deVector3.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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 */

#ifndef _deVector3_h
#define _deVector3_h

class deVector3
{
public:
        deFloat& operator[](const deInt i) { return _data[i]; }
        const deFloat& operator[](const deInt i) const { return _data[i]; }
        operator deFloat*() { return _data; }
        operator const deFloat*() const { return _data; }
        deFloat& elementAt(const deInt i) { return _data[i]; }
        const deFloat& elementAt(const deInt i) const { return _data[i]; }

        DE_MATH_API void operator=(const deVector3& v);
        DE_MATH_API deInt operator==(const deVector3& v) const;
        DE_MATH_API void operator+=(const deVector3& v);
        DE_MATH_API void operator-=(const deVector3& v);
        DE_MATH_API void operator*=(const deVector3& v);
        DE_MATH_API void operator*=(const deFloat s);
        DE_MATH_API void operator+=(const deFloat s);

        DE_MATH_API void zero();

        DE_MATH_API deFloat dot(const deVector3& v) const;
        DE_MATH_API deFloat magnitude() const;
        DE_MATH_API void normalize();
        DE_MATH_API void set(const deFloat x, const deFloat y, const deFloat z);
        DE_MATH_API void set(const deFloat* v);
        DE_MATH_API void get(deFloat* v);

        DE_MATH_API void minimum(const deVector3& v);
        DE_MATH_API void maximum(const deVector3& v);

        DE_MATH_API void negate(const deVector3& v);
        DE_MATH_API void add(const deVector3& v1, const deVector3& v2);
        DE_MATH_API void subtract(const deVector3& v1, const deVector3& v2);
        DE_MATH_API void multiply(const deVector3& v1, const deVector3& v2);
        DE_MATH_API void multiply(const deVector3& v, const deFloat s);
        DE_MATH_API void add(const deVector3& v, const deFloat s);
        DE_MATH_API void crossMultiply(const deVector3& v1, const deVector3& v2);
        DE_MATH_API void multiply(const deMatrix3& m, const deVector3& v);
        DE_MATH_API void transposedMultiply(const deMatrix3& m, const deVector3& v);
        DE_MATH_API void multiply(const deTransform& t, const deVector3& v);
        DE_MATH_API void inversedMultiply(const deTransform& t, const deVector3& v);
        DE_MATH_API void diagonal(const deMatrix3& m);
        DE_MATH_API void column(const deMatrix3& m, const deInt col);
        DE_MATH_API void angularError(const deMatrix3& R, const deMatrix3& Rd);
        DE_MATH_API void eulerXYZ(const deMatrix3& m);
        DE_MATH_API void eulerZYX(const deMatrix3& m);
        DE_MATH_API void eulerZYX(const deMatrix3& m, const deVector3& v);
        DE_MATH_API void eulerZYX(const deQuaternion& q);
        DE_MATH_API void backSub(const deMatrix3& LU, const deVector3& y);
        DE_MATH_API void multiply(const deQuaternion& q, const deVector3& v);
        DE_MATH_API void inversedMultiply(const deQuaternion& q, const deVector3& v);
        DE_MATH_API void column(const deQuaternion& q, const deInt col);
        // dPhi = Einv ( q - qd) = -2*q_tilde^T qd <-- since (q_tilde^T q) = 0
        // E = 0.5*q_tilde
        // Einv = (EtE)inv Et = 4Et = 2*qtilde^T <-- since (q_tilde^T q_tilde) = I
        // q_tilde = [ -x -y -z; w -z  y; z  w -x; -y  x  w ] 
        // q_tilde^T = [ -x  w  z -y; -y -z  w  x; -z  y -x  w ]               
        DE_MATH_API void angularError(const deQuaternion& q, const deQuaternion& qd);
        DE_MATH_API void multiply(const deFrame& f, const deVector3& v);
        DE_MATH_API void inversedMultiply(const deFrame& f, const deVector3& v);

        // this = v + t * (vg - v)
        DE_MATH_API void lerp(const deVector3& v, const deVector3& vg, const deFloat t);

private:
        deFloat _data[DE_VECTOR3_SIZE];
};

#endif // _deVector3_h

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