/** 
 * @file v3math.cpp
 * @brief LLVector3 class implementation.
 *
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 * 
 * Copyright (c) 2000-2007, Linden Research, Inc.
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#include "linden_common.h"

#include "v3math.h"

//#include "vmath.h"
#include "v4math.h"
#include "m4math.h"
#include "m3math.h"
#include "llquaternion.h"
#include "llquantize.h"
#include "v3dmath.h"

// LLVector3
// WARNING: Don't use these for global const definitions!
// For example: 
//		const LLQuaternion(0.5f * F_PI, LLVector3::zero);
// at the top of a *.cpp file might not give you what you think.
const LLVector3 LLVector3::zero(0,0,0);
const LLVector3 LLVector3::x_axis(1.f, 0, 0);
const LLVector3 LLVector3::y_axis(0, 1.f, 0);
const LLVector3 LLVector3::z_axis(0, 0, 1.f);
const LLVector3 LLVector3::x_axis_neg(-1.f, 0, 0);
const LLVector3 LLVector3::y_axis_neg(0, -1.f, 0);
const LLVector3 LLVector3::z_axis_neg(0, 0, -1.f);
const LLVector3 LLVector3::all_one(1.f,1.f,1.f);


// Clamps each values to range (min,max).
// Returns TRUE if data changed.
BOOL LLVector3::clamp(F32 min, F32 max)
{
	BOOL ret = FALSE;

	if (mV[0] < min) { mV[0] = min; ret = TRUE; }
	if (mV[1] < min) { mV[1] = min; ret = TRUE; }
	if (mV[2] < min) { mV[2] = min; ret = TRUE; }

	if (mV[0] > max) { mV[0] = max; ret = TRUE; }
	if (mV[1] > max) { mV[1] = max; ret = TRUE; }
	if (mV[2] > max) { mV[2] = max; ret = TRUE; }

	return ret;
}

// Sets all values to absolute value of their original values
// Returns TRUE if data changed
BOOL LLVector3::abs()
{
	BOOL ret = FALSE;

	if (mV[0] < 0.f) { mV[0] = -mV[0]; ret = TRUE; }
	if (mV[1] < 0.f) { mV[1] = -mV[1]; ret = TRUE; }
	if (mV[2] < 0.f) { mV[2] = -mV[2]; ret = TRUE; }

	return ret;
}

// Quatizations
void	LLVector3::quantize16(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz)
{
	F32 x = mV[VX];
	F32 y = mV[VY];
	F32 z = mV[VZ];

	x = U16_to_F32(F32_to_U16(x, lowerxy, upperxy), lowerxy, upperxy);
	y = U16_to_F32(F32_to_U16(y, lowerxy, upperxy), lowerxy, upperxy);
	z = U16_to_F32(F32_to_U16(z, lowerz,  upperz),  lowerz,  upperz);

	mV[VX] = x;
	mV[VY] = y;
	mV[VZ] = z;
}

void	LLVector3::quantize8(F32 lowerxy, F32 upperxy, F32 lowerz, F32 upperz)
{
	mV[VX] = U8_to_F32(F32_to_U8(mV[VX], lowerxy, upperxy), lowerxy, upperxy);;
	mV[VY] = U8_to_F32(F32_to_U8(mV[VY], lowerxy, upperxy), lowerxy, upperxy);
	mV[VZ] = U8_to_F32(F32_to_U8(mV[VZ], lowerz, upperz), lowerz, upperz);
}


void 	LLVector3::snap(S32 sig_digits)
{
	mV[VX] = snap_to_sig_figs(mV[VX], sig_digits);
	mV[VY] = snap_to_sig_figs(mV[VY], sig_digits);
	mV[VZ] = snap_to_sig_figs(mV[VZ], sig_digits);
}


std::ostream& operator<<(std::ostream& s, const LLVector3 &a) 
{
	s << "{ " << a.mV[VX] << ", " << a.mV[VY] << ", " << a.mV[VZ] << " }";
	return s;
}


const LLVector3&	LLVector3::rotVec(const LLMatrix3 &mat)
{
	*this = *this * mat;
	return *this;
}

const LLVector3&	LLVector3::rotVec(const LLQuaternion &q)
{
	*this = *this * q;
	return *this;
}

const LLVector3&	LLVector3::rotVec(F32 angle, const LLVector3 &vec)
{
	if ( !vec.isExactlyZero() && angle )
	{
		*this = *this * LLQuaternion(angle, vec);
	}
	return *this;
}

const LLVector3&	LLVector3::rotVec(F32 angle, F32 x, F32 y, F32 z)
{
	LLVector3 vec(x, y, z);
	if ( !vec.isExactlyZero() && angle )
	{
		*this = *this * LLQuaternion(angle, vec);
	}
	return *this;
}

const LLVector3&	LLVector3::scaleVec(const LLVector3& vec)
{
	mV[VX] *= vec.mV[VX];
	mV[VY] *= vec.mV[VY];
	mV[VZ] *= vec.mV[VZ];

	return *this;
}

LLVector3			LLVector3::scaledVec(const LLVector3& vec) const
{
	LLVector3 ret = LLVector3(*this);
	ret.scaleVec(vec);
	return ret;
}

const LLVector3&	LLVector3::set(const LLVector3d &vec)
{
	mV[0] = (F32)vec.mdV[0];
	mV[1] = (F32)vec.mdV[1];
	mV[2] = (F32)vec.mdV[2];
	return (*this);
}

const LLVector3&	LLVector3::set(const LLVector4 &vec)
{
	mV[0] = vec.mV[0];
	mV[1] = vec.mV[1];
	mV[2] = vec.mV[2];
	return (*this);
}

const LLVector3&	LLVector3::setVec(const LLVector3d &vec)
{
	mV[0] = (F32)vec.mdV[0];
	mV[1] = (F32)vec.mdV[1];
	mV[2] = (F32)vec.mdV[2];
	return (*this);
}

const LLVector3&	LLVector3::setVec(const LLVector4 &vec)
{
	mV[0] = vec.mV[0];
	mV[1] = vec.mV[1];
	mV[2] = vec.mV[2];
	return (*this);
}

LLVector3::LLVector3(const LLVector3d &vec)
{
	mV[VX] = (F32)vec.mdV[VX];
	mV[VY] = (F32)vec.mdV[VY];
	mV[VZ] = (F32)vec.mdV[VZ];
}

LLVector3::LLVector3(const LLVector4 &vec)
{
	mV[VX] = (F32)vec.mV[VX];
	mV[VY] = (F32)vec.mV[VY];
	mV[VZ] = (F32)vec.mV[VZ];
}

LLVector3::LLVector3(const LLSD& sd)
{
	setValue(sd);
}

LLSD LLVector3::getValue() const
{
	LLSD ret;
	ret[0] = mV[0];
	ret[1] = mV[1];
	ret[2] = mV[2];
	return ret;
}

void LLVector3::setValue(const LLSD& sd)
{
	mV[0] = (F32) sd[0].asReal();
	mV[1] = (F32) sd[1].asReal();
	mV[2] = (F32) sd[2].asReal();
}

const LLVector3& LLVector3::operator=(const LLSD& sd)
{
	setValue(sd);
	return *this;
}

const LLVector3& operator*=(LLVector3 &a, const LLQuaternion &rot)
{
    const F32 rw = - rot.mQ[VX] * a.mV[VX] - rot.mQ[VY] * a.mV[VY] - rot.mQ[VZ] * a.mV[VZ];
    const F32 rx =   rot.mQ[VW] * a.mV[VX] + rot.mQ[VY] * a.mV[VZ] - rot.mQ[VZ] * a.mV[VY];
    const F32 ry =   rot.mQ[VW] * a.mV[VY] + rot.mQ[VZ] * a.mV[VX] - rot.mQ[VX] * a.mV[VZ];
    const F32 rz =   rot.mQ[VW] * a.mV[VZ] + rot.mQ[VX] * a.mV[VY] - rot.mQ[VY] * a.mV[VX];
	
    a.mV[VX] = - rw * rot.mQ[VX] +  rx * rot.mQ[VW] - ry * rot.mQ[VZ] + rz * rot.mQ[VY];
    a.mV[VY] = - rw * rot.mQ[VY] +  ry * rot.mQ[VW] - rz * rot.mQ[VX] + rx * rot.mQ[VZ];
    a.mV[VZ] = - rw * rot.mQ[VZ] +  rz * rot.mQ[VW] - rx * rot.mQ[VY] + ry * rot.mQ[VX];

	return a;
}

// static 
BOOL LLVector3::parseVector3(const char* buf, LLVector3* value)
{
	if( buf == NULL || buf[0] == '\0' || value == NULL)
	{
		return FALSE;
	}

	LLVector3 v;
	S32 count = sscanf( buf, "%f %f %f", v.mV + 0, v.mV + 1, v.mV + 2 );
	if( 3 == count )
	{
		value->setVec( v );
		return TRUE;
	}

	return FALSE;
}