FixedVector4.h

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//    Scorched3D (c) 2000-2009
//
//    This file is part of Scorched3D.
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#if !defined(AFX_FixedVector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_)
#define AFX_FixedVector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_

#include <common/FixedVector.h>
#include <common/Vector4.h>

class FixedVector4  
{
public:
        FixedVector4()
        {
                V[0] = V[1] = V[2] = V[3] = 0;
        }

        FixedVector4(const FixedVector &v, fixed a = 1)
        {
                V[0] = ((FixedVector &) v)[0];
                V[1] = ((FixedVector &) v)[1];
                V[2] = ((FixedVector &) v)[2];
                V[3] = a;
        }

        FixedVector4(const FixedVector4 &cc1, const FixedVector4 &cc2, fixed scal) 
        {
                FixedVector4 &c1 = (FixedVector4 &) cc1;
                FixedVector4 &c2 = (FixedVector4 &) cc2;

                V[0] = (c1[0]*(fixed(1)-scal) + c2[0]*scal);
                V[1] = (c1[1]*(fixed(1)-scal) + c2[1]*scal);
                V[2] = (c1[2]*(fixed(1)-scal) + c2[2]*scal);
                V[3] = (c1[3]*(fixed(1)-scal) + c2[3]*scal);
        }

        FixedVector4(const FixedVector4 &v)
        {
                V[0] = ((FixedVector4 &) v)[0];
                V[1] = ((FixedVector4 &) v)[1];
                V[2] = ((FixedVector4 &) v)[2];
                V[3] = ((FixedVector4 &) v)[3];
        }

        FixedVector4(const fixed Pt[4])
        {
                V[0] = Pt[0];
                V[1] = Pt[1];
                V[2] = Pt[2];
                V[3] = Pt[3];
        }

        FixedVector4(const fixed ptA, const fixed ptB, const fixed ptC, fixed ptD=0)
        {
                V[0] = ptA;
                V[1] = ptB;
                V[2] = ptC;
                V[3] = ptD;
        }

        void zero()
        {
                V[0] = V[1] = V[2] = V[3] = 0;
        }

        bool operator==(const FixedVector4 &Vin)
        {
                FixedVector4 &Vin1 = (FixedVector4 &) Vin;
                return (Vin1.V[0]==V[0] && Vin1.V[1]==V[1] && 
                        Vin1.V[2]==V[2] && Vin1.V[3]==V[3]);
        }

        bool operator!=(const FixedVector4 &Vin1)
        {
                return !((*this) == Vin1);
        }

        FixedVector4 &operator+=(const FixedVector4 &qc)
        {
                V[0] += qc.V[0];
                V[1] += qc.V[1];
                V[2] += qc.V[2];
                V[3] += qc.V[3];

                return *this;
        }

        FixedVector4 operator*(const FixedVector4 &qc)
        {
                FixedVector4 qa;
                FixedVector4 &qb = *this;
                
                // dQMultiply0 from ODE
                qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
                qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
                qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
                qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
        
                return qa;
        }

        ///> component wise linear interpolation
        FixedVector4 lerp(FixedVector4 &c1, FixedVector4 &c2) 
        {
                return FixedVector4(
                        c1[0] * (fixed(1) - V[0]) + c2[0] * V[0],
                        c1[1] * (fixed(1) - V[1]) + c2[1] * V[1],
                        c1[2] * (fixed(1) - V[2]) + c2[2] * V[2],
                        c1[3] * (fixed(1) - V[3]) + c2[3] * V[3]);
        }

        void Normalize();

        Vector4 &asVector4()
        {
                static Vector4 a[10];
                static unsigned int count = 0;
                
                Vector4 &b = a[++count % 10];
                b[0] = V[0].asFloat();
                b[1] = V[1].asFloat();
                b[2] = V[2].asFloat();
                b[3] = V[3].asFloat();
                return b;
        }

        void asVector(Vector4 &dest)
        {
                dest[0] = V[0].asFloat();
                dest[1] = V[1].asFloat();
                dest[2] = V[2].asFloat();
                dest[3] = V[3].asFloat();
        }

        // Quaternion maths
        void setQuatFromAxisAndAngle(FixedVector &axis, fixed angle);
        void getRotationMatrix(fixed *R); // R = fixed[4*3];
        void getOpenGLRotationMatrix(float *R); // R = fixed[16];
        void getRelativeVector(FixedVector &result, FixedVector &position);
        static void dDQfromW(FixedVector4 &dq, FixedVector &w, FixedVector4 &q);

        fixed &operator[](const int m) { DIALOG_ASSERT(m<=3); return V[m]; }
        fixed const &operator[](const int m) const { DIALOG_ASSERT(m<=3); return V[m]; }

        static FixedVector4 &getNullVector();

protected:
        fixed V[4];

};

#endif // !defined(AFX_FixedVector4_H__AD959187_7A1C_11D2_957C_00A0C9A4CA3E__INCLUDED_)

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