/**
 * @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 constexpr 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()
{
    mV[VX] = 0.f;
    mV[VY] = 0.f;
    mV[VZ] = 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()
{
    mV[VX] = 0.f;
    mV[VY] = 0.f;
    mV[VZ] = 0.f;
}

inline void LLVector3::setZero()
{
    mV[VX] = 0.f;
    mV[VY] = 0.f;
    mV[VZ] = 0.f;
}

inline void LLVector3::clearVec()
{
    mV[VX] = 0.f;
    mV[VY] = 0.f;
    mV[VZ] = 0.f;
}

inline void LLVector3::zeroVec()
{
    mV[VX] = 0.f;
    mV[VY] = 0.f;
    mV[VZ] = 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[VX] = vec.mV[VX];
    mV[VY] = vec.mV[VY];
    mV[VZ] = vec.mV[VZ];
}

inline void LLVector3::set(const F32* vec)
{
    mV[VX] = vec[0];
    mV[VY] = vec[1];
    mV[VZ] = 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[VX] = vec.mV[VX];
    mV[VY] = vec.mV[VY];
    mV[VZ] = vec.mV[VZ];
}

// deprecated
inline void LLVector3::setVec(const F32* vec)
{
    mV[VX] = vec[0];
    mV[VY] = vec[1];
    mV[VZ] = vec[2];
}

inline F32 LLVector3::normalize()
{
    F32 mag = (F32) sqrt(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
    F32 oomag;

    if (mag > FP_MAG_THRESHOLD)
    {
        oomag = 1.f/mag;
        mV[VX] *= oomag;
        mV[VY] *= oomag;
        mV[VZ] *= oomag;
    }
    else
    {
        mV[VX] = 0.f;
        mV[VY] = 0.f;
        mV[VZ] = 0.f;
        mag = 0;
    }
    return (mag);
}

// deprecated
inline F32 LLVector3::normVec()
{
    F32 mag = sqrt(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
    F32 oomag;

    if (mag > FP_MAG_THRESHOLD)
    {
        oomag = 1.f/mag;
        mV[VX] *= oomag;
        mV[VY] *= oomag;
        mV[VZ] *= oomag;
    }
    else
    {
        mV[VX] = 0.f;
        mV[VY] = 0.f;
        mV[VZ] = 0.f;
        mag = 0;
    }
    return (mag);
}

// LLVector3 Magnitude and Normalization Functions

inline F32  LLVector3::length() const
{
    return sqrt(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
}

inline F32  LLVector3::lengthSquared() const
{
    return mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ];
}

inline F32  LLVector3::magVec() const
{
    return sqrt(mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ]);
}

inline F32  LLVector3::magVecSquared() const
{
    return mV[VX]*mV[VX] + mV[VY]*mV[VY] + mV[VZ]*mV[VZ];
}

inline bool LLVector3::inRange( F32 min, F32 max ) const
{
    return mV[VX] >= min && mV[VX] <= max &&
           mV[VY] >= min && mV[VY] <= max &&
           mV[VZ] >= min && mV[VZ] <= 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[VX]*b.mV[VX] + a.mV[VY]*b.mV[VY] + a.mV[VZ]*b.mV[VZ]);
}

inline LLVector3 operator%(const LLVector3& a, const LLVector3& b)
{
    return LLVector3( a.mV[VY]*b.mV[VZ] - b.mV[VY]*a.mV[VZ], a.mV[VZ]*b.mV[VX] - b.mV[VZ]*a.mV[VX], a.mV[VX]*b.mV[VY] - b.mV[VX]*a.mV[VY] );
}

inline LLVector3 operator/(const LLVector3& a, F32 k)
{
    F32 t = 1.f / k;
    return LLVector3( a.mV[VX] * t, a.mV[VY] * t, a.mV[VZ] * t );
}

inline LLVector3 operator*(const LLVector3& a, F32 k)
{
    return LLVector3( a.mV[VX] * k, a.mV[VY] * k, a.mV[VZ] * k );
}

inline LLVector3 operator*(F32 k, const LLVector3& a)
{
    return LLVector3( a.mV[VX] * k, a.mV[VY] * k, a.mV[VZ] * k );
}

inline bool operator==(const LLVector3& a, const LLVector3& b)
{
    return (  (a.mV[VX] == b.mV[VX])
            &&(a.mV[VY] == b.mV[VY])
            &&(a.mV[VZ] == b.mV[VZ]));
}

inline bool operator!=(const LLVector3& a, const LLVector3& b)
{
    return (  (a.mV[VX] != b.mV[VX])
            ||(a.mV[VY] != b.mV[VY])
            ||(a.mV[VZ] != b.mV[VZ]));
}

inline bool operator<(const LLVector3& a, const LLVector3& b)
{
    return (a.mV[VX] < b.mV[VX]
            || (a.mV[VX] == b.mV[VX]
                && (a.mV[VY] < b.mV[VY]
                    || ((a.mV[VY] == b.mV[VY])
                        && a.mV[VZ] < b.mV[VZ]))));
}

inline const LLVector3& operator+=(LLVector3& a, const LLVector3& b)
{
    a.mV[VX] += b.mV[VX];
    a.mV[VY] += b.mV[VY];
    a.mV[VZ] += b.mV[VZ];
    return a;
}

inline const LLVector3& operator-=(LLVector3& a, const LLVector3& b)
{
    a.mV[VX] -= b.mV[VX];
    a.mV[VY] -= b.mV[VY];
    a.mV[VZ] -= b.mV[VZ];
    return a;
}

inline const LLVector3& operator%=(LLVector3& a, const LLVector3& b)
{
    LLVector3 ret( a.mV[VY]*b.mV[VZ] - b.mV[VY]*a.mV[VZ], a.mV[VZ]*b.mV[VX] - b.mV[VZ]*a.mV[VX], a.mV[VX]*b.mV[VY] - b.mV[VX]*a.mV[VY]);
    a = ret;
    return a;
}

inline const LLVector3& operator*=(LLVector3& a, F32 k)
{
    a.mV[VX] *= k;
    a.mV[VY] *= k;
    a.mV[VZ] *= k;
    return a;
}

inline const LLVector3& operator*=(LLVector3& a, const LLVector3& b)
{
    a.mV[VX] *= b.mV[VX];
    a.mV[VY] *= b.mV[VY];
    a.mV[VZ] *= b.mV[VZ];
    return a;
}

inline const LLVector3& operator/=(LLVector3& a, F32 k)
{
    a.mV[VX] /= k;
    a.mV[VY] /= k;
    a.mV[VZ] /= k;
    return a;
}

inline const LLVector3& operator/=(LLVector3& a, const LLVector3& b)
{
    a.mV[VX] /= b.mV[VX];
    a.mV[VY] /= b.mV[VY];
    a.mV[VZ] /= b.mV[VZ];
    return a;
}

inline LLVector3 operator-(const LLVector3& a)
{
    return LLVector3( -a.mV[VX], -a.mV[VY], -a.mV[VZ] );
}

inline F32  dist_vec(const LLVector3& a, const LLVector3& b)
{
    F32 x = a.mV[VX] - b.mV[VX];
    F32 y = a.mV[VY] - b.mV[VY];
    F32 z = a.mV[VZ] - b.mV[VZ];
    return sqrt( x*x + y*y + z*z );
}

inline F32  dist_vec_squared(const LLVector3& a, const LLVector3& b)
{
    F32 x = a.mV[VX] - b.mV[VX];
    F32 y = a.mV[VY] - b.mV[VY];
    F32 z = a.mV[VZ] - b.mV[VZ];
    return x*x + y*y + z*z;
}

inline F32  dist_vec_squared2D(const LLVector3& a, const LLVector3& b)
{
    F32 x = a.mV[VX] - b.mV[VX];
    F32 y = a.mV[VY] - b.mV[VY];
    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