vec3f.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/


// primary contact: GUAL - secondary contact: LAPA
#ifndef Navigation_Vec3f_H
#define Navigation_Vec3f_H

#include "gwnavruntime/math/vec2f.h"
#include <math.h>

namespace Kaim
{

class Vec3f
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    // ---------------------------------- Creation & Initialization ----------------------------------

    Vec3f() : x(0.0f), y(0.0f), z(0.0f) {}

    Vec3f(KyFloat32 _x, KyFloat32 _y, KyFloat32 _z) : x(_x), y(_y), z(_z) {}

    explicit Vec3f(const KyFloat32* coords) { Set(coords); }

    explicit Vec3f(const Vec2f& v) { Set(v); }

    Vec3f(const Vec2f& v, KyFloat32 _z) { Set(v, _z); }

    KY_INLINE void Set(KyFloat32 _x, KyFloat32 _y, KyFloat32 _z) { x = _x; y = _y; z = _z; }
    
    KY_INLINE void Set(const KyFloat32* coords) { x = coords[0]; y = coords[1]; z = coords[2]; }

    KY_INLINE void Set(const Vec2f& v) { x = v.x; y = v.y; z = 0.0f; }

    KY_INLINE void Set(const Vec2f& v, KyFloat32 _z) { x = v.x; y = v.y; z = _z; }


    // -------------------------- Operators --------------------------------

    KY_INLINE KyFloat32& operator[](KyInt32 i) { return (&x)[i]; }
    
    KY_INLINE KyFloat32 operator[](KyInt32 i) const { return (&x)[i]; }

    KY_INLINE bool operator==(const Vec3f& v) const { return x == v.x && y == v.y && z == v.z; }
    
    KY_INLINE bool operator!=(const Vec3f& v) const { return x != v.x || y != v.y || z != v.z; }
    
    KY_INLINE bool operator<(const Vec3f& v) const;
    KY_INLINE bool operator>(const Vec3f& v) const;
    KY_INLINE bool operator<=(const Vec3f& v) const;
    KY_INLINE bool operator>=(const Vec3f& v) const;

    KY_INLINE Vec3f& operator*=(KyFloat32 s) { x *= s; y *= s; z *= s; return *this; }
    
    KY_INLINE Vec3f& operator/=(KyFloat32 d) { return operator*=(1.0f / d); }

    KY_INLINE Vec3f& operator+=(const Vec3f& v) { x += v.x; y += v.y; z += v.z; return *this; }

    KY_INLINE Vec3f& operator-=(const Vec3f& v) { x -= v.x; y -= v.y; z -= v.z; return *this; }

    KY_INLINE Vec3f operator*(KyFloat32 s) const { return Vec3f(x * s, y * s, z * s); }

    KY_INLINE Vec3f operator/(KyFloat32 d) const { return operator*(1.0f / d); }

    KY_INLINE Vec3f operator+(const Vec3f& v) const { return Vec3f(x + v.x, y + v.y, z + v.z); }

    KY_INLINE Vec3f operator-(const Vec3f& v) const { return Vec3f(x - v.x, y - v.y, z - v.z); }

    KY_INLINE Vec3f operator-() const { return Vec3f(-x, -y, -z); }

    KY_INLINE KyFloat32 operator*(const Vec3f& v) const { return x * v.x + y * v.y + z * v.z; } // DOT PRODUCT

    KY_INLINE Vec3f operator^(const Vec3f& v) const { return Vec3f( (y * v.z - z * v.y), (z * v.x - x * v.z), (x * v.y - y * v.x) ); } // CROSS PRODUCT


    // -------------------------- Operations with Vec2f --------------------------------

    KY_INLINE Vec3f& operator+=(const Vec2f& v) { x += v.x; y += v.y; return *this; }

    KY_INLINE Vec3f& operator-=(const Vec2f& v) { x -= v.x; y -= v.y; return *this; }

    KY_INLINE Vec3f operator+(const Vec2f& v) const { return Vec3f(x + v.x, y + v.y, z); }

    KY_INLINE Vec3f operator-(const Vec2f& v) const { return Vec3f(x - v.x, y - v.y, z); }


    // -------------------------- Main interface --------------------------------

    KY_INLINE void Cross(const Vec3f& u, const Vec3f& v);

    KY_INLINE KyFloat32 GetSquareLength() const { return x * x + y * y + z * z; }
    
    KY_INLINE KyFloat32 GetSquareLength2d() const { return x * x + y * y; }
    
    KY_INLINE KyFloat32 GetLength() const { return Sqrtf(x * x + y * y + z * z); }
    
    KY_INLINE KyFloat32 GetLength2d() const { return Sqrtf(x * x + y * y); }

    KY_INLINE KyFloat32 Normalize();
    
    KY_INLINE KyFloat32 GetNormalized(Vec3f& normalized) const;

    KY_INLINE bool IsNormalized() const;

    KY_INLINE Vec2f Get2d() const { return Vec2f(x, y); }
    
    KY_INLINE KyFloat32 GetNormalized2d(Vec2f& normalized) const;

    KY_INLINE bool IsZero() const { return x== 0.0f && y == 0.0f && z == 0.0f; }


    // -------------------------- Static methods --------------------------------

    static KY_INLINE Vec3f Zero() { return Vec3f(0.0f, 0.0f, 0.0f); }
    
    static KY_INLINE Vec3f UnitX() { return Vec3f(1.0f, 0.0f, 0.0f); }
    
    static KY_INLINE Vec3f UnitY() { return Vec3f(0.0f, 1.0f, 0.0f); }
    
    static KY_INLINE Vec3f UnitZ() { return Vec3f(0.0f, 0.0f, 1.0f); }


    // ---------------------------------- Public Data Members ----------------------------------

    KyFloat32 x; 
    KyFloat32 y; 
    KyFloat32 z; 
};

KY_INLINE void SwapEndianness(Endianness::Target e, Vec3f& self)
{
    SwapEndianness(e, self.x);
    SwapEndianness(e, self.y);
    SwapEndianness(e, self.z);
}


// ----------------------------------- global functions -----------------------------------

KY_INLINE Vec3f operator*(KyFloat32 s, const Vec3f& v) { return Vec3f(v.x * s, v.y * s, v.z * s); }

KY_INLINE KyFloat32 DotProduct(const Vec3f& v1, const Vec3f& v2) { return (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z); }

KY_INLINE KyFloat32 DotProduct2d(const Vec3f& v1, const Vec3f& v2) { return (v1.x * v2.x + v1.y * v2.y); }

KY_INLINE KyFloat32 CrossProduct_x(const Vec3f& v1, const Vec3f& v2) { return v1.y * v2.z - v1.z * v2.y; }

KY_INLINE KyFloat32 CrossProduct_y(const Vec3f& v1, const Vec3f& v2) { return v1.z * v2.x - v1.x * v2.z; }

KY_INLINE KyFloat32 CrossProduct_z(const Vec3f& v1, const Vec3f& v2) { return v1.x * v2.y - v1.y * v2.x; }

KY_INLINE Vec3f CrossProduct(const Vec3f& v1, const Vec3f& v2) { return Vec3f(CrossProduct_x(v1, v2), CrossProduct_y(v1, v2), CrossProduct_z(v1, v2)); }

KY_INLINE Vec3f GetRightDirection(const Vec3f& v) {
    Vec3f right = CrossProduct(v, Vec3f::UnitZ());
    right.Normalize();
    return right;
}

KY_INLINE KyFloat32 SquareDistance(const Vec3f& v1, const Vec3f& v2) { return (v2 - v1).GetSquareLength(); }

KY_INLINE KyFloat32 SquareDistance2d(const Vec3f& v1, const Vec3f& v2)
{
    const KyFloat32 dx = v2.x - v1.x;
    const KyFloat32 dy = v2.y - v1.y;
    return dx * dx + dy * dy;
}

KY_INLINE KyFloat32 Distance(const Vec3f& v1, const Vec3f& v2) { return Sqrtf(SquareDistance(v1, v2)); }

KY_INLINE KyFloat32 Distance2d(const Vec3f& v1, const Vec3f& v2) { return Sqrtf(SquareDistance2d(v1, v2)); }

KY_INLINE Vec3f GetDir(const Vec3f& A, const Vec3f& B)
{
    Vec3f AB = B - A;
    AB.Normalize();
    return AB;
}

KY_INLINE Vec2f GetDir2d(const Vec3f& A, const Vec3f& B)
{
    Vec2f AB(B.x - A.x, B.y - A.y);
    AB.Normalize();
    return AB;
}

// ----------------------------------- KY_INLINE implementation -----------------------------------

KY_INLINE bool Vec3f::operator<(const Vec3f& v) const
{
    if (x < v.x) return true;
    if (x > v.x) return false;
    if (y < v.y) return true;
    if (y > v.y) return false;
    return (z < v.z);
}

KY_INLINE bool Vec3f::operator>(const Vec3f& v) const
{
    if (x > v.x) return true;
    if (x < v.x) return false;
    if (y > v.y) return true;
    if (y < v.y) return false;
    return (z > v.z);
}

KY_INLINE bool Vec3f::operator<=(const Vec3f& v) const { return !operator>(v); }
KY_INLINE bool Vec3f::operator>=(const Vec3f& v) const { return !operator<(v); }

KY_INLINE void Vec3f::Cross(const Vec3f& u, const Vec3f& v)
{
    x = u.y * v.z - u.z * v.y;
    y = u.z * v.x - u.x * v.z;
    z = u.x * v.y - u.y * v.x;
}


KY_INLINE KyFloat32 Vec3f::Normalize()
{
    const KyFloat32 length = GetLength();
    if (length != 0.0f)
        (*this) /= length;
    return length;
}


KY_INLINE KyFloat32 Vec3f::GetNormalized(Vec3f& normalized) const
{
    // don't call Vec3f::Normalize() to avoid LHS
    const KyFloat32 length = GetLength();
    if (length != 0.0f)
    {
        const KyFloat32 invLength = 1.f / length;
        normalized.Set(x * invLength, y * invLength, z * invLength);
        return length;
    }
    else
    {
        normalized.Set(0.f, 0.f, 0.f);
        return 0.f;
    }
}

KY_INLINE bool Vec3f::IsNormalized() const
{
    const KyFloat32 sqLength = GetSquareLength();
    return (fabsf(sqLength - 1.0f) < 1e-6f);
}

KY_INLINE KyFloat32 Vec3f::GetNormalized2d(Vec2f& normalized2d) const
{
    // don't call Vec2f::Normalize() to avoid LHS
    const KyFloat32 length = GetLength2d();
    if (length != 0.0f)
    {
        const KyFloat32 invLength = 1.0f / length;
        normalized2d.Set(x * invLength, y * invLength);
        return length;
    }
    else
    {
        normalized2d.Set(0.0f, 0.0f);
        return 0.0f;
    }
}


template <class OSTREAM>
inline OSTREAM& operator<<(OSTREAM& os, const Vec3f& v)
{
    os << "{" << v.x << ";" << v.y << ";" << v.z << "}";
    return os;
}


} // namespace Kaim

#endif