Shuhei Tsuchida / Mbed 2 deprecated dotstar_old_style_6volleyball

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Dependencies:   RotationMat_ SDFileSystem math mbed trigonometric_fanc

Vector3D.h@0:28d0b65a60fe, 2016-02-01 (annotated)

Committer:
shuhei2306
Date:
Mon Feb 01 13:53:13 2016 +0000
Revision:
0:28d0b65a60fe
Child:
2:b09caaa3de96
first_commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shuhei2306 0:28d0b65a60fe 1 #include "mbed.h"
shuhei2306 0:28d0b65a60fe 2
shuhei2306 0:28d0b65a60fe 3 class Vector3D{
shuhei2306 0:28d0b65a60fe 4 public:
shuhei2306 0:28d0b65a60fe 5 //メンバ変数
shuhei2306 0:28d0b65a60fe 6 float x;
shuhei2306 0:28d0b65a60fe 7 float y;
shuhei2306 0:28d0b65a60fe 8 float z;
shuhei2306 0:28d0b65a60fe 9 //コンストラクタ
shuhei2306 0:28d0b65a60fe 10 Vector3D();
shuhei2306 0:28d0b65a60fe 11 Vector3D(float x,float y,float z);
shuhei2306 0:28d0b65a60fe 12 //代入演算子
shuhei2306 0:28d0b65a60fe 13 Vector3D& Vector3D::operator=(const Vector3D& v);
shuhei2306 0:28d0b65a60fe 14 //単項演算子
shuhei2306 0:28d0b65a60fe 15 Vector3D& operator+=(const Vector3D& v);
shuhei2306 0:28d0b65a60fe 16 Vector3D& operator-=(const Vector3D& v);
shuhei2306 0:28d0b65a60fe 17 Vector3D& operator*=(float k);
shuhei2306 0:28d0b65a60fe 18 Vector3D& operator/=(float k);
shuhei2306 0:28d0b65a60fe 19 Vector3D operator+()const;
shuhei2306 0:28d0b65a60fe 20 Vector3D operator-()const;
shuhei2306 0:28d0b65a60fe 21 //添え字演算子
shuhei2306 0:28d0b65a60fe 22 float& operator[](int i);
shuhei2306 0:28d0b65a60fe 23 //比較演算子
shuhei2306 0:28d0b65a60fe 24 bool operator==(const Vector3D& v ) const;
shuhei2306 0:28d0b65a60fe 25 bool operator!=(const Vector3D& v ) const;
shuhei2306 0:28d0b65a60fe 26 //べクトルの長さ
shuhei2306 0:28d0b65a60fe 27 float norm()const;
shuhei2306 0:28d0b65a60fe 28 //正規化
shuhei2306 0:28d0b65a60fe 29 void normalize();
shuhei2306 0:28d0b65a60fe 30 };
shuhei2306 0:28d0b65a60fe 31 //ベクトル演算
shuhei2306 0:28d0b65a60fe 32 //Vector3D+Vector3D
shuhei2306 0:28d0b65a60fe 33 Vector3D operator+(const Vector3D& u,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 34 //Vector3D-Vector3D
shuhei2306 0:28d0b65a60fe 35 Vector3D operator-(const Vector3D& u,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 36 //float*Vector3D
shuhei2306 0:28d0b65a60fe 37 Vector3D operator*(float k,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 38 //Vector3D*float
shuhei2306 0:28d0b65a60fe 39 Vector3D operator*(const Vector3D& v,float k);
shuhei2306 0:28d0b65a60fe 40 //Vector3D/float
shuhei2306 0:28d0b65a60fe 41 Vector3D operator/(const Vector3D& v,float k);
shuhei2306 0:28d0b65a60fe 42 //内積 Vector3D*Vector3D
shuhei2306 0:28d0b65a60fe 43 float operator*(const Vector3D& u,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 44 //外積 Vector3D%Vector3D
shuhei2306 0:28d0b65a60fe 45 Vector3D operator%(const Vector3D& u,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 46 //2つのベクトルのなす角度
shuhei2306 0:28d0b65a60fe 47 float angle(const Vector3D& u,const Vector3D& v);
shuhei2306 0:28d0b65a60fe 48 //出力
shuhei2306 0:28d0b65a60fe 49 #include <iostream>
shuhei2306 0:28d0b65a60fe 50 inline std::ostream& operator<<(std::ostream& s, const Vector3D& v);
shuhei2306 0:28d0b65a60fe 51 //*----------------------メンバ関数の実装--------------------------*//
shuhei2306 0:28d0b65a60fe 52 #include <cmath>
shuhei2306 0:28d0b65a60fe 53 //コンストラクタ
shuhei2306 0:28d0b65a60fe 54 inline Vector3D::Vector3D(){ x = y = z = 0; }
shuhei2306 0:28d0b65a60fe 55 inline Vector3D::Vector3D(float x,float y,float z){
shuhei2306 0:28d0b65a60fe 56 this->x=x; this->y=y; this->z=z;
shuhei2306 0:28d0b65a60fe 57 }
shuhei2306 0:28d0b65a60fe 58 //代入演算子
shuhei2306 0:28d0b65a60fe 59 inline Vector3D& Vector3D::operator=(const Vector3D& v){
shuhei2306 0:28d0b65a60fe 60 this->x=v.x; this->y=v.y; this->z=v.z;
shuhei2306 0:28d0b65a60fe 61 return *this;
shuhei2306 0:28d0b65a60fe 62 }
shuhei2306 0:28d0b65a60fe 63 //単項演算子
shuhei2306 0:28d0b65a60fe 64 inline Vector3D& Vector3D::operator+=(const Vector3D& v){
shuhei2306 0:28d0b65a60fe 65 this->x += v.x; this->y += v.y; this->z += v.z;
shuhei2306 0:28d0b65a60fe 66 return *this;
shuhei2306 0:28d0b65a60fe 67 }
shuhei2306 0:28d0b65a60fe 68 inline Vector3D& Vector3D::operator-=(const Vector3D& v){
shuhei2306 0:28d0b65a60fe 69 this->x -= v.x; this->y -= v.y; this->z -= v.z;
shuhei2306 0:28d0b65a60fe 70 return *this;
shuhei2306 0:28d0b65a60fe 71 }
shuhei2306 0:28d0b65a60fe 72 inline Vector3D& Vector3D::operator*=(float k){
shuhei2306 0:28d0b65a60fe 73 this->x *= k; this->y *= k; this->z *= k;
shuhei2306 0:28d0b65a60fe 74 return *this;
shuhei2306 0:28d0b65a60fe 75 }
shuhei2306 0:28d0b65a60fe 76 inline Vector3D& Vector3D::operator/=(float k){
shuhei2306 0:28d0b65a60fe 77 this->x /= k; this->y /= k; this->z /= k;
shuhei2306 0:28d0b65a60fe 78 return *this;
shuhei2306 0:28d0b65a60fe 79 }
shuhei2306 0:28d0b65a60fe 80 inline Vector3D Vector3D::operator+()const{ //+Vector3D
shuhei2306 0:28d0b65a60fe 81 return *this;
shuhei2306 0:28d0b65a60fe 82 }
shuhei2306 0:28d0b65a60fe 83 inline Vector3D Vector3D::operator-()const{ //-Vector3D
shuhei2306 0:28d0b65a60fe 84 return Vector3D(-x,-y,-z);
shuhei2306 0:28d0b65a60fe 85 }
shuhei2306 0:28d0b65a60fe 86 //添え字演算子
shuhei2306 0:28d0b65a60fe 87 inline float& Vector3D::operator[](int i){
shuhei2306 0:28d0b65a60fe 88 if(i == 0){
shuhei2306 0:28d0b65a60fe 89 return x;
shuhei2306 0:28d0b65a60fe 90 }
shuhei2306 0:28d0b65a60fe 91 else if(i == 1){
shuhei2306 0:28d0b65a60fe 92 return y;
shuhei2306 0:28d0b65a60fe 93 }
shuhei2306 0:28d0b65a60fe 94 else if(i == 2){
shuhei2306 0:28d0b65a60fe 95 return z;
shuhei2306 0:28d0b65a60fe 96 }
shuhei2306 0:28d0b65a60fe 97 else{
shuhei2306 0:28d0b65a60fe 98 return x;
shuhei2306 0:28d0b65a60fe 99 }
shuhei2306 0:28d0b65a60fe 100 }
shuhei2306 0:28d0b65a60fe 101 //比較演算子
shuhei2306 0:28d0b65a60fe 102 inline bool Vector3D::operator==(const Vector3D& v ) const{
shuhei2306 0:28d0b65a60fe 103 return (x == v.x) && (y == v.y) && (z == v.z);
shuhei2306 0:28d0b65a60fe 104 }
shuhei2306 0:28d0b65a60fe 105 inline bool Vector3D::operator!=(const Vector3D& v ) const{
shuhei2306 0:28d0b65a60fe 106 return !(*this == v);
shuhei2306 0:28d0b65a60fe 107 }
shuhei2306 0:28d0b65a60fe 108 //べクトルの長さ
shuhei2306 0:28d0b65a60fe 109 inline float Vector3D::norm()const{
shuhei2306 0:28d0b65a60fe 110 return pow(x*x+y*y+z*z,0.5f);
shuhei2306 0:28d0b65a60fe 111 }
shuhei2306 0:28d0b65a60fe 112 //正規化
shuhei2306 0:28d0b65a60fe 113 inline void Vector3D::normalize(){
shuhei2306 0:28d0b65a60fe 114 *this /= norm();
shuhei2306 0:28d0b65a60fe 115 }
shuhei2306 0:28d0b65a60fe 116 //*----------------------グローバル関数の実装--------------------------*//
shuhei2306 0:28d0b65a60fe 117 //二項演算子の定義
shuhei2306 0:28d0b65a60fe 118 //Vector3D+Vector3D
shuhei2306 0:28d0b65a60fe 119 inline Vector3D operator+(const Vector3D& u,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 120 Vector3D w;
shuhei2306 0:28d0b65a60fe 121 w.x=u.x+v.x;
shuhei2306 0:28d0b65a60fe 122 w.y=u.y+v.y;
shuhei2306 0:28d0b65a60fe 123 w.z=u.z+v.z;
shuhei2306 0:28d0b65a60fe 124 return w;
shuhei2306 0:28d0b65a60fe 125 }
shuhei2306 0:28d0b65a60fe 126 //Vector3D-Vector3D
shuhei2306 0:28d0b65a60fe 127 inline Vector3D operator-(const Vector3D& u,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 128 Vector3D w;
shuhei2306 0:28d0b65a60fe 129 w.x=u.x-v.x;
shuhei2306 0:28d0b65a60fe 130 w.y=u.y-v.y;
shuhei2306 0:28d0b65a60fe 131 w.z=u.z-v.z;
shuhei2306 0:28d0b65a60fe 132 return w;
shuhei2306 0:28d0b65a60fe 133 }
shuhei2306 0:28d0b65a60fe 134 //float*Vector3D
shuhei2306 0:28d0b65a60fe 135 inline Vector3D operator*(float k,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 136 return Vector3D(k*v.x,k*v.y,k*v.z);
shuhei2306 0:28d0b65a60fe 137 }
shuhei2306 0:28d0b65a60fe 138 //Vector3D*float
shuhei2306 0:28d0b65a60fe 139 inline Vector3D operator*(const Vector3D& v,float k){
shuhei2306 0:28d0b65a60fe 140 return Vector3D(v.x*k,v.y*k,v.z*k);
shuhei2306 0:28d0b65a60fe 141 }
shuhei2306 0:28d0b65a60fe 142 //Vector3D/float
shuhei2306 0:28d0b65a60fe 143 inline Vector3D operator/(const Vector3D& v,float k){
shuhei2306 0:28d0b65a60fe 144 return Vector3D(v.x/k,v.y/k,v.z/k);
shuhei2306 0:28d0b65a60fe 145 }
shuhei2306 0:28d0b65a60fe 146 //内積 Vector3D*Vector3D
shuhei2306 0:28d0b65a60fe 147 inline float operator*(const Vector3D& u,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 148 return u.x*v.x+u.y*v.y+u.z*v.z;
shuhei2306 0:28d0b65a60fe 149 }
shuhei2306 0:28d0b65a60fe 150 //外積 Vector3D%Vector3D
shuhei2306 0:28d0b65a60fe 151 inline Vector3D operator%(const Vector3D& u,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 152 Vector3D w;
shuhei2306 0:28d0b65a60fe 153 w.x=u.y*v.z-u.z*v.y;
shuhei2306 0:28d0b65a60fe 154 w.y=u.z*v.x-u.x*v.z;
shuhei2306 0:28d0b65a60fe 155 w.z=u.x*v.y-u.y*v.x;
shuhei2306 0:28d0b65a60fe 156 return w;
shuhei2306 0:28d0b65a60fe 157 }
shuhei2306 0:28d0b65a60fe 158 //画面への表示
shuhei2306 0:28d0b65a60fe 159 #include <iostream>
shuhei2306 0:28d0b65a60fe 160 inline std::ostream& operator<<(std::ostream& s, const Vector3D& v){
shuhei2306 0:28d0b65a60fe 161 return s <<'('<<v.x<<","<<v.y<<","<<v.z<<')';
shuhei2306 0:28d0b65a60fe 162 }
shuhei2306 0:28d0b65a60fe 163
shuhei2306 0:28d0b65a60fe 164 #define PI 3.1415926535
shuhei2306 0:28d0b65a60fe 165 //2つのベクトルのなす角
shuhei2306 0:28d0b65a60fe 166 inline float angle(const Vector3D& u,const Vector3D& v){
shuhei2306 0:28d0b65a60fe 167 float cos =u*v/(u.norm()*v.norm());
shuhei2306 0:28d0b65a60fe 168 return float(acos(cos)/PI*180);
shuhei2306 0:28d0b65a60fe 169 }