hydra/src/vector3.cpp

//
//  Vector3.cpp
//  Kraken Engine / Hydra
//
//  Copyright 2026 Kearwood Gilbert. All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without modification, are
//  permitted provided that the following conditions are met:
//
//  1. Redistributions of source code must retain the above copyright notice, this list of
//  conditions and the following disclaimer.
//
//  2. Redistributions in binary form must reproduce the above copyright notice, this list
//  of conditions and the following disclaimer in the documentation and/or other materials
//  provided with the distribution.
//
//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
//  The views and conclusions contained in the software and documentation are those of the
//  authors and should not be interpreted as representing official policies, either expressed
//  or implied, of Kearwood Gilbert.
//

#include "../include/hydra.h"
#include "krhelpers.h"

namespace hydra {

//default constructor
void Vector3::init()
{
  x = 0.0f;
  y = 0.0f;
  z = 0.0f;
}

Vector3 Vector3::Create()
{
  Vector3 r;
  r.init();
  return r;
}

void Vector3::init(const Vector3& v)
{
  x = v.x;
  y = v.y;
  z = v.z;
}

Vector3 Vector3::Create(const Vector3& v)
{
  Vector3 r;
  r.init(v);
  return r;
}

void Vector3::init(const Vector4& v)
{
  x = v.x;
  y = v.y;
  z = v.z;
}

Vector3 Vector3::Create(const Vector4& v)
{
  Vector3 r;
  r.init(v);
  return r;
}

void Vector3::init(float* v)
{
  x = v[0];
  y = v[1];
  z = v[2];
}

Vector3 Vector3::Create(float* v)
{
  Vector3 r;
  r.init(v);
  return r;
}


void Vector3::init(double* v)
{
  x = (float)v[0];
  y = (float)v[1];
  z = (float)v[2];
}

Vector3 Vector3::Create(double* v)
{
  Vector3 r;
  r.init(v);
  return r;
}


void Vector3::init(float v)
{
  x = v;
  y = v;
  z = v;
}

Vector3 Vector3::Create(float v)
{
  Vector3 r;
  r.init(v);
  return r;
}

void Vector3::init(float X, float Y, float Z)
{
  x = X;
  y = Y;
  z = Z;
}

Vector3 Vector3::Create(float X, float Y, float Z)
{
  Vector3 r;
  r.init(X, Y, Z);
  return r;
}

Vector2 Vector3::xx() const
{
  return Vector2::Create(x, x);
}

Vector2 Vector3::xy() const
{
  return Vector2::Create(x, y);
}

Vector2 Vector3::xz() const
{
  return Vector2::Create(x, z);
}

Vector2 Vector3::yx() const
{
  return Vector2::Create(y, x);
}

Vector2 Vector3::yy() const
{
  return Vector2::Create(y, y);
}

Vector2 Vector3::yz() const
{
  return Vector2::Create(y, z);
}

Vector2 Vector3::zx() const
{
  return Vector2::Create(z, x);
}

Vector2 Vector3::zy() const
{
  return Vector2::Create(z, y);
}

Vector2 Vector3::zz() const
{
  return Vector2::Create(z, z);
}

void Vector3::xy(const Vector2& v)
{
  x = v.x;
  y = v.y;
}

void Vector3::xz(const Vector2& v)
{
  x = v.x;
  z = v.y;
}

void Vector3::yx(const Vector2& v)
{
  y = v.x;
  x = v.y;
}

void Vector3::yz(const Vector2& v)
{
  y = v.x;
  z = v.y;
}

void Vector3::zx(const Vector2& v)
{
  z = v.x;
  x = v.y;
}

void Vector3::zy(const Vector2& v)
{
  z = v.x;
  y = v.y;
}

Vector3 Vector3::Min()
{
  return Vector3::Create(-std::numeric_limits<float>::max());
}

Vector3 Vector3::Max()
{
  return Vector3::Create(std::numeric_limits<float>::max());
}

Vector3 Vector3::Zero()
{
  return Vector3::Create();
}

Vector3 Vector3::One()
{
  return Vector3::Create(1.0f, 1.0f, 1.0f);
}

Vector3 Vector3::Forward()
{
  return Vector3::Create(0.0f, 0.0f, 1.0f);
}

Vector3 Vector3::Backward()
{
  return Vector3::Create(0.0f, 0.0f, -1.0f);
}

Vector3 Vector3::Up()
{
  return Vector3::Create(0.0f, 1.0f, 0.0f);
}

Vector3 Vector3::Down()
{
  return Vector3::Create(0.0f, -1.0f, 0.0f);
}

Vector3 Vector3::Left()
{
  return Vector3::Create(-1.0f, 0.0f, 0.0f);
}

Vector3 Vector3::Right()
{
  return Vector3::Create(1.0f, 0.0f, 0.0f);
}


void Vector3::scale(const Vector3& v)
{
  x *= v.x;
  y *= v.y;
  z *= v.z;
}

Vector3 Vector3::Scale(const Vector3& v1, const Vector3& v2)
{
  return Vector3::Create(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
}

Vector3 Vector3::Lerp(const Vector3& v1, const Vector3& v2, float d)
{
  return v1 + (v2 - v1) * d;
}

Vector3 Vector3::Slerp(const Vector3& v1, const Vector3& v2, float d)
{
  // From: http://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/
  // Dot product - the cosine of the angle between 2 vectors.
  float dot = Vector3::Dot(v1, v2);
  // Clamp it to be in the range of Acos()
  if (dot < -1.0f) dot = -1.0f;
  if (dot > 1.0f) dot = 1.0f;
  // Acos(dot) returns the angle between start and end,
  // And multiplying that by percent returns the angle between
  // start and the final result.
  float theta = acosf(dot) * d;
  Vector3 RelativeVec = v2 - v1 * dot;
  RelativeVec.normalize();     // Orthonormal basis
  // The final result.
  return ((v1 * cosf(theta)) + (RelativeVec * sinf(theta)));
}

void Vector3::OrthoNormalize(Vector3& normal, Vector3& tangent)
{
  // Gram-Schmidt Orthonormalization
  normal.normalize();
  Vector3 proj = normal * Dot(tangent, normal);
  tangent = tangent - proj;
  tangent.normalize();
}

Vector3& Vector3::operator =(const Vector4& b)
{
  x = b.x;
  y = b.y;
  z = b.z;
  return *this;
}

Vector3 Vector3::operator +(const Vector3& b) const
{
  return Vector3::Create(x + b.x, y + b.y, z + b.z);
}
Vector3 Vector3::operator -(const Vector3& b) const
{
  return Vector3::Create(x - b.x, y - b.y, z - b.z);
}
Vector3 Vector3::operator +() const
{
  return *this;
}
Vector3 Vector3::operator -() const
{
  return Vector3::Create(-x, -y, -z);
}

Vector3 Vector3::operator *(const float v) const
{
  return Vector3::Create(x * v, y * v, z * v);
}

Vector3 Vector3::operator /(const float v) const
{
  float inv_v = 1.0f / v;
  return Vector3::Create(x * inv_v, y * inv_v, z * inv_v);
}

Vector3& Vector3::operator +=(const Vector3& b)
{
  x += b.x;
  y += b.y;
  z += b.z;

  return *this;
}

Vector3& Vector3::operator -=(const Vector3& b)
{
  x -= b.x;
  y -= b.y;
  z -= b.z;

  return *this;
}

Vector3& Vector3::operator *=(const float v)
{
  x *= v;
  y *= v;
  z *= v;

  return *this;
}

Vector3& Vector3::operator /=(const float v)
{
  float inv_v = 1.0f / v;
  x *= inv_v;
  y *= inv_v;
  z *= inv_v;

  return *this;
}

bool Vector3::operator ==(const Vector3& b) const
{
  return x == b.x && y == b.y && z == b.z;

}
bool Vector3::operator !=(const Vector3& b) const
{
  return x != b.x || y != b.y || z != b.z;
}

float& Vector3::operator[](unsigned i)
{
  switch (i) {
  case 0:
    return x;
  case 1:
    return y;
  default:
  case 2:
    return z;
  }
}

float Vector3::operator[](unsigned i) const
{
  switch (i) {
  case 0:
    return x;
  case 1:
    return y;
  case 2:
  default:
    return z;
  }
}

float Vector3::sqrMagnitude() const
{
  // calculate the square of the magnitude (useful for comparison of magnitudes without the cost of a sqrt() function)
  return x * x + y * y + z * z;
}

float Vector3::magnitude() const
{
  return sqrtf(x * x + y * y + z * z);
}

void Vector3::normalize()
{
  float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z);
  x *= inv_magnitude;
  y *= inv_magnitude;
  z *= inv_magnitude;
}
Vector3 Vector3::Normalize(const Vector3& v)
{
  float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  return Vector3::Create(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude);
}

Vector3 Vector3::Cross(const Vector3& v1, const Vector3& v2)
{
  return Vector3::Create(v1.y * v2.z - v1.z * v2.y,
                         v1.z * v2.x - v1.x * v2.z,
                         v1.x * v2.y - v1.y * v2.x);
}

float Vector3::Dot(const Vector3& v1, const Vector3& v2)
{
  return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}

Vector3 Vector3::Min(const Vector3& v1, const Vector3& v2)
{
  return Vector3::Create(std::min(v1.x, v2.x), std::min(v1.y, v2.y), std::min(v1.z, v2.z));
}

Vector3 Vector3::Max(const Vector3& v1, const Vector3& v2)
{
  return Vector3::Create(std::max(v1.x, v2.x), std::max(v1.y, v2.y), std::max(v1.z, v2.z));
}

bool Vector3::operator >(const Vector3& b) const
{
  // Comparison operators are implemented to allow insertion into sorted containers such as std::set
  if (x > b.x) {
    return true;
  } else if (x < b.x) {
    return false;
  } else if (y > b.y) {
    return true;
  } else if (y < b.y) {
    return false;
  } else if (z > b.z) {
    return true;
  } else {
    return false;
  }
}

bool Vector3::operator <(const Vector3& b) const
{
  // Comparison operators are implemented to allow insertion into sorted containers such as std::set
  if (x < b.x) {
    return true;
  } else if (x > b.x) {
    return false;
  } else if (y < b.y) {
    return true;
  } else if (y > b.y) {
    return false;
  } else if (z < b.z) {
    return true;
  } else {
    return false;
  }
}

} // namespace hydra