crown-engine/engine/core/math/vector4.h

/*
Copyright (c) 2013 Daniele Bartolini, Michele Rossi
Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto

Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following
conditions:

The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
*/

#pragma once

#include "assert.h"
#include "types.h"
#include "math_utils.h"
#include "vector3.h"

namespace crown
{

/// Negates @a a and returns the result.
Vector4 operator-(const Vector4& a);

/// Adds the vector @a a to @a b and returns the result.
Vector4 operator+(Vector4 a, const Vector4& b);

/// Subtracts the vector @a b from @a a and returns the result.
Vector4 operator-(Vector4 a, const Vector4& b);

/// Multiplies the vector @a a by the scalar @a k and returns the result.
Vector4 operator*(Vector4 a, float k);

/// @copydoc operator*(Vector4, float)
Vector4 operator*(float k, Vector4 a);

/// Divides the vector @a a by the scalar @a k and returns the result.
Vector4 operator/(Vector4 a, float k);

/// Returns true whether the vectors @a a and @a b are equal.
bool operator==(const Vector4& a, const Vector4& b);

/// Functions to manipulate Vector4.
///
/// @ingroup Math
namespace vector4
{
	const Vector4 ZERO = Vector4(0, 0, 0, 0);
	const Vector4 XAXIS = Vector4(1, 0, 0, 0);
	const Vector4 YAXIS = Vector4(0, 1, 0, 0);
	const Vector4 ZAXIS = Vector4(0, 0, 1, 0);
	const Vector4 WAXIS = Vector4(0, 0, 0, 1);

	/// Returns the dot product between the vectors @a a and @a b.
	float dot(const Vector4& a, const Vector4& b);

	/// Returns the lenght of @a a.
	float length(const Vector4& a);

	/// Returns the squared length of @a a.
	float squared_length(const Vector4& a);

	/// Sets the lenght of @a a to @a len.
	void set_length(Vector4& a, float len);

	/// Normalizes @a a and returns the result.
	Vector4 normalize(Vector4& a);

	/// Returns the distance between the points @a a and @a b.
	float distance(const Vector4& a, const Vector4& b);

	/// Returns the angle between the vectors @a a and @a b.
	float angle(const Vector4& a, const Vector4& b);

	/// Returns the pointer to the data of @a a.
	float* to_float_ptr(Vector4& a);

	/// @copydoc to_float_ptr(Vector4&)
	const float* to_float_ptr(const Vector4& a);

	/// Returns the Vector3 portion of @a a. (i.e. truncates w)
	Vector3 to_vector3(const Vector4& a);
} // namespace vector4

inline Vector4 operator-(const Vector4& a)
{
	return Vector4(-a.x, -a.y, -a.z, -a.w);
}

inline Vector4 operator+(Vector4 a, const Vector4& b)
{
	a += b;
	return a;
}

inline Vector4 operator-(Vector4 a, const Vector4& b)
{
	a -= b;
	return a;
}

inline Vector4 operator*(Vector4 a, float k)
{
	a *= k;
	return a;
}

inline Vector4 operator*(float k, Vector4 a)
{
	a *= k;
	return a;
}

inline Vector4 operator/(Vector4 a, float k)
{
	a /= k;
	return a;
}

inline bool operator==(const Vector4& a, const Vector4& b)
{
	return math::equals(a.x, b.x) && math::equals(a.y, b.y) && math::equals(a.z, b.z) && math::equals(a.w, b.w);
}

namespace vector4
{
	inline float dot(const Vector4& a, const Vector4& b)
	{
		return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
	}

	inline float length(const Vector4& a)
	{
		return math::sqrt(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w);
	}

	inline float squared_length(const Vector4& a)
	{
		return a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w;
	}

	inline void set_length(Vector4& a, float len)
	{
		normalize(a);

		a.x *= len;
		a.y *= len;
		a.z *= len;
		a.w *= len;
	}

	inline Vector4 normalize(Vector4& a)
	{
		float inv_len = 1.0f / length(a);

		a.x *= inv_len;
		a.y *= inv_len;
		a.z *= inv_len;
		a.w *= inv_len;

		return a;
	}

	inline float distance(const Vector4& a, const Vector4& b)
	{
		return length(b - a);
	}

	inline float angle(const Vector4& a, const Vector4& b)
	{
		return math::acos(dot(a, b) / (length(a) * length(b)));
	}

	inline float* to_float_ptr(Vector4& a)
	{
		return &a.x;
	}

	inline const float* to_float_ptr(const Vector4& a)
	{
		return &a.x;
	}

	inline Vector3 to_vector3(const Vector4& a)
	{
		return Vector3(a.x, a.y, a.z);
	}
}

inline Vector4::Vector4()
{
	// Do not initialize
}

inline Vector4::Vector4(const Vector3& a, float w) : x(a.x), y(a.y), z(a.z), w(w)
{
}

inline Vector4::Vector4(float val) : x(val), y(val), z(val), w(val)
{
}

inline Vector4::Vector4(float nx, float ny, float nz, float nw) : x(nx), y(ny), z(nz), w(nw)
{
}

inline Vector4::Vector4(const float a[4]) : x(a[0]), y(a[1]), z(a[2]), w(a[3])
{
}

inline const float& Vector4::operator[](uint32_t i) const
{
	CE_ASSERT(i < 4, "Index out of bounds");

	return (&x)[i];
}

inline float& Vector4::operator[](uint32_t i)
{
	CE_ASSERT(i < 4, "Index out of bounds");

	return (&x)[i];
}

inline Vector4& Vector4::operator+=(const Vector4& a)
{
	x += a.x;
	y += a.y;
	z += a.z;
	w += a.w;

	return *this;
}

inline Vector4& Vector4::operator-=(const Vector4& a)
{
	x -= a.x;
	y -= a.y;
	z -= a.z;
	w -= a.w;

	return *this;
}

inline Vector4& Vector4::operator*=(float k)
{
	x *= k;
	y *= k;
	z *= k;
	w *= k;

	return *this;
}

inline Vector4& Vector4::operator/=(float k)
{
	CE_ASSERT(k != (float)0.0, "Division by zero");

	float inv = (float)(1.0 / k);

	x *= inv;
	y *= inv;
	z *= inv;
	w *= inv;

	return *this;
}

} // namespace crown