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/*
* Vector3.h
* RVO2-3D Library
*
* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Please send all bug reports to <geom@cs.unc.edu>.
*
* The authors may be contacted via:
*
* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
* Dept. of Computer Science
* 201 S. Columbia St.
* Frederick P. Brooks, Jr. Computer Science Bldg.
* Chapel Hill, N.C. 27599-3175
* United States of America
*
* <https://gamma.cs.unc.edu/RVO2/>
*/
#ifndef RVO3D_VECTOR3_H_
#define RVO3D_VECTOR3_H_
/**
* @file Vector3.h
* @brief Contains the Vector3 class.
*/
#include <cstddef>
#include <iosfwd>
namespace RVO3D {
/**
* @brief Defines a three-dimensional vector.
*/
class Vector3 {
public:
/**
* @brief Constructs and initializes a three-dimensional vector instance to
* zero.
*/
Vector3();
/**
* @brief Constructs and initializes a three-dimensional vector from the
* specified three-dimensional vector.
* @param[in] vector The three-dimensional vector containing the
* xyz-coordinates.
*/
Vector3(const Vector3 &vector);
/**
* @brief Constructs and initializes a three-dimensional vector from the
* specified three-element array.
* @param[in] val The three-element array containing the xyz-coordinates.
*/
explicit Vector3(const float val[3]);
/**
* @brief Constructs and initializes a three-dimensional vector from the
* specified xyz-coordinates.
* @param[in] x The x-coordinate of the three-dimensional vector.
* @param[in] y The y-coordinate of the three-dimensional vector.
* @param[in] z The z-coordinate of the three-dimensional vector.
*/
Vector3(float x, float y, float z);
/**
* @brief Destroys this three-dimensional vector instance.
*/
~Vector3();
/**
* @brief Returns the x-coordinate of this three-dimensional vector.
* @return The x-coordinate of the three-dimensional vector.
*/
float x() const { return val_[0]; }
/**
* @brief Returns the y-coordinate of this three-dimensional vector.
* @return The y-coordinate of the three-dimensional vector.
*/
float y() const { return val_[1]; }
/**
* @brief Returns the z-coordinate of this three-dimensional vector.
* @return The z-coordinate of the three-dimensional vector.
*/
float z() const { return val_[2]; }
/**
* @brief Assigns a copy of the specified three-dimensional vector to
* this three-dimensional vector instance.
* @param[in] vector The three-dimensional vector containing the
* xyz-coordinates.
* @return A reference to this three-dimensional vector instance.
*/
Vector3 &operator=(const Vector3 &vector);
/**
* @brief Returns the specified coordinate of this three-dimensional
* vector.
* @param[in] i The coordinate that should be returned (0 <= i < 3).
* @return The specified coordinate of the three-dimensional vector.
*/
float operator[](std::size_t i) const;
/**
* @brief Returns a reference to the specified coordinate of this
* three-dimensional vector.
* @param[in] i The coordinate to which a reference should be returned
* (0 <= i < 3).
* @return A reference to the specified coordinate of the three-dimensional
* vector.
*/
float &operator[](std::size_t i);
/**
* @brief Computes the negation of this three-dimensional vector.
* @return The negation of this three-dimensional vector.
*/
Vector3 operator-() const;
/**
* @brief Computes the dot product of this three-dimensional vector with
* the specified three-dimensional vector.
* @param[in] vector The three-dimensional vector with which the dot product
* should be computed.
* @return The dot product of this three-dimensional vector with a
* specified three-dimensional vector.
*/
float operator*(const Vector3 &vector) const;
/**
* @brief Computes the scalar multiplication of this three-dimensional
* vector with the specified scalar value.
* @param[in] scalar The scalar value with which the scalar multiplication
* should be computed.
* @return The scalar multiplication of this three-dimensional vector with
* a specified scalar value.
*/
Vector3 operator*(float scalar) const;
/**
* @brief Computes the scalar division of this three-dimensional vector
* with the specified scalar value.
* @param[in] scalar The scalar value with which the scalar division should be
* computed.
* @return The scalar division of this three-dimensional vector with a
* specified scalar value.
*/
Vector3 operator/(float scalar) const;
/**
* @brief Computes the vector sum of this three-dimensional vector with
* the specified three-dimensional vector.
* @param[in] vector The three-dimensional vector with which the vector sum
* should be computed.
* @return The vector sum of this three-dimensional vector with a specified
* three-dimensional vector.
*/
Vector3 operator+(const Vector3 &vector) const;
/**
* @brief Computes the vector difference of this three-dimensional vector
* with the specified three-dimensional vector.
* @param[in] vector The three-dimensional vector with which the vector
* difference should be computed.
* @return The vector difference of this three-dimensional vector with a
* specified three-dimensional vector.
*/
Vector3 operator-(const Vector3 &vector) const;
/**
* @brief Tests this three-dimensional vector for equality with the
* specified three-dimensional vector.
* @param[in] vector The three-dimensional vector with which to test for
* equality.
* @return True if the three-dimensional vectors are equal.
*/
bool operator==(const Vector3 &vector) const;
/**
* @brief Tests this three-dimensional vector for inequality with the
* specified three-dimensional vector
* @param[in] vector The three-dimensional vector with which to test for
* inequality.
* @return True if the three-dimensional vectors are not equal.
*/
bool operator!=(const Vector3 &vector) const;
/**
* @brief Sets the value of this three-dimensional vector to the scalar
* multiplication of itself with the specified scalar value.
* @param[in] scalar The scalar value with which the scalar multiplication
* should be computed.
* @return A reference to this three-dimensional vector.
*/
Vector3 &operator*=(float scalar);
/**
* @brief Sets the value of this three-dimensional vector to the scalar
* division of itself with the specified scalar value.
* @param[in] scalar The scalar value with which the scalar division should be
* computed.
* @return A reference to this three-dimensional vector.
*/
Vector3 &operator/=(float scalar);
/**
* @brief Sets the value of this three-dimensional vector to the vector
* sum of itself with the specified three-dimensional vector.
* @param[in] vector The three-dimensional vector with which the vector sum
* should be computed.
* @return A reference to this three-dimensional vector.
*/
Vector3 &operator+=(const Vector3 &vector);
/**
* @brief Sets the value of this three-dimensional vector to the vector
* difference of itself with the specified three-dimensional
* vector.
* @param[in] vector The three-dimensional vector with which the vector
* difference should be computed.
* @return A reference to this three-dimensional vector.
*/
Vector3 &operator-=(const Vector3 &vector);
private:
float val_[3];
};
/**
* @relates Vector3
* @brief Computes the scalar multiplication of the specified
* three-dimensional vector with the specified scalar value.
* @param[in] scalar The scalar value with which the scalar multiplication
* should be computed.
* @param[in] vector The three-dimensional vector with which the scalar
* multiplication should be computed.
* @return The scalar multiplication of the three-dimensional vector with the
* scalar value.
*/
Vector3 operator*(float scalar, const Vector3 &vector);
/**
* @relates Vector3
* @brief Inserts the specified three-dimensional vector into the
* specified output stream.
* @param[in,out] os The output stream into which the three-dimensional
* vector should be inserted.
* @param[in] vector The three-dimensional vector which to insert into the
* output stream.
* @return A reference to the output stream.
*/
std::ostream &operator<<(std::ostream &stream,
const Vector3 &vector);
/**
* @relates Vector3
* @brief Computes the length of a specified three-dimensional vector.
* @param[in] vector The three-dimensional vector whose length is to be
* computed.
* @return The length of the three-dimensional vector.
*/
float abs(const Vector3 &vector);
/**
* @relates Vector3
* @brief Computes the squared length of a specified three-dimensional
* vector.
* @param[in] vector The three-dimensional vector whose squared length is to be
* computed.
* @return The squared length of the three-dimensional vector.
*/
float absSq(const Vector3 &vector);
/**
* @relates Vector3
* @brief Computes the cross product of the specified three-dimensional
* vectors.
* @param[in] vector1 The first vector with which the cross product should be
* computed.
* @param[in] vector2 The second vector with which the cross product should be
* computed.
* @return The cross product of the two specified vectors.
*/
Vector3 cross(const Vector3 &vector1, const Vector3 &vector2);
/**
* @relates Vector3
* @brief Computes the normalization of the specified three-dimensiona
* vector.
* @param[in] vector The three-dimensional vector whose normalization is to be
* computed.
* @return The normalization of the three-dimensional vector.
*/
Vector3 normalize(const Vector3 &vector);
} /* namespace RVO3D */
#endif /* RVO3D_VECTOR3_H_ */
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