Vector3.h

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/*
 * Copyright 2015 Jaroslaw Glowacki
 * jarek (dot) glowacki (at) gmail (dot) com
 *
 * This file is part of algebra3d.
 *
 * algebra3d 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 3 of the License, or
 * (at your option) any later version.
 *
 * algebra3d 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 algebra3d.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef _VECTOR_H_
#define _VECTOR_H_

#include<algebra3d/global.h>

namespace algebra3d {

/* Forward declarations */
template<class fpType>
class Matrix3;
template<class fpType>
class Quaternion;

template<class fpType>
class Vector3 {
    // Friendship declarations
    template<class fpT>
    friend std::istream& operator>>(std::istream &stream, Vector3<fpT> &vec);

protected:
    fpType data[3];

public:
    fpType &x;
    fpType &y;
    fpType &z;

public:
    Vector3();

    Vector3(const fpType * const data);

    Vector3(fpType x, fpType y, fpType z);

    Vector3(const Vector3<fpType> &vec);

    Vector3(const Vector3<fpType> &axis, fpType angle);

    Vector3(const Quaternion<fpType> &quat);

    Vector3(const Matrix3<fpType> &mat);

    virtual ~Vector3();

    virtual void set(const fpType *data);

    virtual void get(fpType *storage) const;

    virtual fpType dot(const Vector3<fpType> &vec) const;

    virtual Vector3<fpType> cross(const Vector3<fpType> &vec) const;

    virtual Matrix3<fpType> outer(const Vector3<fpType> &vec) const;

    virtual Matrix3<fpType> crossMatrix() const;

    virtual fpType getNorm() const;

    virtual void normalize();

    bool isZero() const;

    Vector3<fpType> getUnit() const;

    fpType getAngle() const;

    Vector3<fpType> getSqrtRotation() const;

    virtual void operator=(const Vector3<fpType> &vec);

    virtual const fpType &operator[](int ind) const;

    virtual fpType &operator[](int ind);

    virtual bool compare(const Vector3<fpType> &vec, const fpType &precision =
            PRECISION) const;

    virtual bool operator==(const Vector3<fpType> &vec) const;

    virtual bool operator!=(const Vector3<fpType> &vec) const;

    virtual void operator+=(const Vector3<fpType> &vec);

    virtual Vector3<fpType> operator+(const Vector3<fpType> &vec) const;

    virtual Vector3<fpType> operator-() const;

    virtual void operator-=(const Vector3<fpType> &vec);

    virtual Vector3<fpType> operator-(const Vector3<fpType> &vec) const;

    void operator*=(const Matrix3<fpType> &mat);

    virtual Vector3<fpType> operator*(const Matrix3<fpType> &mat) const;

    virtual Vector3<fpType> operator*(const Vector3<fpType> &vec) const;

    virtual void operator*=(const fpType &s);

    virtual Vector3<fpType> operator*(const fpType &s) const;

    virtual void operator/=(const fpType &s);

    virtual Vector3<fpType> operator/(const fpType &s) const;
};

template<class fpType>
Vector3<fpType> operator*(const double &scale, const Vector3<fpType> &vec);

template<class fpType>
Vector3<fpType> operator*(const float &scale, const Vector3<fpType> &vec);

template<class fpType>
std::ostream& operator<<(std::ostream &stream, const Vector3<fpType> &vec);

template<class fpType>
std::istream& operator>>(std::istream &stream, Vector3<fpType> &vec);

typedef Vector3<double> Vector3D;

typedef Vector3<float> Vector3F;

} /* namespace algebra3d */

#endif // _VECTOR_H_