--- trunk/src/math/Vector.hpp	2004/10/13 06:51:09	70
+++ trunk/src/math/Vector.hpp	2004/10/17 01:19:11	93
@@ -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:
 
@@ -70,8 +88,8 @@ namespace oopse {
             
             /** 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];
             }
 
             /** 
@@ -114,6 +132,31 @@ 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];
@@ -136,8 +179,8 @@ 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 +189,8 @@ 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];
             }
 
             /**
@@ -174,7 +217,7 @@ 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;
             }
 
@@ -185,7 +228,7 @@ namespace oopse {
             * @param v1 the vector
             */
             inline void mul( double s, const Vector<Real, Dim>& v1 ) {
-            	for (unsigned int i = 0; i < Dim; i++)
+                for (unsigned int i = 0; i < Dim; i++)
                     data_[i] = s * v1.data_[i];
             }
 
@@ -194,7 +237,7 @@ 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 +247,30 @@ 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 +287,7 @@ 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);
             }
             
@@ -255,6 +298,15 @@ 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];
@@ -262,7 +314,7 @@ namespace oopse {
     };
 
     /** 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();
@@ -274,7 +326,7 @@ 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 +340,7 @@ 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);
@@ -301,7 +353,7 @@ 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);
@@ -314,7 +366,7 @@ 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);
@@ -327,7 +379,7 @@ 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);
@@ -340,7 +392,7 @@ namespace oopse {
      * @param s the scalar value
      * @param v1 the source vector
      */
-    template<typename Real, int Dim>        
+    template<typename Real, unsigned int Dim>        
     inline Vector<Real, Dim> operator /( double s, const Vector<Real, Dim>& v1 ) {
         Vector<Real, Dim> result;
         result.div( v1,s);
@@ -348,7 +400,7 @@ namespace oopse {
     }
 
     /** 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 +412,15 @@ 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 +429,7 @@ 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 +441,7 @@ 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 +450,10 @@ 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;        
     }