;
mbedalvaro 0:345b3bc7a0ea 326 float vy = y-pnt.y;
mbedalvaro 0:345b3bc7a0ea 327 return vx*vx + vy*vy;
mbedalvaro 0:345b3bc7a0ea 328 }
mbedalvaro 0:345b3bc7a0ea 329
mbedalvaro 0:345b3bc7a0ea 330 // Normalization:
mbedalvaro 0:345b3bc7a0ea 331 inline vector2D vector2D::getNormalized() const {
mbedalvaro 0:345b3bc7a0ea 332 float length = (float)sqrt(x*x + y*y);
mbedalvaro 0:345b3bc7a0ea 333 if( length > 0 ) {
mbedalvaro 0:345b3bc7a0ea 334 return vector2D( x/length, y/length );
mbedalvaro 0:345b3bc7a0ea 335 } else {
mbedalvaro 0:345b3bc7a0ea 336 return vector2D();
mbedalvaro 0:345b3bc7a0ea 337 }
mbedalvaro 0:345b3bc7a0ea 338 }
mbedalvaro 0:345b3bc7a0ea 339
mbedalvaro 0:345b3bc7a0ea 340 inline vector2D& vector2D::normalize() {
mbedalvaro 0:345b3bc7a0ea 341 float length = (float)sqrt(x*x + y*y);
mbedalvaro 0:345b3bc7a0ea 342 if( length > 0 ) {
mbedalvaro 0:345b3bc7a0ea 343 x /= length;
mbedalvaro 0:345b3bc7a0ea 344 y /= length;
mbedalvaro 0:345b3bc7a0ea 345 }
mbedalvaro 0:345b3bc7a0ea 346 return *this;
mbedalvaro 0:345b3bc7a0ea 347 }
mbedalvaro 0:345b3bc7a0ea 348
mbedalvaro 0:345b3bc7a0ea 349 inline vector2D vector2D::getPerpendicularNormed(int orientation) const {
mbedalvaro 0:345b3bc7a0ea 350 float length = (float)sqrt( x*x + y*y );
mbedalvaro 0:345b3bc7a0ea 351 if( length > 0 )
mbedalvaro 0:345b3bc7a0ea 352 return vector2D( -orientation*(y/length), orientation*x/length );
mbedalvaro 0:345b3bc7a0ea 353 else
mbedalvaro 0:345b3bc7a0ea 354 return vector2D(0.0, 0.0); // something very small (will be used to compute a force)
mbedalvaro 0:345b3bc7a0ea 355 }
mbedalvaro 0:345b3bc7a0ea 356
mbedalvaro 0:345b3bc7a0ea 357 inline vector2D& vector2D::perpendicular(int orientation) {
mbedalvaro 0:345b3bc7a0ea 358 float length = (float)sqrt( x*x + y*y );
mbedalvaro 0:345b3bc7a0ea 359 if( length > 0 ) {
mbedalvaro 0:345b3bc7a0ea 360 float _x = x;
mbedalvaro 0:345b3bc7a0ea 361 x = -(y/length)*orientation;
mbedalvaro 0:345b3bc7a0ea 362 y = _x/length*orientation;
mbedalvaro 0:345b3bc7a0ea 363 }
mbedalvaro 0:345b3bc7a0ea 364 return *this;
mbedalvaro 0:345b3bc7a0ea 365 }
mbedalvaro 0:345b3bc7a0ea 366
mbedalvaro 0:345b3bc7a0ea 367 // Length (norm of vector2D):
mbedalvaro 0:345b3bc7a0ea 368 inline float vector2D::length() const {
mbedalvaro 0:345b3bc7a0ea 369 return (float)sqrt( x*x + y*y );
mbedalvaro 0:345b3bc7a0ea 370 }
mbedalvaro 0:345b3bc7a0ea 371
mbedalvaro 0:345b3bc7a0ea 372 inline float vector2D::squareLength() const {
mbedalvaro 0:345b3bc7a0ea 373 return (float)(x*x + y*y);
mbedalvaro 0:345b3bc7a0ea 374 }
mbedalvaro 0:345b3bc7a0ea 375
mbedalvaro 0:345b3bc7a0ea 376 // Angle between two vector2Ds:
mbedalvaro 0:345b3bc7a0ea 377 inline float vector2D::angleDeg( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 378 return (float)(atan2( x*vec.y-y*vec.x, x*vec.x + y*vec.y )*RAD_TO_DEG);
mbedalvaro 0:345b3bc7a0ea 379 }
mbedalvaro 0:345b3bc7a0ea 380
mbedalvaro 0:345b3bc7a0ea 381 inline float vector2D::angleRad( const vector2D& vec ) const {
mbedalvaro 0:345b3bc7a0ea 382 return atan2( x*vec.y-y*vec.x, x*vec.x + y*vec.y );
mbedalvaro 0:345b3bc7a0ea 383 }
mbedalvaro 0:345b3bc7a0ea 384
mbedalvaro 0:345b3bc7a0ea 385 inline float vector2D::angleDegHoriz( ) const {
mbedalvaro 0:345b3bc7a0ea 386 return (float)(atan2( y, x )*RAD_TO_DEG);
mbedalvaro 0:345b3bc7a0ea 387 }
mbedalvaro 0:345b3bc7a0ea 388
mbedalvaro 0:345b3bc7a0ea 389
mbedalvaro 0:345b3bc7a0ea 390 #endif