70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
/* -*- C++ -*- ------------------------------------------------------------
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Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
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The Configurable Math Library (CML) is distributed under the terms of the
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Boost Software License, v1.0 (see cml/LICENSE for details).
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*-----------------------------------------------------------------------*/
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/** @file
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* @brief
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*/
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#ifndef vector_angle_h
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#define vector_angle_h
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#include <cml/mathlib/checking.h>
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/* Functions for finding the signed and unsigned angles between vectors in
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* 3D and 2D.
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*
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* Note that the input vectors for these functions are not required to be
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* unit length.
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*
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* @todo: Clean up promotions, conversions, and return types.
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*/
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namespace cml {
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/** Signed angle between two 3D vectors. */
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template< class VecT_1, class VecT_2, class VecT_3 >
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typename detail::DotPromote<
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typename detail::CrossPromote<VecT_1,VecT_2>::promoted_vector, VecT_3
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>::promoted_scalar
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signed_angle(const VecT_1& v1, const VecT_2& v2, const VecT_3& reference)
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{
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typedef typename detail::CrossPromote<VecT_1,VecT_2>::promoted_vector
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vector_type;
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typedef typename detail::DotPromote<vector_type,VecT_3>::promoted_scalar
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value_type;
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vector_type c = cross(v1,v2);
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value_type angle = std::atan2(double(length(c)),double(dot(v1,v2)));
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return dot(c,reference) < value_type(0) ? -angle : angle;
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}
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/** Unsigned angle between two 3D vectors. */
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template< class VecT_1, class VecT_2 >
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typename detail::DotPromote< VecT_1, VecT_2 >::promoted_scalar
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unsigned_angle(const VecT_1& v1, const VecT_2& v2) {
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return std::atan2(double(length(cross(v1,v2))),double(dot(v1,v2)));
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}
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/** Signed angle between two 2D vectors. */
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template< class VecT_1, class VecT_2 >
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typename detail::DotPromote< VecT_1, VecT_2 >::promoted_scalar
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signed_angle_2D(const VecT_1& v1, const VecT_2& v2) {
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return std::atan2(double(perp_dot(v1,v2)),double(dot(v1,v2)));
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}
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/** Unsigned angle between two 2D vectors. */
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template< class VecT_1, class VecT_2 >
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typename detail::DotPromote< VecT_1, VecT_2 >::promoted_scalar
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unsigned_angle_2D(const VecT_1& v1, const VecT_2& v2) {
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return std::fabs(signed_angle_2D(v1,v2));
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}
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} // namespace cml
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#endif
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