--- trunk/src/math/Vector.hpp	2004/10/13 06:51:09	70
+++ trunk/src/math/Vector.hpp	2004/10/18 23:13:23	101
@@ -35,14 +35,32 @@
 
 #include <cassert>
 #include <cmath>
+#include <iostream>
 
 namespace oopse {
 
+    const double epsilon = 0.000001;
+
+    template<typename T>
+    inline bool equal(T e1, T e2) {
+        return e1 == e2;
+    }
+
+    template<>
+    inline bool equal(float e1, float e2) {
+        return fabs(e1 - e2) < epsilon;
+    }
+
+    template<>
+    inline bool equal(double e1, double e2) {
+        return fabs(e1 - e2) < epsilon;
+    }
+    
     /**
      * @class Vector Vector.hpp "math/Vector.hpp"
      * @brief Fix length vector class
      */
-    template<typename Real, int Dim>
+    template<typename Real, unsigned int Dim>
     class Vector{
         public:
 
@@ -67,11 +85,17 @@ namespace oopse {
                 
                 return *this;
             }
+
+            template<typename T>
+            inline Vector(const T& s){
+                for (unsigned int i = 0; i < Dim; i++)
+                    data_[i] = s;
+            }
             
             /** Constructs and initializes a Vector from an array */            
             inline Vector( double* v) {
-		for (unsigned int i = 0; i < Dim; i++)
-		    data_[i] = v[i];
+                for (unsigned int i = 0; i < Dim; i++)
+                    data_[i] = v[i];
             }
 
             /** 
@@ -114,11 +138,35 @@ namespace oopse {
                 return data_[i];
             }
 
+            /**
+             * Tests if this vetor is equal to other vector
+             * @return true if equal, otherwise return false
+             * @param v vector to be compared
+             */
+             inline bool operator ==(const Vector<Real, Dim>& v) {
+
+                for (unsigned int i = 0; i < Dim; i ++) {
+                    if (!equal(data_[i], v[i])) {
+                        return false;
+                    }
+                }
+                
+                return true;
+            }
+
+            /**
+             * Tests if this vetor is not equal to other vector
+             * @return true if equal, otherwise return false
+             * @param v vector to be compared
+             */
+            inline bool operator !=(const Vector<Real, Dim>& v) {
+                return !(*this == v);
+            }
+             
             /** Negates the value of this vector in place. */           
             inline void negate() {
-                data_[0] = -data_[0];
-                data_[1] = -data_[1];
-                data_[2] = -data_[2];
+                for (unsigned int i = 0; i < Dim; i++)
+                    data_[i] = -data_[i];
             }
 
             /**
@@ -136,8 +184,8 @@ namespace oopse {
             * @param v1 the other vector
             */
             inline void add( const Vector<Real, Dim>& v1 ) {
-            	for (unsigned int i = 0; i < Dim; i++)
-		    data_[i] += v1.data_[i];
+            for (unsigned int i = 0; i < Dim; i++)
+                data_[i] += v1.data_[i];
                 }
 
             /**
@@ -146,8 +194,8 @@ namespace oopse {
             * @param v2 the second vector
             */
             inline void add( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) {
-            	for (unsigned int i = 0; i < Dim; i++)
-		    data_[i] = v1.data_[i] + v2.data_[i];
+                for (unsigned int i = 0; i < Dim; i++)
+                    data_[i] = v1.data_[i] + v2.data_[i];
             }
 
             /**
@@ -174,18 +222,18 @@ namespace oopse {
             * @param s the scalar value
             */
             inline void mul( double s ) {
-            	for (unsigned int i = 0; i < Dim; i++)
+                for (unsigned int i = 0; i < Dim; i++)
                    data_[i] *= s;
             }
 
             /**
             * Sets the value of this vector to the scalar multiplication of vector v1  
             * (*this = s * v1).
+            * @param v1 the vector            
             * @param s the scalar value
-            * @param v1 the vector
             */
-            inline void mul( double s, const Vector<Real, Dim>& v1 ) {
-            	for (unsigned int i = 0; i < Dim; i++)
+            inline void mul( const Vector<Real, Dim>& v1, double s) {
+                for (unsigned int i = 0; i < Dim; i++)
                     data_[i] = s * v1.data_[i];
             }
 
@@ -194,7 +242,7 @@ namespace oopse {
             * @param s the scalar value
             */             
             inline void div( double s) {
-            	for (unsigned int i = 0; i < Dim; i++)            
+                for (unsigned int i = 0; i < Dim; i++)            
                     data_[i] /= s;
             }
 
@@ -204,30 +252,30 @@ namespace oopse {
             * @param s the scalar value
             */                         
             inline void div( const Vector<Real, Dim>& v1, double s ) {
-            	for (unsigned int i = 0; i < Dim; i++)
+                for (unsigned int i = 0; i < Dim; i++)
                     data_[i] = v1.data_[i] / s;
             }
 
             /** @see #add */
-            inline Vector<Real, Dim> operator +=( const Vector<Real, Dim>& v1 ) {
+            inline Vector<Real, Dim>& operator +=( const Vector<Real, Dim>& v1 ) {
                 add(v1);
                 return *this;
             }
 
             /** @see #sub */
-            inline Vector<Real, Dim> operator -=( const Vector<Real, Dim>& v1 ) {
+            inline Vector<Real, Dim>& operator -=( const Vector<Real, Dim>& v1 ) {
                 sub(v1);
                 return *this;
             }
 
             /** @see #mul */
-            inline Vector<Real, Dim> operator *=( double s) {
+            inline Vector<Real, Dim>& operator *=( double s) {
                 mul(s);
                 return *this;
             }
 
             /** @see #div */
-            inline Vector<Real, Dim> operator /=( double s ) {
+            inline Vector<Real, Dim>& operator /=( double s ) {
                 div(s);
                 return *this;
             }
@@ -244,7 +292,7 @@ namespace oopse {
              * Returns the squared length of this vector.
              * @return the squared length of this vector
              */
-             inline double lengthSquared() {
+             inline double lengthSquare() {
                 return dot(*this, *this);
             }
             
@@ -255,17 +303,27 @@ namespace oopse {
                 len = length();
                 *this /= len;
             }
+
+            /**
+             * Tests if this vector is normalized
+             * @return true if this vector is normalized, otherwise return false
+             */
+            inline bool isNormalized() const
+            {
+                return lengthSquare() == 1.0;
+            }           
             
         protected:
-            double data_[3];
+            double data_[Dim];
         
     };
 
     /** unary minus*/
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     inline Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1){
-        Vector tmp(v1);
-        return tmp.negate();
+        Vector<Real, Dim> tmp(v1);
+        tmp.negate();
+        return tmp;
     }
 
     /**
@@ -274,7 +332,7 @@ namespace oopse {
      * @param v1 the first vector
      * @param v2 the second vector
      */   
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     inline Vector<Real, Dim> operator +(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) {
         Vector<Real, Dim> result;
         
@@ -288,7 +346,7 @@ namespace oopse {
      * @param v1 the first vector
      * @param v2 the second vector
      */  
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     Vector<Real, Dim> operator -(const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2) {
         Vector<Real, Dim> result;
         result.sub(v1, v2);
@@ -301,10 +359,10 @@ namespace oopse {
      * @param v1 the source vector
      * @param s the scalar value
      */ 
-    template<typename Real, int Dim>                 
+    template<typename Real, unsigned int Dim>                 
     Vector<Real, Dim> operator * ( const Vector<Real, Dim>& v1, double s) {       
         Vector<Real, Dim> result;
-        result.mul(s, v1);
+        result.mul(v1,s);
         return result;           
     }
     
@@ -314,10 +372,10 @@ namespace oopse {
      * @param s the scalar value
      * @param v1 the source vector
      */  
-    template<typename Real, int Dim>
+    template<typename Real, unsigned int Dim>
     Vector<Real, Dim> operator * ( double s, const Vector<Real, Dim>& v1 ) {
         Vector<Real, Dim> result;
-        result.mul(s, v1);
+        result.mul(v1, s);
         return result;           
     }
 
@@ -327,28 +385,15 @@ namespace oopse {
      * @param v1 the source vector
      * @param s the scalar value
      */
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     Vector<Real, Dim> operator / ( const Vector<Real, Dim>& v1, double s) {       
         Vector<Real, Dim> result;
         result.div( v1,s);
         return result;           
     }
     
-    /**
-     * Returns the  value of division of a vector by a scalar. 
-     * @return  the vaule of scalar division of this vector
-     * @param s the scalar value
-     * @param v1 the source vector
-     */
-    template<typename Real, int Dim>        
-    inline Vector<Real, Dim> operator /( double s, const Vector<Real, Dim>& v1 ) {
-        Vector<Real, Dim> result;
-        result.div( v1,s);
-        return result;           
-    }
-
     /** fuzzy comparson */
-    template<typename Real, int Dim>        
+    template<typename Real, unsigned int Dim>        
     inline bool epsilonEqual( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) {
 
     }
@@ -360,15 +405,15 @@ namespace oopse {
      * @param v2 second vector
      * @return the dot product of v1 and v2
      */
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     inline Real dot( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) {
-		Real tmp;
-		tmp = 0;
+        Real tmp;
+        tmp = 0;
 
-		for (unsigned int i = 0; i < Dim; i++)
-			tmp += v1[i] + v2[i];
-		
-		return tmp;
+        for (unsigned int i = 0; i < Dim; i++)
+            tmp += v1[i] + v2[i];
+
+        return tmp;
     }
 
     /**
@@ -377,7 +422,7 @@ namespace oopse {
      * @param v2 second vector
      * @return the distance between v1 and v2
      */	
-    template<typename Real, int Dim>    
+    template<typename Real, unsigned int Dim>    
     inline Real distance( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) {
         Vector<Real, Dim> tempVector = v1 - v2;
         return tempVector.length();
@@ -389,7 +434,7 @@ namespace oopse {
      * @param v2 second vector
      * @return the squared distance between v1 and v2
      */
-    template<typename Real, int Dim>
+    template<typename Real, unsigned int Dim>
     inline Real distanceSquare( const Vector<Real, Dim>& v1, const Vector<Real, Dim>& v2 ) {
         Vector<Real, Dim> tempVector = v1 - v2;
         return tempVector.lengthSquare();
@@ -398,9 +443,10 @@ namespace oopse {
     /**
      * Write to an output stream
      */
-    template<typename Real, int Dim>
-    std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v1 ) {
-        
+    template<typename Real, unsigned int Dim>
+    std::ostream &operator<< ( std::ostream& o, const Vector<Real, Dim>& v) {
+
+        o << "[" << v[0] << ", " << v[1] << ", " << v[2] << "]" << endl;
         return o;        
     }