1 files changed, 206 insertions, 0 deletions
diff --git a/dev/MinGfx/src/vector3.cc b/dev/MinGfx/src/vector3.cc
new file mode 100644
index 0000000..19262c2
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+++ b/dev/MinGfx/src/vector3.cc
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+/*
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+ See corresponding header file for details.
+ */
+
+#include "vector3.h"
+
+#include <math.h>
+
+namespace mingfx {
+
+static const Vector3 s_zerov3d = Vector3(0,0,0);
+static const Vector3 s_onev3d = Vector3(1,1,1);
+static const Vector3 s_unitxv3d = Vector3(1,0,0);
+static const Vector3 s_unityv3d = Vector3(0,1,0);
+static const Vector3 s_unitzv3d = Vector3(0,0,1);
+
+const Vector3& Vector3::Zero() { return s_zerov3d; }
+const Vector3& Vector3::One() { return s_onev3d; }
+const Vector3& Vector3::UnitX() { return s_unitxv3d; }
+const Vector3& Vector3::UnitY() { return s_unityv3d; }
+const Vector3& Vector3::UnitZ() { return s_unitzv3d; }
+    
+    
+Vector3::Vector3() {
+    v[0] = 0.0;
+    v[1] = 0.0;
+    v[2] = 0.0;
+}
+  
+Vector3::Vector3(float x, float y, float z) {
+    v[0] = x;
+    v[1] = y;
+    v[2] = z;
+}
+  
+Vector3::Vector3(float *ptr) {
+    v[0] = ptr[0];
+    v[1] = ptr[1];
+    v[2] = ptr[2];
+}
+
+Vector3::Vector3(const Vector3& other) {
+    v[0] = other[0];
+    v[1] = other[1];
+    v[2] = other[2];
+}
+  
+Vector3::~Vector3() {
+}
+
+bool Vector3::operator==(const Vector3& other) const {
+  return (fabs(other[0] - v[0]) < MINGFX_MATH_EPSILON &&
+          fabs(other[1] - v[1]) < MINGFX_MATH_EPSILON &&
+          fabs(other[2] - v[2]) < MINGFX_MATH_EPSILON);
+}
+  
+bool Vector3::operator!=(const Vector3& other) const {
+    return (fabs(other[0] - v[0]) >= MINGFX_MATH_EPSILON &&
+            fabs(other[1] - v[1]) >= MINGFX_MATH_EPSILON &&
+            fabs(other[2] - v[2]) >= MINGFX_MATH_EPSILON);
+}
+
+Vector3& Vector3::operator=(const Vector3& other) {
+    v[0] = other[0];
+    v[1] = other[1];
+    v[2] = other[2];
+    return *this;
+}
+  
+float Vector3::operator[](const int i) const {
+    if ((i>=0) && (i<=2)) {
+        return v[i];
+    }
+    else {
+        // w component of a vector is 0 so return the constant 0.0
+        return 0.0;
+    }
+}
+
+float& Vector3::operator[](const int i) {
+    return v[i];
+}
+  
+float Vector3::Dot(const Vector3& other) const {
+    return v[0]*other[0] + v[1]*other[1] + v[2]*other[2];
+}
+
+Vector3 Vector3::Cross(const Vector3& other) const {
+    return Vector3(v[1] * other[2] - v[2] * other[1],
+                   v[2] * other[0] - v[0] * other[2],
+                   v[0] * other[1] - v[1] * other[0]);
+}
+
+float Vector3::Length() const {
+    return sqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
+}
+
+void Vector3::Normalize() {
+    // Hill & Kelley provide this:
+    float sizeSq =  + v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
+    if (sizeSq < MINGFX_MATH_EPSILON) {
+        return; // do nothing to zero vectors;
+    } 
+    float scaleFactor = (float)1.0/(float)sqrt(sizeSq);
+    v[0] *= scaleFactor;
+    v[1] *= scaleFactor;
+    v[2] *= scaleFactor;
+}
+
+
+Vector3 Vector3::ToUnit() const {
+    Vector3 v(*this);
+    v.Normalize();
+    return v;
+}
+
+const float * Vector3::value_ptr() const {
+    return v;
+}
+
+    
+    
+Vector3 Vector3::Normalize(const Vector3 &v) {
+    return v.ToUnit();
+}
+
+Vector3 Vector3::Cross(const Vector3 &v1, const Vector3 &v2) {
+    return v1.Cross(v2);
+}
+
+float Vector3::Dot(const Vector3 &v1, const Vector3 &v2) {
+    return v1.Dot(v2);
+}
+    
+Vector3 Vector3::Lerp(const Vector3 &b, float alpha) const {
+    float x = (1.0f-alpha)*(*this)[0] + alpha*b[0];
+    float y = (1.0f-alpha)*(*this)[1] + alpha*b[1];
+    float z = (1.0f-alpha)*(*this)[2] + alpha*b[2];
+    return Vector3(x,y,z);
+}
+
+Vector3 Vector3::Lerp(const Vector3 &a, const Vector3 &b, float alpha) {
+    float x = (1.0f-alpha)*a[0] + alpha*b[0];
+    float y = (1.0f-alpha)*a[1] + alpha*b[1];
+    float z = (1.0f-alpha)*a[2] + alpha*b[2];
+    return Vector3(x,y,z);
+}
+
+    
+
+Vector3 operator/(const Vector3& v, const float s) {
+    const float invS = 1 / s;
+    return Vector3(v[0]*invS, v[1]*invS, v[2]*invS);
+}
+
+Vector3 operator*(const float s, const Vector3& v) {
+    return Vector3(v[0]*s, v[1]*s, v[2]*s);
+}
+
+Vector3 operator*(const Vector3& v, const float s) {
+    return Vector3(v[0]*s, v[1]*s, v[2]*s);
+}
+
+Vector3 operator-(const Vector3& v) {
+    return Vector3(-v[0], -v[1], -v[2]);
+}
+
+Point3 operator+(const Vector3& v, const Point3& p) {
+    return Point3(p[0] + v[0], p[1] + v[1], p[2] + v[2]);
+};
+
+Point3 operator+(const Point3& p, const Vector3& v) {
+    return Point3(p[0] + v[0], p[1] + v[1], p[2] + v[2]);
+}
+
+Vector3 operator+(const Vector3& v1, const Vector3& v2) {
+    return Vector3(v1[0] + v2[0], v1[1] + v2[1], v1[2] + v2[2]);
+}
+
+Point3 operator-(const Point3& p, const Vector3& v) {
+    return Point3(p[0] - v[0], p[1] - v[1], p[2] - v[2]);
+}
+
+Vector3 operator-(const Vector3& v1, const Vector3& v2) {
+    return Vector3(v1[0] - v2[0], v1[1] - v2[1], v1[2] - v2[2]);
+}
+
+Vector3 operator-(const Point3& p1, const Point3& p2) {
+  return Vector3(p1[0] - p2[0], p1[1] - p2[1], p1[2] - p2[2]);
+}
+
+
+std::ostream & operator<< ( std::ostream &os, const Vector3 &v) {
+  return os << "<" << v[0] << ", " << v[1] << ", " << v[2] << ">";
+}
+
+std::istream & operator>> ( std::istream &is, Vector3 &v) {
+  // format:  <x, y, z>
+  char dummy;
+  return is >> dummy >> v[0] >> dummy >> v[1] >> dummy >> v[2] >> dummy;
+}
+
+
+} // end namespace