vector3.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_MATH_VECTOR3_H
#define SHEEP_MATH_VECTOR3_H

#include "common/misc/htmlstream.h"
#include "real.h"

#include <cassert>
#include <cmath>    // std::sqrt()

namespace sheep {

    class Vector3 {
    public:
        Real m_x, m_y, m_z;

        //! Constructors.
        Vector3();
        Vector3(Real r);
        Vector3(const Vector3 &v);
        Vector3(Real x, Real y, Real z);

        //! Assignment operators.
        Vector3 &operator=(Real rhs);
        Vector3 &operator=(const Vector3 &rhs);

        //! Array subscripting.
        Real &operator[](int i);

        //! Square of the vector length.
        Real SquareNorm() const;

        //! Vector length.
        Real Norm() const;

        //! Normalized vector.
        Vector3 Normalized() const;

        //! Normalize the vector.
        void Normalize();

        //! Returns true if the vector is (approximately) unit-length.
        bool IsUnitLength(Real e = EPS) const;
    };

    //! Basic operations.
    Vector3 operator+(const Vector3 &lhs, const Vector3 &rhs);
    Vector3 operator-(const Vector3 &lhs, const Vector3 &rhs);
    Vector3 operator-(const Vector3 &v);
    Vector3 operator*(const Vector3 &lhs, Real rhs);
    Vector3 operator*(Real lhs, const Vector3 &rhs);
    Vector3 operator/(const Vector3 &lhs, Real rhs);
    Vector3 &operator+=(Vector3 &lhs, const Vector3 &rhs);
    Vector3 &operator-=(Vector3 &lhs, const Vector3 &rhs);
    Vector3 &operator*=(Vector3 &lhs, Real rhs);
    Vector3 &operator/=(Vector3 &lhs, Real rhs);

    //! Dot product.
    Real operator*(const Vector3 &lhs, const Vector3 &rhs);

    //! Cross product. Be careful: the ^ operator has a very low
    //! priority. In consequence, it would be wise to embrace every
    //! cross product into parenthesis to avoid unpredictable results.
    Vector3 operator^(const Vector3 &lhs, const Vector3 &rhs);

    bool feq(const Vector3 &a, const Vector3 &b, Real e = EPS);     //!< Equal: a == b.
    bool fneq(const Vector3 &a, const Vector3 &b, Real e = EPS);    //!< Not equal: a != b.
    bool fz(const Vector3 &a, Real e = EPS);                        //!< Zero: a == 0.
    bool fnz(const Vector3 &a, Real e = EPS);                       //!< Not zero: a != 0.

    //! Deprecated.
    htmlstream& operator<<(htmlstream &s, const Vector3 &v);

#include "vector3.inl"

}

#endif  // !SHEEP_MATH_VECTOR3_H

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