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vector3d.h

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/*
  svas_server -- virtual World Server of Svas
  Copyright (c) 2001, 2002 David Moreno Montero
 
 
  This program 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 2 of the License, or
  (at your option) any later version.
 
  This program 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 this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  02111-1307, USA.  

*/

#ifndef __VECTOR3D__
#define __VECTOR3D__

#include <math.h>
#include <string>

#define Point3d Vector3d

class BoundingBox;
class Matrix3x3;
class Quaternion; 

/** 
 * A Vector in a 3d coordinate system, with the product and dividion
 * with doubles, product, sum, difference of vectors, assignation
 * to string, and conversion to polar systems.
 *
 * Point3d is an alias of Vector3d.
 */
class Vector3d{
 protected:
  /** The coordinate of the vector (or point) */
  double x,y,z;
 public:
  Vector3d(double _x,double _y, double _z);
  /** A convenience contructor, content is unknown */
  Vector3d(){};


  Vector3d operator=(const Vector3d &v);
  Vector3d operator-=(const Vector3d &v);
  Vector3d operator+=(const Vector3d &v);
  Vector3d operator*=(const Vector3d &v);
  Vector3d operator/=(const Vector3d &v);
  Vector3d operator*=(double);
  Vector3d operator/=(double);
  Vector3d operator=(const Quaternion &q);

  /// Rotate in any given axis
  Vector3d rotate(const Vector3d &v, double ang);
  double module(void);
  /// Distance to a given plane
  double distToPlane(const Point3d &p, const Vector3d &n);
  /// Distance to a given line
  double distToLine(const Point3d &p, const Vector3d &d);
  /// Returns the current vector, normalized
  Vector3d normalized(void);
  /// Normalize current vector
  void normalize(void);

  /// Converts the Vector3d to a string
  string toString(void);

  /** 
   * @name Get components
   * @{
   */
  double X();
  double Y();
  double Z();
  /** @} */

  friend class BoundingBox;

  friend bool operator==(const Vector3d &a,const Vector3d &b);
  friend Vector3d operator^(const Vector3d &a,const Vector3d &b);
  friend double operator*(const Vector3d &a,const Vector3d &b);
  friend Vector3d operator-(const Vector3d &a,const Vector3d &b);
  friend Vector3d operator+(const Vector3d &a,const Vector3d &b);
  
  friend Vector3d operator/(const Vector3d &a,double n);
  friend Vector3d operator*(const Vector3d &a,double n);
  friend Vector3d operator/(double n,const Vector3d &a);
  friend Vector3d operator*(double n,const Vector3d &a);

  friend Vector3d operator-(const Vector3d &v);

  friend Vector3d operator*(const Matrix3x3 &M, const Vector3d &v);
  friend Vector3d operator*(const Vector3d &v, const Matrix3x3 &M);

  friend Quaternion operator*(const Vector3d &v, const Quaternion &q);
  friend Quaternion operator*(const Quaternion &q, const Vector3d &v);
};

#include "vector3d.cc"

#endif

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