//----------------------------------------------------------------------------
//  EgalTech 2013-2013
//----------------------------------------------------------------------------
// File : EgkVector3d.h          Data : 20.11.13          Versione : 1.3a1
// Contenuto : Dichiarazione della classe Vettore 3d.
//
//
//
// Modifiche : 31.12.12 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

#pragma once

#include "/EgtDev/Include/EGkGeoConst.h"
#include <math.h>

//----------------------- Macro per import/export -----------------------------
#undef EGK_EXPORT
#if defined( I_AM_EGK)            // da definirsi solo nella DLL
   #define EGK_EXPORT __declspec( dllexport)
#else
   #define EGK_EXPORT __declspec( dllimport)
#endif

//-------------------------- Forward Definition -------------------------------
class Frame3d ;

//-----------------------------------------------------------------------------
class EGK_EXPORT Vector3d
{
   public :
      Vector3d( double dX, double dY, double dZ) : x( dX), y( dY), z( dZ) {}
      Vector3d( double dX, double dY) : x( dX), y( dY), z( 0) {}
      Vector3d( void) : x( 0), y( 0), z( 0) {}
      void Set( double dX, double dY, double dZ) { x = dX ; y = dY ; z = dZ ;}
      const Vector3d& operator =( const Vector3d& vtSrc)
                         { if ( &vtSrc != this) {
                              x = vtSrc.x , y = vtSrc.y , z = vtSrc.z ; }
                           return *this ; }
      void FromSpherical( double dLen, double dAngVertDeg, double dAngOrizzDeg) ;
      void FromPolar( double dLen, double dAngDeg) ;

   public :
      double SqLen( void) const ;
      double Len( void) const ;
      bool IsSmall( void) const
             { return ( ( x * x + y * y + z * z) < ( EPS_SMALL * EPS_SMALL)) ; }
      bool IsZero( void) const
             { return ( ( x * x + y * y + z * z) < ( EPS_ZERO * EPS_ZERO)) ; }
      bool IsNormalized( void) const
             { return ( fabs( 1.0 - (x * x + y * y + z * z)) < ( 2 * EPS_ZERO)) ; }
      bool IsXplus( void) const
             { return ( x > EPS_ZERO  &&  fabs( y) < EPS_ZERO  &&  fabs( z) < EPS_ZERO) ; }
      bool IsXminus( void) const
             { return ( x < - EPS_ZERO  &&  fabs( y) < EPS_ZERO  &&  fabs( z) < EPS_ZERO) ; }
      bool IsYplus( void) const
             { return ( fabs( x) < EPS_ZERO  &&  y > EPS_ZERO  &&  fabs( z) < EPS_ZERO) ; }
      bool IsYminus( void) const
             { return ( fabs( x) < EPS_ZERO  &&  y < - EPS_ZERO  &&  fabs( z) < EPS_ZERO) ; }
      bool IsZplus( void) const
             { return ( fabs( x) < EPS_ZERO  &&  fabs( y) < EPS_ZERO  &&  z > EPS_ZERO) ; }
      bool IsZminus( void) const
             { return ( fabs( x) < EPS_ZERO  &&  fabs( y) < EPS_ZERO  &&  z < - EPS_ZERO) ; }
      const Vector3d& operator +=( const Vector3d& vtV)
             { this->x += vtV.x ; this->y += vtV.y ; this->z += vtV.z ; return *this ; }
      const Vector3d& operator -=( const Vector3d& vtV)
             { this->x -= vtV.x ; this->y -= vtV.y ; this->z -= vtV.z ; return *this ; }
      const Vector3d& operator *=( double dMul)
             { this->x *= dMul ; this->y *= dMul ; this->z *= dMul ; return *this ; }
      const Vector3d& operator /=( double dDiv)
             { double dMul = 1 / dDiv ; this->x *= dMul ; this->y *= dMul ; this->z *= dMul ; return *this ; }
      void ToSpherical( double* pdLen, double* pdAngVertDeg, double* pdAngOrizzDeg) const ;
      bool Normalize( void) ;
      bool Rotate( const Vector3d& vtAx, double dAngRad) ;
      bool Rotate( const Vector3d& vtAx, double dCosAng, double dSinAng) ;
      bool Scale( const Frame3d& frRef, double dCoeffX, double dCoeffY, double dCoeffZ) ;
      bool Mirror( const Vector3d& vtNorm) ;
      bool ToGlob( const Frame3d& frRef) ;
      bool ToLoc( const Frame3d& frRef) ;
      bool LocToLoc( const Frame3d& frOri, const Frame3d& frDest)
             { return ( ToGlob( frOri)  &&  ToLoc( frDest)) ; }
      bool GetAngle( const Vector3d& vtEnd, double& dAngDeg) const ;
      bool GetRotation( const Vector3d& vtEnd, const Vector3d& vtAx, double& dAngDeg, bool& bDet) const ;

   public :
      double x ;
      double y ;
      double z ;
} ;

//----------------------------------------------------------------------------
// Vettori notevoli
//----------------------------------------------------------------------------
const Vector3d X_AX( 1, 0, 0) ;
const Vector3d Y_AX( 0, 1, 0) ;
const Vector3d Z_AX( 0, 0, 1) ;

//----------------------------------------------------------------------------
// Opposto di un vettore
//----------------------------------------------------------------------------
inline Vector3d 
operator-( const Vector3d& vtV)
{
   return ( Vector3d( - vtV.x, - vtV.y, - vtV.z)) ; 
}

//----------------------------------------------------------------------------
// Somma di due vettori
//----------------------------------------------------------------------------
inline Vector3d 
operator+( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( Vector3d( vtV1.x + vtV2.x, vtV1.y + vtV2.y, vtV1.z + vtV2.z)) ; 
}

//----------------------------------------------------------------------------
// Sottrazione di due vettori
//----------------------------------------------------------------------------
inline Vector3d 
operator-( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( Vector3d( vtV1.x - vtV2.x, vtV1.y - vtV2.y, vtV1.z - vtV2.z)) ; 
}

//----------------------------------------------------------------------------
// Prodotto con uno scalare
//----------------------------------------------------------------------------
inline Vector3d 
operator*( const Vector3d& vtV, double dMul)
{
   return ( Vector3d( vtV.x * dMul, vtV.y * dMul, vtV.z * dMul)) ; 
}

//----------------------------------------------------------------------------
inline Vector3d 
operator*( double dMul, const Vector3d& vtV)
{
   return ( Vector3d( vtV.x * dMul, vtV.y * dMul, vtV.z * dMul)) ; 
}

//----------------------------------------------------------------------------
// Divisione con uno scalare
//----------------------------------------------------------------------------
inline Vector3d 
operator/( const Vector3d& vtV, double dDiv)
{
   double dMul ;

   dMul = 1 / dDiv ;
   return ( Vector3d( vtV.x * dMul, vtV.y * dMul, vtV.z * dMul)) ; 
}

//----------------------------------------------------------------------------
// Prodotto scalare
//----------------------------------------------------------------------------
inline double 
operator*( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( vtV1.x * vtV2.x + vtV1.y * vtV2.y + vtV1.z * vtV2.z) ; 
}

//----------------------------------------------------------------------------
// Prodotto vettoriale
//----------------------------------------------------------------------------
inline Vector3d 
operator^( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( Vector3d( vtV1.y * vtV2.z - vtV1.z * vtV2.y,
                      vtV1.z * vtV2.x - vtV1.x * vtV2.z,
                      vtV1.x * vtV2.y - vtV1.y * vtV2.x)) ; 
}

//----------------------------------------------------------------------------
// Somma mediata di due vettori (baricentrica)
//----------------------------------------------------------------------------
inline Vector3d 
Media( const Vector3d& vtV1, const Vector3d& vtV2, double dCoeff)
{
   return ( Vector3d( ( 1 - dCoeff) * vtV1.x + dCoeff * vtV2.x,
                      ( 1 - dCoeff) * vtV1.y + dCoeff * vtV2.y,
                      ( 1 - dCoeff) * vtV1.z + dCoeff * vtV2.z)) ;
}

//----------------------------------------------------------------------------
// Verifica che due vettori sono quasi coincidenti (Small error -> Near)
//----------------------------------------------------------------------------
inline bool
AreSameVectorNear( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( ( vtV1 - vtV2).IsSmall()) ;
}

//----------------------------------------------------------------------------
// Verifica che due vettori sono esattamente coincidenti (Zero error -> Exact)
//----------------------------------------------------------------------------
inline bool
AreSameVectorExact( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( ( vtV1 - vtV2).IsZero()) ;
}

//----------------------------------------------------------------------------
// Verifica che due vettori sono quasi opposti (Small error -> Near)
//----------------------------------------------------------------------------
inline bool
AreOppositeVectorNear( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( ( vtV1 + vtV2).IsSmall()) ;
}

//----------------------------------------------------------------------------
// Verifica che due vettori sono esattamente coincidenti (Zero error -> Exact)
//----------------------------------------------------------------------------
inline bool
AreOppositeVectorExact( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( ( vtV1 + vtV2).IsZero()) ;
}

//----------------------------------------------------------------------------
// Verifica che due versori sono ortogonali (Small error -> Near)
//----------------------------------------------------------------------------
inline bool
AreOrthoNear( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( fabs( vtV1 * vtV2) < COS_ORTO_ANG_SMALL) ;
}

//----------------------------------------------------------------------------
// Verifica che due versori sono ortogonali (Zero error -> Exact)
//----------------------------------------------------------------------------
inline bool
AreOrthoExact( const Vector3d& vtV1, const Vector3d& vtV2)
{
   return ( fabs( vtV1 * vtV2) < COS_ORTO_ANG_ZERO) ;
}