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+/**
+ * @file v3math.h
+ * @brief LLVector3 class header file.
+ *
+ * Copyright (c) 2000-$CurrentYear$, Linden Research, Inc.
+ * $License$
+ */
+
+#ifndef LL_V3MATH_H
+#define LL_V3MATH_H
+
+#include "llerror.h"
+#include "llmath.h"
+
+#include "llsd.h"
+class LLVector4;
+class LLMatrix3;
+class LLVector3d;
+class LLQuaternion;
+
+// Llvector3 = |x y z w|
+
+static const U32 LENGTHOFVECTOR3 = 3;
+
+class LLVector3
+{
+ public:
+ F32 mV[LENGTHOFVECTOR3];
+
+ static const LLVector3 zero;
+ static const LLVector3 x_axis;
+ static const LLVector3 y_axis;
+ static const LLVector3 z_axis;
+ static const LLVector3 x_axis_neg;
+ static const LLVector3 y_axis_neg;
+ static const LLVector3 z_axis_neg;
+ static const LLVector3 all_one;
+
+ inline LLVector3(); // Initializes LLVector3 to (0, 0, 0)
+ inline LLVector3(const F32 x, const F32 y, const F32 z); // Initializes LLVector3 to (x. y, z)
+ inline explicit LLVector3(const F32 *vec); // Initializes LLVector3 to (vec[0]. vec[1], vec[2])
+ explicit LLVector3(const LLVector3d &vec); // Initializes LLVector3 to (vec[0]. vec[1], vec[2])
+ explicit LLVector3(const LLVector4 &vec); // Initializes LLVector4 to (vec[0]. vec[1], vec[2])
+ LLVector3(const LLSD& sd)
+ {
+ setValue(sd);
+ }
+
+ LLSD getValue() const
+ {
+ LLSD ret;
+ ret[0] = mV[0];
+ ret[1] = mV[1];
+ ret[2] = mV[2];
+ return ret;
+ }
+
+ void setValue(const LLSD& sd)
+ {
+ mV[0] = (F32) sd[0].asReal();
+ mV[1] = (F32) sd[1].asReal();
+ mV[2] = (F32) sd[2].asReal();
+ }
+
+ const LLVector3& operator=(const LLSD& sd)
+ {
+ setValue(sd);
+ return *this;
+ }
+
+ inline BOOL isFinite() const; // checks to see if all values of LLVector3 are finite
+ BOOL clamp(F32 min, F32 max); // Clamps all values to (min,max), returns TRUE if data changed
+
+ void quantize16(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz); // changes the vector to reflect quatization
+ void quantize8(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz); // changes the vector to reflect quatization
+ void snap(S32 sig_digits); // snaps x,y,z to sig_digits decimal places
+
+ BOOL abs(); // sets all values to absolute value of original value (first octant), returns TRUE if changed
+
+ inline void clearVec(); // Clears LLVector3 to (0, 0, 0, 1)
+ inline void zeroVec(); // Zero LLVector3 to (0, 0, 0, 0)
+ inline void setVec(F32 x, F32 y, F32 z); // Sets LLVector3 to (x, y, z, 1)
+ inline void setVec(const LLVector3 &vec); // Sets LLVector3 to vec
+ inline void setVec(const F32 *vec); // Sets LLVector3 to vec
+
+ const LLVector3& setVec(const LLVector4 &vec);
+ const LLVector3& setVec(const LLVector3d &vec); // Sets LLVector3 to vec
+
+ F32 magVec() const; // Returns magnitude of LLVector3
+ F32 magVecSquared() const; // Returns magnitude squared of LLVector3
+ inline F32 normVec(); // Normalizes and returns the magnitude of LLVector3
+
+ const LLVector3& rotVec(F32 angle, const LLVector3 &vec); // Rotates about vec by angle radians
+ const LLVector3& rotVec(F32 angle, F32 x, F32 y, F32 z); // Rotates about x,y,z by angle radians
+ const LLVector3& rotVec(const LLMatrix3 &mat); // Rotates by LLMatrix4 mat
+ const LLVector3& rotVec(const LLQuaternion &q); // Rotates by LLQuaternion q
+
+ const LLVector3& scaleVec(const LLVector3& vec); // scales per component by vec
+ LLVector3 scaledVec(const LLVector3& vec) const; // get a copy of this vector scaled by vec
+
+ BOOL isNull() const; // Returns TRUE if vector has a _very_small_ length
+ BOOL isExactlyZero() const { return !mV[VX] && !mV[VY] && !mV[VZ]; }
+
+ F32 operator[](int idx) const { return mV[idx]; }
+ F32 &operator[](int idx) { return mV[idx]; }
+
+ friend LLVector3 operator+(const LLVector3 &a, const LLVector3 &b); // Return vector a + b
+ friend LLVector3 operator-(const LLVector3 &a, const LLVector3 &b); // Return vector a minus b
+ friend F32 operator*(const LLVector3 &a, const LLVector3 &b); // Return a dot b
+ friend LLVector3 operator%(const LLVector3 &a, const LLVector3 &b); // Return a cross b
+ friend LLVector3 operator*(const LLVector3 &a, F32 k); // Return a times scaler k
+ friend LLVector3 operator/(const LLVector3 &a, F32 k); // Return a divided by scaler k
+ friend LLVector3 operator*(F32 k, const LLVector3 &a); // Return a times scaler k
+ friend bool operator==(const LLVector3 &a, const LLVector3 &b); // Return a == b
+ friend bool operator!=(const LLVector3 &a, const LLVector3 &b); // Return a != b
+ // less than operator useful for using vectors as std::map keys
+ friend bool operator<(const LLVector3 &a, const LLVector3 &b); // Return a < b
+
+ friend const LLVector3& operator+=(LLVector3 &a, const LLVector3 &b); // Return vector a + b
+ friend const LLVector3& operator-=(LLVector3 &a, const LLVector3 &b); // Return vector a minus b
+ friend const LLVector3& operator%=(LLVector3 &a, const LLVector3 &b); // Return a cross b
+ friend const LLVector3& operator*=(LLVector3 &a, const LLVector3 &b); // Returns a * b;
+ friend const LLVector3& operator*=(LLVector3 &a, F32 k); // Return a times scaler k
+ friend const LLVector3& operator/=(LLVector3 &a, F32 k); // Return a divided by scaler k
+ friend const LLVector3& operator*=(LLVector3 &a, const LLQuaternion &b); // Returns a * b;
+
+ friend LLVector3 operator-(const LLVector3 &a); // Return vector -a
+
+ friend std::ostream& operator<<(std::ostream& s, const LLVector3 &a); // Stream a
+
+ static BOOL parseVector3(const char* buf, LLVector3* value);
+};
+
+typedef LLVector3 LLSimLocalVec;
+
+// Non-member functions
+
+F32 angle_between(const LLVector3 &a, const LLVector3 &b); // Returns angle (radians) between a and b
+BOOL are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon=F_APPROXIMATELY_ZERO); // Returns TRUE if a and b are very close to parallel
+F32 dist_vec(const LLVector3 &a, const LLVector3 &b); // Returns distance between a and b
+F32 dist_vec_squared(const LLVector3 &a, const LLVector3 &b);// Returns distance sqaured between a and b
+F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b);// Returns distance sqaured between a and b ignoring Z component
+LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b
+LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u); // Returns a vector that is a linear interpolation between a and b
+
+inline LLVector3::LLVector3(void)
+{
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+}
+
+inline LLVector3::LLVector3(const F32 x, const F32 y, const F32 z)
+{
+ mV[VX] = x;
+ mV[VY] = y;
+ mV[VZ] = z;
+}
+
+inline LLVector3::LLVector3(const F32 *vec)
+{
+ mV[VX] = vec[VX];
+ mV[VY] = vec[VY];
+ mV[VZ] = vec[VZ];
+}
+
+/*
+inline LLVector3::LLVector3(const LLVector3 &copy)
+{
+ mV[VX] = copy.mV[VX];
+ mV[VY] = copy.mV[VY];
+ mV[VZ] = copy.mV[VZ];
+}
+*/
+
+// Destructors
+
+// checker
+inline BOOL LLVector3::isFinite() const
+{
+ return (llfinite(mV[VX]) && llfinite(mV[VY]) && llfinite(mV[VZ]));
+}
+
+
+// Clear and Assignment Functions
+
+inline void LLVector3::clearVec(void)
+{
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+}
+
+inline void LLVector3::zeroVec(void)
+{
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+}
+
+inline void LLVector3::setVec(F32 x, F32 y, F32 z)
+{
+ mV[VX] = x;
+ mV[VY] = y;
+ mV[VZ] = z;
+}
+
+inline void LLVector3::setVec(const LLVector3 &vec)
+{
+ mV[0] = vec.mV[0];
+ mV[1] = vec.mV[1];
+ mV[2] = vec.mV[2];
+}
+
+inline void LLVector3::setVec(const F32 *vec)
+{
+ mV[0] = vec[0];
+ mV[1] = vec[1];
+ mV[2] = vec[2];
+}
+
+inline F32 LLVector3::normVec(void)
+{
+ F32 mag = fsqrtf(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
+ F32 oomag;
+
+ if (mag > FP_MAG_THRESHOLD)
+ {
+ oomag = 1.f/mag;
+ mV[0] *= oomag;
+ mV[1] *= oomag;
+ mV[2] *= oomag;
+ }
+ else
+ {
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+ mag = 0;
+ }
+ return (mag);
+}
+
+// LLVector3 Magnitude and Normalization Functions
+
+inline F32 LLVector3::magVec(void) const
+{
+ return fsqrtf(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
+}
+
+inline F32 LLVector3::magVecSquared(void) const
+{
+ return mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2];
+}
+
+inline LLVector3 operator+(const LLVector3 &a, const LLVector3 &b)
+{
+ LLVector3 c(a);
+ return c += b;
+}
+
+inline LLVector3 operator-(const LLVector3 &a, const LLVector3 &b)
+{
+ LLVector3 c(a);
+ return c -= b;
+}
+
+inline F32 operator*(const LLVector3 &a, const LLVector3 &b)
+{
+ return (a.mV[0]*b.mV[0] + a.mV[1]*b.mV[1] + a.mV[2]*b.mV[2]);
+}
+
+inline LLVector3 operator%(const LLVector3 &a, const LLVector3 &b)
+{
+ return LLVector3( a.mV[1]*b.mV[2] - b.mV[1]*a.mV[2], a.mV[2]*b.mV[0] - b.mV[2]*a.mV[0], a.mV[0]*b.mV[1] - b.mV[0]*a.mV[1] );
+}
+
+inline LLVector3 operator/(const LLVector3 &a, F32 k)
+{
+ F32 t = 1.f / k;
+ return LLVector3( a.mV[0] * t, a.mV[1] * t, a.mV[2] * t );
+}
+
+inline LLVector3 operator*(const LLVector3 &a, F32 k)
+{
+ return LLVector3( a.mV[0] * k, a.mV[1] * k, a.mV[2] * k );
+}
+
+inline LLVector3 operator*(F32 k, const LLVector3 &a)
+{
+ return LLVector3( a.mV[0] * k, a.mV[1] * k, a.mV[2] * k );
+}
+
+inline bool operator==(const LLVector3 &a, const LLVector3 &b)
+{
+ return ( (a.mV[0] == b.mV[0])
+ &&(a.mV[1] == b.mV[1])
+ &&(a.mV[2] == b.mV[2]));
+}
+
+inline bool operator!=(const LLVector3 &a, const LLVector3 &b)
+{
+ return ( (a.mV[0] != b.mV[0])
+ ||(a.mV[1] != b.mV[1])
+ ||(a.mV[2] != b.mV[2]));
+}
+
+inline bool operator<(const LLVector3 &a, const LLVector3 &b)
+{
+ return (a.mV[0] < b.mV[0]
+ || (a.mV[0] == b.mV[0]
+ && (a.mV[1] < b.mV[1]
+ || (a.mV[1] == b.mV[1])
+ && a.mV[2] < b.mV[2])));
+}
+
+inline const LLVector3& operator+=(LLVector3 &a, const LLVector3 &b)
+{
+ a.mV[0] += b.mV[0];
+ a.mV[1] += b.mV[1];
+ a.mV[2] += b.mV[2];
+ return a;
+}
+
+inline const LLVector3& operator-=(LLVector3 &a, const LLVector3 &b)
+{
+ a.mV[0] -= b.mV[0];
+ a.mV[1] -= b.mV[1];
+ a.mV[2] -= b.mV[2];
+ return a;
+}
+
+inline const LLVector3& operator%=(LLVector3 &a, const LLVector3 &b)
+{
+ LLVector3 ret( a.mV[1]*b.mV[2] - b.mV[1]*a.mV[2], a.mV[2]*b.mV[0] - b.mV[2]*a.mV[0], a.mV[0]*b.mV[1] - b.mV[0]*a.mV[1]);
+ a = ret;
+ return a;
+}
+
+inline const LLVector3& operator*=(LLVector3 &a, F32 k)
+{
+ a.mV[0] *= k;
+ a.mV[1] *= k;
+ a.mV[2] *= k;
+ return a;
+}
+
+inline const LLVector3& operator*=(LLVector3 &a, const LLVector3 &b)
+{
+ a.mV[0] *= b.mV[0];
+ a.mV[1] *= b.mV[1];
+ a.mV[2] *= b.mV[2];
+ return a;
+}
+
+inline const LLVector3& operator/=(LLVector3 &a, F32 k)
+{
+ F32 t = 1.f / k;
+ a.mV[0] *= t;
+ a.mV[1] *= t;
+ a.mV[2] *= t;
+ return a;
+}
+
+inline LLVector3 operator-(const LLVector3 &a)
+{
+ return LLVector3( -a.mV[0], -a.mV[1], -a.mV[2] );
+}
+
+inline F32 dist_vec(const LLVector3 &a, const LLVector3 &b)
+{
+ F32 x = a.mV[0] - b.mV[0];
+ F32 y = a.mV[1] - b.mV[1];
+ F32 z = a.mV[2] - b.mV[2];
+ return fsqrtf( x*x + y*y + z*z );
+}
+
+inline F32 dist_vec_squared(const LLVector3 &a, const LLVector3 &b)
+{
+ F32 x = a.mV[0] - b.mV[0];
+ F32 y = a.mV[1] - b.mV[1];
+ F32 z = a.mV[2] - b.mV[2];
+ return x*x + y*y + z*z;
+}
+
+inline F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b)
+{
+ F32 x = a.mV[0] - b.mV[0];
+ F32 y = a.mV[1] - b.mV[1];
+ return x*x + y*y;
+}
+
+inline LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b)
+{
+ LLVector3 project_axis = b;
+ project_axis.normVec();
+ return project_axis * (a * project_axis);
+}
+
+inline LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u)
+{
+ return LLVector3(
+ a.mV[VX] + (b.mV[VX] - a.mV[VX]) * u,
+ a.mV[VY] + (b.mV[VY] - a.mV[VY]) * u,
+ a.mV[VZ] + (b.mV[VZ] - a.mV[VZ]) * u);
+}
+
+
+inline BOOL LLVector3::isNull() const
+{
+ if ( F_APPROXIMATELY_ZERO > mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ] )
+ {
+ return TRUE;
+ }
+ return FALSE;
+}
+
+
+inline F32 angle_between(const LLVector3& a, const LLVector3& b)
+{
+ LLVector3 an = a;
+ LLVector3 bn = b;
+ an.normVec();
+ bn.normVec();
+ F32 cosine = an * bn;
+ F32 angle = (cosine >= 1.0f) ? 0.0f :
+ (cosine <= -1.0f) ? F_PI :
+ (F32)acos(cosine);
+ return angle;
+}
+
+inline BOOL are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon)
+{
+ LLVector3 an = a;
+ LLVector3 bn = b;
+ an.normVec();
+ bn.normVec();
+ F32 dot = an * bn;
+ if ( (1.0f - fabs(dot)) < epsilon)
+ {
+ return TRUE;
+ }
+ return FALSE;
+}
+
+#endif
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