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-rw-r--r--indra/llmath/v3math.h1224
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diff --git a/indra/llmath/v3math.h b/indra/llmath/v3math.h
index e43c756fe7..d063b15c74 100644
--- a/indra/llmath/v3math.h
+++ b/indra/llmath/v3math.h
@@ -1,612 +1,612 @@
-/**
- * @file v3math.h
- * @brief LLVector3 class header file.
- *
- * $LicenseInfo:firstyear=2000&license=viewerlgpl$
- * Second Life Viewer Source Code
- * Copyright (C) 2010, Linden Research, Inc.
- *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation;
- * version 2.1 of the License only.
- *
- * This library 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
- * Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public
- * License along with this library; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
- * $/LicenseInfo$
- */
-
-#ifndef LL_V3MATH_H
-#define LL_V3MATH_H
-
-#include "llerror.h"
-#include "llmath.h"
-
-#include "llsd.h"
-class LLVector2;
-class LLVector4;
-class LLVector4a;
-class LLMatrix3;
-class LLMatrix4;
-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 LLVector2 &vec); // Initializes LLVector3 to (vec[0]. vec[1], 0)
- 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])
- explicit LLVector3(const LLVector4a& vec); // Initializes LLVector4 to (vec[0]. vec[1], vec[2])
- explicit LLVector3(const LLSD& sd);
-
-
- LLSD getValue() const;
-
- void setValue(const LLSD& sd);
-
- 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
- bool clamp(const LLVector3 &min_vec, const LLVector3 &max_vec); // Scales vector by another vector
- bool clampLength( F32 length_limit ); // Scales vector to limit length to a value
-
- 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 clear(); // Clears LLVector3 to (0, 0, 0)
- inline void setZero(); // Clears LLVector3 to (0, 0, 0)
- inline void clearVec(); // deprecated
- inline void zeroVec(); // deprecated
-
- inline void set(F32 x, F32 y, F32 z); // Sets LLVector3 to (x, y, z, 1)
- inline void set(const LLVector3 &vec); // Sets LLVector3 to vec
- inline void set(const F32 *vec); // Sets LLVector3 to vec
- const LLVector3& set(const LLVector4 &vec);
- const LLVector3& set(const LLVector3d &vec);// Sets LLVector3 to vec
-
- inline void setVec(F32 x, F32 y, F32 z); // deprecated
- inline void setVec(const LLVector3 &vec); // deprecated
- inline void setVec(const F32 *vec); // deprecated
-
- const LLVector3& setVec(const LLVector4 &vec); // deprecated
- const LLVector3& setVec(const LLVector3d &vec); // deprecated
-
- F32 length() const; // Returns magnitude of LLVector3
- F32 lengthSquared() const; // Returns magnitude squared of LLVector3
- F32 magVec() const; // deprecated
- F32 magVecSquared() const; // deprecated
-
- inline F32 normalize(); // Normalizes and returns the magnitude of LLVector3
- inline F32 normVec(); // deprecated
-
- inline bool inRange( F32 min, F32 max ) const; // Returns true if all values of the vector are between min and max
-
- 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& transVec(const LLMatrix4& mat); // Transforms by LLMatrix4 mat (mat * v)
-
- 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 std::string& 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 squared between a and b
-F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b);// Returns distance squared between a and b ignoring Z component
-LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b
-LLVector3 inverse_projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a scaled such that projected_vec(inverse_projected_vec(a, b), b) == b;
-LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b (same as projected_vec)
-LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b); // Returns component of vector a not parallel to vector b (same as projected_vec)
-LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u); // Returns a vector that is a linear interpolation between a and b
-LLVector3 point_to_box_offset(LLVector3& pos, const LLVector3* box); // Displacement from query point to nearest point on bounding box.
-bool box_valid_and_non_zero(const LLVector3* box);
-
-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::clear(void)
-{
- mV[0] = 0.f;
- mV[1] = 0.f;
- mV[2] = 0.f;
-}
-
-inline void LLVector3::setZero(void)
-{
- mV[0] = 0.f;
- mV[1] = 0.f;
- mV[2] = 0.f;
-}
-
-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::set(F32 x, F32 y, F32 z)
-{
- mV[VX] = x;
- mV[VY] = y;
- mV[VZ] = z;
-}
-
-inline void LLVector3::set(const LLVector3 &vec)
-{
- mV[0] = vec.mV[0];
- mV[1] = vec.mV[1];
- mV[2] = vec.mV[2];
-}
-
-inline void LLVector3::set(const F32 *vec)
-{
- mV[0] = vec[0];
- mV[1] = vec[1];
- mV[2] = vec[2];
-}
-
-// deprecated
-inline void LLVector3::setVec(F32 x, F32 y, F32 z)
-{
- mV[VX] = x;
- mV[VY] = y;
- mV[VZ] = z;
-}
-
-// deprecated
-inline void LLVector3::setVec(const LLVector3 &vec)
-{
- mV[0] = vec.mV[0];
- mV[1] = vec.mV[1];
- mV[2] = vec.mV[2];
-}
-
-// deprecated
-inline void LLVector3::setVec(const F32 *vec)
-{
- mV[0] = vec[0];
- mV[1] = vec[1];
- mV[2] = vec[2];
-}
-
-inline F32 LLVector3::normalize(void)
-{
- F32 mag = (F32) sqrt(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);
-}
-
-// deprecated
-inline F32 LLVector3::normVec(void)
-{
- F32 mag = (F32) sqrt(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::length(void) const
-{
- return (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
-}
-
-inline F32 LLVector3::lengthSquared(void) const
-{
- return mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2];
-}
-
-inline F32 LLVector3::magVec(void) const
-{
- return (F32) sqrt(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 bool LLVector3::inRange( F32 min, F32 max ) const
-{
- return mV[0] >= min && mV[0] <= max &&
- mV[1] >= min && mV[1] <= max &&
- mV[2] >= min && mV[2] <= max;
-}
-
-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 (F32) sqrt( 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)
-{
- F32 bb = b * b;
- if (bb > FP_MAG_THRESHOLD * FP_MAG_THRESHOLD)
- {
- return ((a * b) / bb) * b;
- }
- else
- {
- return b.zero;
- }
-}
-
-inline LLVector3 inverse_projected_vec(const LLVector3& a, const LLVector3& b)
-{
- LLVector3 normalized_a = a;
- normalized_a.normalize();
- LLVector3 normalized_b = b;
- F32 b_length = normalized_b.normalize();
-
- F32 dot_product = normalized_a * normalized_b;
- //NB: if a _|_ b, then returns an infinite vector
- return normalized_a * (b_length / dot_product);
-}
-
-inline LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b)
-{
- return projected_vec(a, b);
-}
-
-inline LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b)
-{
- return a - projected_vec(a, b);
-}
-
-
-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 void update_min_max(LLVector3& min, LLVector3& max, const LLVector3& pos)
-{
- for (U32 i = 0; i < 3; i++)
- {
- if (min.mV[i] > pos.mV[i])
- {
- min.mV[i] = pos.mV[i];
- }
- if (max.mV[i] < pos.mV[i])
- {
- max.mV[i] = pos.mV[i];
- }
- }
-}
-
-inline void update_min_max(LLVector3& min, LLVector3& max, const F32* pos)
-{
- for (U32 i = 0; i < 3; i++)
- {
- if (min.mV[i] > pos[i])
- {
- min.mV[i] = pos[i];
- }
- if (max.mV[i] < pos[i])
- {
- max.mV[i] = pos[i];
- }
- }
-}
-
-inline F32 angle_between(const LLVector3& a, const LLVector3& b)
-{
- F32 ab = a * b; // dotproduct
- if (ab == -0.0f)
- {
- ab = 0.0f; // get rid of negative zero
- }
- LLVector3 c = a % b; // crossproduct
- return atan2f(sqrtf(c * c), ab); // return the angle
-}
-
-inline bool are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon)
-{
- LLVector3 an = a;
- LLVector3 bn = b;
- an.normalize();
- bn.normalize();
- F32 dot = an * bn;
- if ( (1.0f - fabs(dot)) < epsilon)
- {
- return true;
- }
- return false;
-}
-
-inline std::ostream& operator<<(std::ostream& s, const LLVector3 &a)
-{
- s << "{ " << a.mV[VX] << ", " << a.mV[VY] << ", " << a.mV[VZ] << " }";
- return s;
-}
-
-#endif
+/**
+ * @file v3math.h
+ * @brief LLVector3 class header file.
+ *
+ * $LicenseInfo:firstyear=2000&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
+ * $/LicenseInfo$
+ */
+
+#ifndef LL_V3MATH_H
+#define LL_V3MATH_H
+
+#include "llerror.h"
+#include "llmath.h"
+
+#include "llsd.h"
+class LLVector2;
+class LLVector4;
+class LLVector4a;
+class LLMatrix3;
+class LLMatrix4;
+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 LLVector2 &vec); // Initializes LLVector3 to (vec[0]. vec[1], 0)
+ 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])
+ explicit LLVector3(const LLVector4a& vec); // Initializes LLVector4 to (vec[0]. vec[1], vec[2])
+ explicit LLVector3(const LLSD& sd);
+
+
+ LLSD getValue() const;
+
+ void setValue(const LLSD& sd);
+
+ 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
+ bool clamp(const LLVector3 &min_vec, const LLVector3 &max_vec); // Scales vector by another vector
+ bool clampLength( F32 length_limit ); // Scales vector to limit length to a value
+
+ 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 clear(); // Clears LLVector3 to (0, 0, 0)
+ inline void setZero(); // Clears LLVector3 to (0, 0, 0)
+ inline void clearVec(); // deprecated
+ inline void zeroVec(); // deprecated
+
+ inline void set(F32 x, F32 y, F32 z); // Sets LLVector3 to (x, y, z, 1)
+ inline void set(const LLVector3 &vec); // Sets LLVector3 to vec
+ inline void set(const F32 *vec); // Sets LLVector3 to vec
+ const LLVector3& set(const LLVector4 &vec);
+ const LLVector3& set(const LLVector3d &vec);// Sets LLVector3 to vec
+
+ inline void setVec(F32 x, F32 y, F32 z); // deprecated
+ inline void setVec(const LLVector3 &vec); // deprecated
+ inline void setVec(const F32 *vec); // deprecated
+
+ const LLVector3& setVec(const LLVector4 &vec); // deprecated
+ const LLVector3& setVec(const LLVector3d &vec); // deprecated
+
+ F32 length() const; // Returns magnitude of LLVector3
+ F32 lengthSquared() const; // Returns magnitude squared of LLVector3
+ F32 magVec() const; // deprecated
+ F32 magVecSquared() const; // deprecated
+
+ inline F32 normalize(); // Normalizes and returns the magnitude of LLVector3
+ inline F32 normVec(); // deprecated
+
+ inline bool inRange( F32 min, F32 max ) const; // Returns true if all values of the vector are between min and max
+
+ 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& transVec(const LLMatrix4& mat); // Transforms by LLMatrix4 mat (mat * v)
+
+ 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 std::string& 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 squared between a and b
+F32 dist_vec_squared2D(const LLVector3 &a, const LLVector3 &b);// Returns distance squared between a and b ignoring Z component
+LLVector3 projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b
+LLVector3 inverse_projected_vec(const LLVector3 &a, const LLVector3 &b); // Returns vector a scaled such that projected_vec(inverse_projected_vec(a, b), b) == b;
+LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b); // Returns vector a projected on vector b (same as projected_vec)
+LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b); // Returns component of vector a not parallel to vector b (same as projected_vec)
+LLVector3 lerp(const LLVector3 &a, const LLVector3 &b, F32 u); // Returns a vector that is a linear interpolation between a and b
+LLVector3 point_to_box_offset(LLVector3& pos, const LLVector3* box); // Displacement from query point to nearest point on bounding box.
+bool box_valid_and_non_zero(const LLVector3* box);
+
+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::clear(void)
+{
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+}
+
+inline void LLVector3::setZero(void)
+{
+ mV[0] = 0.f;
+ mV[1] = 0.f;
+ mV[2] = 0.f;
+}
+
+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::set(F32 x, F32 y, F32 z)
+{
+ mV[VX] = x;
+ mV[VY] = y;
+ mV[VZ] = z;
+}
+
+inline void LLVector3::set(const LLVector3 &vec)
+{
+ mV[0] = vec.mV[0];
+ mV[1] = vec.mV[1];
+ mV[2] = vec.mV[2];
+}
+
+inline void LLVector3::set(const F32 *vec)
+{
+ mV[0] = vec[0];
+ mV[1] = vec[1];
+ mV[2] = vec[2];
+}
+
+// deprecated
+inline void LLVector3::setVec(F32 x, F32 y, F32 z)
+{
+ mV[VX] = x;
+ mV[VY] = y;
+ mV[VZ] = z;
+}
+
+// deprecated
+inline void LLVector3::setVec(const LLVector3 &vec)
+{
+ mV[0] = vec.mV[0];
+ mV[1] = vec.mV[1];
+ mV[2] = vec.mV[2];
+}
+
+// deprecated
+inline void LLVector3::setVec(const F32 *vec)
+{
+ mV[0] = vec[0];
+ mV[1] = vec[1];
+ mV[2] = vec[2];
+}
+
+inline F32 LLVector3::normalize(void)
+{
+ F32 mag = (F32) sqrt(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);
+}
+
+// deprecated
+inline F32 LLVector3::normVec(void)
+{
+ F32 mag = (F32) sqrt(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::length(void) const
+{
+ return (F32) sqrt(mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2]);
+}
+
+inline F32 LLVector3::lengthSquared(void) const
+{
+ return mV[0]*mV[0] + mV[1]*mV[1] + mV[2]*mV[2];
+}
+
+inline F32 LLVector3::magVec(void) const
+{
+ return (F32) sqrt(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 bool LLVector3::inRange( F32 min, F32 max ) const
+{
+ return mV[0] >= min && mV[0] <= max &&
+ mV[1] >= min && mV[1] <= max &&
+ mV[2] >= min && mV[2] <= max;
+}
+
+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 (F32) sqrt( 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)
+{
+ F32 bb = b * b;
+ if (bb > FP_MAG_THRESHOLD * FP_MAG_THRESHOLD)
+ {
+ return ((a * b) / bb) * b;
+ }
+ else
+ {
+ return b.zero;
+ }
+}
+
+inline LLVector3 inverse_projected_vec(const LLVector3& a, const LLVector3& b)
+{
+ LLVector3 normalized_a = a;
+ normalized_a.normalize();
+ LLVector3 normalized_b = b;
+ F32 b_length = normalized_b.normalize();
+
+ F32 dot_product = normalized_a * normalized_b;
+ //NB: if a _|_ b, then returns an infinite vector
+ return normalized_a * (b_length / dot_product);
+}
+
+inline LLVector3 parallel_component(const LLVector3 &a, const LLVector3 &b)
+{
+ return projected_vec(a, b);
+}
+
+inline LLVector3 orthogonal_component(const LLVector3 &a, const LLVector3 &b)
+{
+ return a - projected_vec(a, b);
+}
+
+
+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 void update_min_max(LLVector3& min, LLVector3& max, const LLVector3& pos)
+{
+ for (U32 i = 0; i < 3; i++)
+ {
+ if (min.mV[i] > pos.mV[i])
+ {
+ min.mV[i] = pos.mV[i];
+ }
+ if (max.mV[i] < pos.mV[i])
+ {
+ max.mV[i] = pos.mV[i];
+ }
+ }
+}
+
+inline void update_min_max(LLVector3& min, LLVector3& max, const F32* pos)
+{
+ for (U32 i = 0; i < 3; i++)
+ {
+ if (min.mV[i] > pos[i])
+ {
+ min.mV[i] = pos[i];
+ }
+ if (max.mV[i] < pos[i])
+ {
+ max.mV[i] = pos[i];
+ }
+ }
+}
+
+inline F32 angle_between(const LLVector3& a, const LLVector3& b)
+{
+ F32 ab = a * b; // dotproduct
+ if (ab == -0.0f)
+ {
+ ab = 0.0f; // get rid of negative zero
+ }
+ LLVector3 c = a % b; // crossproduct
+ return atan2f(sqrtf(c * c), ab); // return the angle
+}
+
+inline bool are_parallel(const LLVector3 &a, const LLVector3 &b, F32 epsilon)
+{
+ LLVector3 an = a;
+ LLVector3 bn = b;
+ an.normalize();
+ bn.normalize();
+ F32 dot = an * bn;
+ if ( (1.0f - fabs(dot)) < epsilon)
+ {
+ return true;
+ }
+ return false;
+}
+
+inline std::ostream& operator<<(std::ostream& s, const LLVector3 &a)
+{
+ s << "{ " << a.mV[VX] << ", " << a.mV[VY] << ", " << a.mV[VZ] << " }";
+ return s;
+}
+
+#endif
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