AUD_3DMath.h

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * Copyright 2009-2011 Jörg Hermann Müller
 *
 * This file is part of AudaSpace.
 *
 * Audaspace is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * AudaSpace is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Audaspace; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef AUD_3DMATH
#define AUD_3DMATH

#include <cmath>
#include <cstring>

class AUD_Vector3
{
private:
    union
    {
        float m_v[3];
        struct
        {
            float m_x;
            float m_y;
            float m_z;
        };
    };

public:
    inline AUD_Vector3(float x = 0, float y = 0, float z = 0) :
        m_x(x), m_y(y), m_z(z)
    {
    }

    inline const float& x() const
    {
        return m_x;
    }

    inline const float& y() const
    {
        return m_y;
    }

    inline const float& z() const
    {
        return m_z;
    }

    inline void get(float* destination) const
    {
        memcpy(destination, m_v, sizeof(m_v));
    }

    inline float* get()
    {
        return m_v;
    }

    inline const float* get() const
    {
        return m_v;
    }

    inline float length() const
    {
        return sqrt(m_x*m_x + m_y*m_y + m_z*m_z);
    }

    inline AUD_Vector3 cross(const AUD_Vector3& op) const
    {
        return AUD_Vector3(m_y * op.m_z - m_z * op.m_y,
                           m_z * op.m_x - m_x * op.m_z,
                           m_x * op.m_y - m_y * op.m_x);
    }

    inline float operator*(const AUD_Vector3& op) const
    {
        return m_x * op.m_x + m_y * op.m_y + m_z * op.m_z;
    }

    inline AUD_Vector3 operator*(const float& op) const
    {
        return AUD_Vector3(m_x * op, m_y * op, m_z * op);
    }

    inline AUD_Vector3 operator+(const AUD_Vector3& op) const
    {
        return AUD_Vector3(m_x + op.m_x, m_y + op.m_y, m_z + op.m_z);
    }

    inline AUD_Vector3 operator-(const AUD_Vector3& op) const
    {
        return AUD_Vector3(m_x - op.m_x, m_y - op.m_y, m_z - op.m_z);
    }

    inline AUD_Vector3 operator-() const
    {
        return AUD_Vector3(-m_x, -m_y, -m_z);
    }

    inline AUD_Vector3& operator-=(const AUD_Vector3& op)
    {
        m_x -= op.m_x;
        m_y -= op.m_y;
        m_z -= op.m_z;
        return *this;
    }
};

class AUD_Quaternion
{
private:
    union
    {
        float m_v[4];
        struct
        {
            float m_w;
            float m_x;
            float m_y;
            float m_z;
        };
    };

public:
    inline AUD_Quaternion(float w = 1, float x = 0, float y = 0, float z = 0) :
        m_w(w), m_x(x), m_y(y), m_z(z)
    {
    }

    inline const float& w() const
    {
        return m_w;
    }

    inline const float& x() const
    {
        return m_x;
    }

    inline const float& y() const
    {
        return m_y;
    }

    inline const float& z() const
    {
        return m_z;
    }

    inline void get(float* destination) const
    {
        memcpy(destination, m_v, sizeof(m_v));
    }

    inline float* get()
    {
        return m_v;
    }

    inline const float* get() const
    {
        return m_v;
    }

    inline AUD_Vector3 getLookAt() const
    {
        return AUD_Vector3(-2 * (m_w * m_y + m_x * m_z),
                            2 * (m_x * m_w - m_z * m_y),
                            2 * (m_x * m_x + m_y * m_y) - 1);
    }

    inline AUD_Vector3 getUp() const
    {
        return AUD_Vector3(2 * (m_x * m_y - m_w * m_z),
                            1 - 2 * (m_x * m_x + m_z * m_z),
                            2 * (m_w * m_x + m_y * m_z));
    }
};

#endif //AUD_3DMATH