140 lines
4.2 KiB
C++
140 lines
4.2 KiB
C++
//-----------------------------------------------------------------------------
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// An expression in our symbolic algebra system, used to write, linearize,
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// and solve our constraint equations.
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//
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// Copyright 2008-2013 Jonathan Westhues.
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//-----------------------------------------------------------------------------
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#ifndef __EXPR_H
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#define __EXPR_H
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class Expr {
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public:
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enum class Op : uint32_t {
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// A parameter, by the hParam handle
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PARAM = 0,
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// A parameter, by a pointer straight in to the param table (faster,
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// if we know that the param table won't move around)
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PARAM_PTR = 1,
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// Operands
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CONSTANT = 20,
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VARIABLE = 21,
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// Binary ops
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PLUS = 100,
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MINUS = 101,
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TIMES = 102,
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DIV = 103,
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// Unary ops
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NEGATE = 104,
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SQRT = 105,
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SQUARE = 106,
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SIN = 107,
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COS = 108,
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ASIN = 109,
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ACOS = 110,
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};
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Op op;
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Expr *a;
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union {
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double v;
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hParam parh;
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Param *parp;
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Expr *b;
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};
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Expr() { }
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Expr(double val) : op(Op::CONSTANT) { v = val; }
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static inline Expr *AllocExpr()
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{ return (Expr *)AllocTemporary(sizeof(Expr)); }
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static Expr *From(hParam p);
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static Expr *From(double v);
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Expr *AnyOp(Op op, Expr *b);
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inline Expr *Plus (Expr *b_) { return AnyOp(Op::PLUS, b_); }
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inline Expr *Minus(Expr *b_) { return AnyOp(Op::MINUS, b_); }
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inline Expr *Times(Expr *b_) { return AnyOp(Op::TIMES, b_); }
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inline Expr *Div (Expr *b_) { return AnyOp(Op::DIV, b_); }
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inline Expr *Negate() { return AnyOp(Op::NEGATE, NULL); }
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inline Expr *Sqrt () { return AnyOp(Op::SQRT, NULL); }
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inline Expr *Square() { return AnyOp(Op::SQUARE, NULL); }
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inline Expr *Sin () { return AnyOp(Op::SIN, NULL); }
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inline Expr *Cos () { return AnyOp(Op::COS, NULL); }
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inline Expr *ASin () { return AnyOp(Op::ASIN, NULL); }
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inline Expr *ACos () { return AnyOp(Op::ACOS, NULL); }
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Expr *PartialWrt(hParam p) const;
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double Eval() const;
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uint64_t ParamsUsed() const;
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bool DependsOn(hParam p) const;
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static bool Tol(double a, double b);
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Expr *FoldConstants();
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void Substitute(hParam oldh, hParam newh);
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static const hParam NO_PARAMS, MULTIPLE_PARAMS;
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hParam ReferencedParams(ParamList *pl) const;
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void ParamsToPointers();
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std::string Print() const;
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// number of child nodes: 0 (e.g. constant), 1 (sqrt), or 2 (+)
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int Children() const;
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// total number of nodes in the tree
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int Nodes() const;
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// Make a simple copy
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Expr *DeepCopy() const;
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// Make a copy, with the parameters (usually referenced by hParam)
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// resolved to pointers to the actual value. This speeds things up
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// considerably.
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Expr *DeepCopyWithParamsAsPointers(IdList<Param,hParam> *firstTry,
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IdList<Param,hParam> *thenTry) const;
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static Expr *From(const char *in, bool popUpError);
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};
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class ExprVector {
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public:
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Expr *x, *y, *z;
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static ExprVector From(Expr *x, Expr *y, Expr *z);
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static ExprVector From(Vector vn);
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static ExprVector From(hParam x, hParam y, hParam z);
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static ExprVector From(double x, double y, double z);
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ExprVector Plus(ExprVector b) const;
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ExprVector Minus(ExprVector b) const;
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Expr *Dot(ExprVector b) const;
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ExprVector Cross(ExprVector b) const;
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ExprVector ScaledBy(Expr *s) const;
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ExprVector WithMagnitude(Expr *s) const;
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Expr *Magnitude() const;
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Vector Eval() const;
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};
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class ExprQuaternion {
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public:
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Expr *w, *vx, *vy, *vz;
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static ExprQuaternion From(Expr *w, Expr *vx, Expr *vy, Expr *vz);
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static ExprQuaternion From(Quaternion qn);
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static ExprQuaternion From(hParam w, hParam vx, hParam vy, hParam vz);
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ExprVector RotationU() const;
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ExprVector RotationV() const;
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ExprVector RotationN() const;
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ExprVector Rotate(ExprVector p) const;
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ExprQuaternion Times(ExprQuaternion b) const;
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Expr *Magnitude() const;
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};
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#endif
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