vector_d.h

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// Copyright 2016 The Draco 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.
//
#ifndef DRACO_CORE_VECTOR_D_H_
#define DRACO_CORE_VECTOR_D_H_
 
#include <inttypes.h>
 
#include <algorithm>
#include <array>
#include <cmath>
#include <limits>
 
#include "draco/core/macros.h"
 
namespace draco {
// D-dimensional vector class with basic operations.
template <class ScalarT, int dimension_t>
class VectorD {
 public:
  static constexpr int dimension = dimension_t;
 
  typedef ScalarT Scalar;
  typedef VectorD<Scalar, dimension_t> Self;
 
  // TODO(b/199760123): Deprecate.
  typedef ScalarT CoefficientType;
 
  VectorD() {
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] = Scalar(0);
    }
  }
 
  // The following constructor does not compile in opt mode, which for now led
  // to the constructors further down, which is not ideal.
  // TODO(b/199760123): Fix constructor below and remove others.
  // template <typename... Args>
  // explicit VectorD(Args... args) : v_({args...}) {}
 
  VectorD(const Scalar &c0, const Scalar &c1) : v_({{c0, c1}}) {
    DRACO_DCHECK_EQ(dimension, 2);
    v_[0] = c0;
    v_[1] = c1;
  }
 
  VectorD(const Scalar &c0, const Scalar &c1, const Scalar &c2)
      : v_({{c0, c1, c2}}) {
    DRACO_DCHECK_EQ(dimension, 3);
  }
 
  VectorD(const Scalar &c0, const Scalar &c1, const Scalar &c2,
          const Scalar &c3)
      : v_({{c0, c1, c2, c3}}) {
    DRACO_DCHECK_EQ(dimension, 4);
  }
 
  VectorD(const Scalar &c0, const Scalar &c1, const Scalar &c2,
          const Scalar &c3, const Scalar &c4)
      : v_({{c0, c1, c2, c3, c4}}) {
    DRACO_DCHECK_EQ(dimension, 5);
  }
 
  VectorD(const Scalar &c0, const Scalar &c1, const Scalar &c2,
          const Scalar &c3, const Scalar &c4, const Scalar &c5)
      : v_({{c0, c1, c2, c3, c4, c5}}) {
    DRACO_DCHECK_EQ(dimension, 6);
  }
 
  VectorD(const Scalar &c0, const Scalar &c1, const Scalar &c2,
          const Scalar &c3, const Scalar &c4, const Scalar &c5,
          const Scalar &c6)
      : v_({{c0, c1, c2, c3, c4, c5, c6}}) {
    DRACO_DCHECK_EQ(dimension, 7);
  }
 
  VectorD(const Self &o) {
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] = o[i];
    }
  }
 
  // Constructs the vector from another vector with a different data type or a
  // different number of components. If the |src_vector| has more components
  // than |this| vector, the excess components are truncated. If the
  // |src_vector| has fewer components than |this| vector, the remaining
  // components are padded with 0.
  // Note that the constructor is intentionally explicit to avoid accidental
  // conversions between different vector types.
  template <class OtherScalarT, int other_dimension_t>
  explicit VectorD(const VectorD<OtherScalarT, other_dimension_t> &src_vector) {
    for (int i = 0; i < dimension; ++i) {
      if (i < other_dimension_t) {
        v_[i] = Scalar(src_vector[i]);
      } else {
        v_[i] = Scalar(0);
      }
    }
  }
 
  Scalar &operator[](int i) { return v_[i]; }
  const Scalar &operator[](int i) const { return v_[i]; }
  // TODO(b/199760123): Remove.
  // Similar to interface of Eigen library.
  Scalar &operator()(int i) { return v_[i]; }
  const Scalar &operator()(int i) const { return v_[i]; }
 
  // Unary operators.
  Self operator-() const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = -(*this)[i];
    }
    return ret;
  }
 
  // Binary operators.
  Self operator+(const Self &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] + o[i];
    }
    return ret;
  }
 
  Self operator-(const Self &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] - o[i];
    }
    return ret;
  }
 
  Self operator*(const Self &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] * o[i];
    }
    return ret;
  }
 
  Self &operator+=(const Self &o) {
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] += o[i];
    }
    return *this;
  }
 
  Self &operator-=(const Self &o) {
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] -= o[i];
    }
    return *this;
  }
 
  Self &operator*=(const Self &o) {
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] *= o[i];
    }
    return *this;
  }
 
  Self operator*(const Scalar &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] * o;
    }
    return ret;
  }
 
  Self operator/(const Scalar &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] / o;
    }
    return ret;
  }
 
  Self operator+(const Scalar &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] + o;
    }
    return ret;
  }
 
  Self operator-(const Scalar &o) const {
    Self ret;
    for (int i = 0; i < dimension; ++i) {
      ret[i] = (*this)[i] - o;
    }
    return ret;
  }
 
  bool operator==(const Self &o) const {
    for (int i = 0; i < dimension; ++i) {
      if ((*this)[i] != o[i]) {
        return false;
      }
    }
    return true;
  }
 
  bool operator!=(const Self &x) const { return !((*this) == x); }
 
  bool operator<(const Self &x) const {
    for (int i = 0; i < dimension - 1; ++i) {
      if (v_[i] < x.v_[i]) {
        return true;
      }
      if (v_[i] > x.v_[i]) {
        return false;
      }
    }
    // Only one check needed for the last dimension.
    if (v_[dimension - 1] < x.v_[dimension - 1]) {
      return true;
    }
    return false;
  }
 
  // Functions.
  Scalar SquaredNorm() const { return this->Dot(*this); }
 
  // Computes L1, the sum of absolute values of all entries.
  Scalar AbsSum() const {
    Scalar result(0);
    for (int i = 0; i < dimension; ++i) {
      Scalar next_value = std::abs(v_[i]);
      if (result > std::numeric_limits<Scalar>::max() - next_value) {
        // Return the max if adding would have caused an overflow.
        return std::numeric_limits<Scalar>::max();
      }
      result += next_value;
    }
    return result;
  }
 
  Scalar Dot(const Self &o) const {
    Scalar ret(0);
    for (int i = 0; i < dimension; ++i) {
      ret += (*this)[i] * o[i];
    }
    return ret;
  }
 
  void Normalize() {
    const Scalar magnitude = std::sqrt(this->SquaredNorm());
    if (magnitude == 0) {
      return;
    }
    for (int i = 0; i < dimension; ++i) {
      (*this)[i] /= magnitude;
    }
  }
 
  Self GetNormalized() const {
    Self ret(*this);
    ret.Normalize();
    return ret;
  }
 
  const Scalar &MaxCoeff() const {
    return *std::max_element(v_.begin(), v_.end());
  }
 
  const Scalar &MinCoeff() const {
    return *std::min_element(v_.begin(), v_.end());
  }
 
  Scalar *data() { return &(v_[0]); }
  const Scalar *data() const { return &(v_[0]); }
 
 private:
  std::array<Scalar, dimension> v_;
};
 
// Scalar multiplication from the other side too.
template <class ScalarT, int dimension_t>
VectorD<ScalarT, dimension_t> operator*(
    const ScalarT &o, const VectorD<ScalarT, dimension_t> &v) {
  return v * o;
}
 
// Calculates the squared distance between two points.
template <class ScalarT, int dimension_t>
ScalarT SquaredDistance(const VectorD<ScalarT, dimension_t> &v1,
                        const VectorD<ScalarT, dimension_t> &v2) {
  ScalarT difference;
  ScalarT squared_distance = 0;
  // Check each index separately so difference is never negative and underflow
  // is avoided for unsigned types.
  for (int i = 0; i < dimension_t; ++i) {
    if (v1[i] >= v2[i]) {
      difference = v1[i] - v2[i];
    } else {
      difference = v2[i] - v1[i];
    }
    squared_distance += (difference * difference);
  }
  return squared_distance;
}
 
// Global function computing the cross product of two 3D vectors.
template <class ScalarT>
VectorD<ScalarT, 3> CrossProduct(const VectorD<ScalarT, 3> &u,
                                 const VectorD<ScalarT, 3> &v) {
  // Preventing accidental use with uint32_t and the like.
  static_assert(std::is_signed<ScalarT>::value,
                "ScalarT must be a signed type. ");
  VectorD<ScalarT, 3> r;
  r[0] = (u[1] * v[2]) - (u[2] * v[1]);
  r[1] = (u[2] * v[0]) - (u[0] * v[2]);
  r[2] = (u[0] * v[1]) - (u[1] * v[0]);
  return r;
}
 
template <class ScalarT, int dimension_t>
inline std::ostream &operator<<(
    std::ostream &out, const draco::VectorD<ScalarT, dimension_t> &vec) {
  for (int i = 0; i < dimension_t - 1; ++i) {
    out << vec[i] << " ";
  }
  out << vec[dimension_t - 1];
  return out;
}
 
typedef VectorD<float, 2> Vector2f;
typedef VectorD<float, 3> Vector3f;
typedef VectorD<float, 4> Vector4f;
typedef VectorD<float, 5> Vector5f;
typedef VectorD<float, 6> Vector6f;
typedef VectorD<float, 7> Vector7f;
 
typedef VectorD<uint32_t, 2> Vector2ui;
typedef VectorD<uint32_t, 3> Vector3ui;
typedef VectorD<uint32_t, 4> Vector4ui;
typedef VectorD<uint32_t, 5> Vector5ui;
typedef VectorD<uint32_t, 6> Vector6ui;
typedef VectorD<uint32_t, 7> Vector7ui;
 
}  // namespace draco
 
#endif  // DRACO_CORE_VECTOR_D_H_