Vector3.h

/**
 * \file
 * \author Lars Bilke
 * \date   2009-10-27
 * \brief  Definition of the Vector3 class.
 *         From: http://www.strout.net/info/coding/classlib/intro.html
 *         with modifications to derive from TemplatePoint
 *
 * \copyright
 * Copyright (c) 2012-2015, OpenGeoSys Community (http://www.opengeosys.org)
 *            Distributed under a Modified BSD License.
 *              See accompanying file LICENSE.txt or
 *              http://www.opengeosys.org/project/license
 *
 */

#ifndef VECTOR3_H
#define VECTOR3_H

#include <cmath>

#include "TemplatePoint.h"
#include "MathTools.h"

namespace MathLib
{
/**
 * The Vector3 class defines a three-dimensional vector, with appropriate
 * operators.
 */
template <class T>
class TemplateVector3 : public MathLib::TemplatePoint<T>
{
public:
	/**
	 * Default constructor. All coordinates are set to zero.
	 */
	TemplateVector3() : TemplatePoint<T>() {}

	TemplateVector3(T x0, T x1, T x2)
	{
		this->_x[0] = x0;
		this->_x[1] = x1;
		this->_x[2] = x2;
	}

	/**
	 * Copy constructor.
	 */
	TemplateVector3(TemplateVector3<T> const& v) :
		TemplatePoint<T>(v)
	{}

	/**
	 * Construct Vector3 from TemplatePoint.
	 */
	TemplateVector3(TemplatePoint<T,3> const& p) :
		TemplatePoint<T>(p)
	{}

	/** Constructs the vector \f$v=(b-a)\f$ from the given points,
	 * which starts in point \f$a\f$ and ends in point \f$b\f$
	 */
	TemplateVector3(const MathLib::TemplatePoint<T> &a, const MathLib::TemplatePoint<T> &b) :
		MathLib::TemplatePoint<T>()
	{
		this->_x[0] = b[0] - a[0];
		this->_x[1] = b[1] - a[1];
		this->_x[2] = b[2] - a[2];
	}

	~TemplateVector3() {}

	// vector arithmetic
	TemplateVector3 operator+(TemplateVector3 const& v) const
	{
		return TemplateVector3(this->_x[0]+v[0], this->_x[1]+v[1], this->_x[2]+v[2]);
	}

	TemplateVector3 operator-(TemplateVector3 const& v) const
	{
		return TemplateVector3(this->_x[0]-v[0], this->_x[1]-v[1], this->_x[2]-v[2]);
	}

	TemplateVector3& operator+=(TemplateVector3 const& v)
	{
		for (std::size_t i(0); i < 3; i++) this->_x[i] += v[i];
		return *this;
	}

	TemplateVector3& operator-=(const TemplateVector3 & pV)
	{
		for (std::size_t i(0); i < 3; i++) this->_x[i] -= pV[i];
		return *this;
	}

	TemplateVector3& operator*=(double s)
	{
		for (std::size_t i(0); i < 3; i++)
			this->_x[i] *= s;
		return *this;
	}

	/**
	 * After applying the normalize operator to the vector its length is 1.0.
	 */
	void normalize()
	{
		const double s(1/getLength());
		for (std::size_t i(0); i < 3; i++)
			this->_x[i] *= s;
	}

	/// Returns a normalized version of this vector
	TemplateVector3<double> getNormalizedVector() const
	{
		TemplateVector3<double> norm_vec (this->_x[0], this->_x[1], this->_x[2]);
		norm_vec.normalize();
		return norm_vec;
	}

	/// Returns the squared length
	double getSqrLength(void) const
	{
		return this->_x[0]*this->_x[0] + this->_x[1]*this->_x[1] + this->_x[2]*this->_x[2];
	}

	/// Returns the length
	double getLength(void) const
	{
		return sqrt(getSqrLength());
	}

	/** scalarProduct, implementation of scalar product,
	 * sometimes called dot or inner product.
	 */
	template <typename T1>
	friend T1 scalarProduct(TemplateVector3<T1> const& v, TemplateVector3<T1> const& w);

	/** crossProduct: implementation of cross product,
	 * sometimes called outer product.
	 */
	template <typename T1>
	friend TemplateVector3<T1> crossProduct(
		TemplateVector3<T1> const& v,
		TemplateVector3<T1> const& w);

	/**  multiplication with a scalar s */
	template <typename T1>
	friend 	TemplateVector3<T1> operator*(
		TemplateVector3<T1> const& v,
		double s);
	template <typename T1>
	friend 	TemplateVector3<T1> operator*(
		double s,
		TemplateVector3<T1> const& v);
};

template <typename T>
T scalarProduct(TemplateVector3<T> const& v, TemplateVector3<T> const& w)
{
	return v._x[0] * w._x[0] + v._x[1] * w._x[1] + v._x[2] * w._x[2];
}

template <typename T1>
TemplateVector3<T1> crossProduct(
		TemplateVector3<T1> const& v,
		TemplateVector3<T1> const& w)
{
	return TemplateVector3<T1>(
			v._x[1] * w._x[2] - v._x[2] * w._x[1],
			v._x[2] * w._x[0] - v._x[0] * w._x[2],
			v._x[0] * w._x[1] - v._x[1] * w._x[0]);
}

template <typename T1> TemplateVector3<T1> operator*(
		TemplateVector3<T1> const& v,
		double s)
{
	return TemplateVector3<T1>(v[0] * s, v[1] * s, v[2] * s);
}

template <typename T1> TemplateVector3<T1> operator*(
		double s,
		TemplateVector3<T1> const& v)
{
	return v * s;
}

typedef TemplateVector3<double> Vector3;
}

#endif // VECTOR3_H