src/math/Vector3d.hpp

/*
 * Copyright (C) 2000-2004  Object Oriented Parallel Simulation Engine (OOPSE) project
 * 
 * Contact: oopse@oopse.org
 * 
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation; either version 2.1
 * of the License, or (at your option) any later version.
 * All we ask is that proper credit is given for our work, which includes
 * - but is not limited to - adding the above copyright notice to the beginning
 * of your source code files, and to any copyright notice that you may distribute
 * with programs based on this work.
 * 
 * This program 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 Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 *
 */

/**
 * @file Vector3d.hpp
 * @author Teng Lin
 * @date 09/14/2004
 * @version 1.0
 */
 
#ifndef MATH_VECTOR_HPP
#define MATH_VECTOR_HPP

#include <cassert>
#include <cmath>

namespace oopse {

    /**
     * @class Vector3d Vector3d.hpp "math/Vector3d.hpp"
     * @brief Fix length vector class
     */
    class Vector3d{
        public:

            /** default constructor */
            inline Vector3d(){
                data_[0] = 0.0;
                data_[1] = 0.0;
                data_[2] = 0.0;
            }

            /** Constructs and initializes a Vector3d from an array */            
            inline Vector3d( double* v) {
                data_[0] = v[0];
                data_[1] = v[1];
                data_[2] = v[2];
            }

            /** Constructs and initializes a Vector3d from x, y, z coordinates */            
            inline Vector3d( double x, double y, double z) {
                data_[0] = x;
                data_[1] = y;
                data_[2] = z;
            }

            /** 
             * Returns reference of ith element.
             * @return reference of ith element
             * @param i index
             */
            inline double& operator[](unsigned int  i) {
                assert( i < 3);
                return data_[i]
            }

            /** 
             * Returns reference of ith element.
             * @return reference of ith element
             * @param i index
             */
            inline double& operator()(unsigned int  i) {
                assert( i < 3);
                return data_[i]
            }

            /** 
             * Returns constant reference of ith element.
             * @return reference of ith element
             * @param i index
             */
            inline  const double& operator[](unsigned int i) const {
                assert( i < 3);
                return data_[i]
            }

            /** 
             * Returns constant reference of ith element.
             * @return reference of ith element
             * @param i index
             */
            inline  const double& operator()(unsigned int i) const {
                assert( i < 3);
                return data_[i]
            }
            /**
             * Retunrs reference of the first element of Vector3.
             * @return reference of the first element of Vector3
             */
            inline double& x() {  return data_[0];}

            /**
             * Retunrs the first element of Vector3.
             * @return  the first element of Vector3
             */
            inline double x() const {  return data_[0];}

            /**
             * Retunrs reference of the second element of Vector3.
             * @return reference of the second element of Vector3
             */
            inline double& y() {  return data_[1];}

            /**
             * Retunrs  the second element of Vector3.
             * @return c the second element of Vector3
             */
            inline double y() const {  return data_[1];}

            /**
             * Retunrs reference of the third element of Vector3.
             * @return reference of the third element of Vector3
             */
            inline double& z() {  return data_[2];}

            /**
             * Retunrs  the third element of Vector3.
             * @return f the third element of Vector3
             */
            inline double z() const {  return data_[2];}

            /**
             * Returns multiplication of matrix and vector
             * @return multiplication of matrix and vector
             * @param m matrix
             * @param v vector
             */
            /** Negates the value of this vector in place. */           
            inline void negate() {
                data_[0] = -data_[0];
                data_[1] = -data_[1];
                data_[2] = -data_[2];
            }

            /**
            * Sets the value of this vector to the negation of vector v1.
            * @param v1 the source vector
            */
            inline void negate(const Vector3d& v1) {
                data_[0] = -v1.data_[0];
                data_[1] = -v1.data_[1];
                data_[2] = -v1.data_[2];
            }
            
            /**
            * Sets the value of this vector to the sum of itself and v1 (*this += v1).
            * @param v1 the other vector
            */
            inline void add( const Vector3d& v1 ) {
                data_[0] += v1.data_[0];
                data_[1] += v1.data_[1];
                data_[2] += v1.data_[2];
            }

            /**
            * Sets the value of this vector to the sum of v1 and v2 (*this = v1 + v2).
            * @param v1 the first vector
            * @param v2 the second vector
            */
            inline void add( const Vector3d& v1, const Vector3d& v2 ) {
                data_[0] = v1.data_[0] + v2.data_[0];
                data_[1] = v1.data_[1] + v2.data_[1];
                data_[2] = v1.data_[2] + v2.data_[2];
            }

            /**
            * Sets the value of this vector to the difference  of itself and v1 (*this -= v1).
            * @param v1 the other vector
            */
            inline void sub( const Vector3d& v1 ) {
                data_[0] -= v1.data_[0];
                data_[1] -= v1.data_[1];
                data_[2] -= v1.data_[2];
            }

            /**
            * Sets the value of this vector to the difference of vector v1 and v2 (*this = v1 - v2).
            * @param v1 the first vector
            * @param v2 the second vector
            */
            inline void sub( const Vector3d& v1, const Vector3d  &v2 ){
                data_[0] = v1.data_[0] - v2.data_[0];
                data_[1] = v1.data_[1] - v2.data_[1];
                data_[2] = v1.data_[2] - v2.data_[2];
            }

            /**
            * Sets the value of this vector to the scalar multiplication of itself (*this *= s).
            * @param s the scalar value
            */
            inline void mul( double s ) {
                data_[0] *= s;
                data_[1] *= s;
                data_[2] *= s;
            }

            /**
            * Sets the value of this vector to the scalar multiplication of vector v1  
            * (*this = s * v1).
            * @param s the scalar value
            * @param v1 the vector
            */
            inline void mul( double s, const Vector3d& v1 ) {
                data_[0] = s * v1.data_[0];
                data_[1] = s * v1.data_[1];
                data_[2] = s * v1.data_[2];
            }

            /**
            * Sets the value of this vector to the scalar division of itself  (*this /= s ).
            * @param s the scalar value
            */             
            inline void div( double s) {
                data_[0] /= s;
                data_[1] /= s;
                data_[2] /= s;
            }

            /**
            * Sets the value of this vector to the scalar division of vector v1  (*this = v1 / s ).
            * @paran v1 the source vector
            * @param s the scalar value
            */                         
            inline void div( const Vector3d& v1, double s ) {
                data_[0] = v1.data_[0] / s;
                data_[1] = v1.data_[1] /s;
                data_[2] = v1.data_[2] /s;
            }

            /** @see #add */
            inline void operator +=( const Vector3d& v1 ) {
                data_[0] += v1.data_[0];
                data_[1] += v1.data_[1];
                data_[2] += v1.data_[2];
            }

            /** @see #sub */
            inline void operator -=( const Vector3d& v1 ) {
                data_[0] -= v1.data_[0];
                data_[1] -= v1.data_[1];
                data_[2] -= v1.data_[2];
            }

            /** @see #mul */
            inline void operator *=( double s) {
                data_[0] *= s;
                data_[1] *= s;
                data_[2] *= s;
            }

            /** @see #div */
            inline void operator /=( double s ) {
                data_[0] /= s;
                data_[1] /= s;
                data_[2] /= s;
            }

            /**
             * Returns the length of this vector.
             * @return the length of this vector
             */
             inline double length() {
                return sqrt(data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2]);  
            }
            
            /**
             * Returns the squared length of this vector.
             * @return the squared length of this vector
             */
             inline double lengthSquared() {
                return data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2];  
            }
            
            /** Normalizes this vector in place */
            inline void normalize() {
                double len;

                len = length();
                
                //if (len == 0)
                //    throw Exception("");

                *this /= len;
            }

            /** unary minus*/
            friend inline Vector3d operator -(const Vector3d& v1);
            
            /**
             * Return the sum of two vectors  (v1 - v2). 
             * @return the sum of two vectors
             * @param v1 the first vector
             * @param v2 the second vector
             */              
            friend inline Vector3d operator +( const Vector3d& v1 const Vector3d& v2) const;

            /**
             * Return the difference of two vectors  (v1 - v2). 
             * @return the difference of two vectors
             * @param v1 the first vector
             * @param v2 the second vector
             */              
            friend inline Vector3d operator -(const Vector3d& v1 const Vector3d& v2) const;

            /**
             * Returns the vaule of scalar multiplication of this vector v1 (v1 * r). 
             * @return  the vaule of scalar multiplication of this vector
             * @param v1 the source vector
             * @param s the scalar value
             */                
            friend inline Vector3d operator * ( const Vector3d& v1, double s);

            /**
             * Returns the vaule of scalar multiplication of this vector v1 (v1 * r). 
             * @return  the vaule of scalar multiplication of this vector
             * @param s the scalar value
             * @param v1 the source vector
             */                          
            friend inline Vector3d operator * ( double s, const Vector3d& v1 );

            /**
             * Returns the  value of division of a vector by a scalar. 
             * @return  the vaule of scalar division of this vector
             * @param v1 the source vector
             * @param s the scalar value
             */
            friend inline Vector3d operator /( const Vector3d& v1, double s ) const;
            
            /**
             * 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
             */
            friend inline Vector3d operator /( double s, const Vector3d& v1 ) const;

            /** */     
            friend inline bool epsilonEqual( const Vector3d& v1, const Vector3d& v2); 

            /**
             * Returns the dot product of two Vectors
             * @param v1 first vector
             * @param v2 second vector
             * @return the dot product of v1 and v2
             */
            friend inline double dot( const Vector3d& v1, const Vector3d& v2 ); 
                   
            /**
             * Returns the cross product of two Vectors
             * @param v1 first vector
             * @param v2 second vector
             * @return the cross product  of v1 and v2
             * @see #vector::dot
             */
            friend inline Vector3d cross( const Vector3d& v1, const Vector3d& v2 );
            
            /**
             * Returns the distance between  two Vectors
             * @param v1 first vector
             * @param v2 second vector
             * @return the distance between v1 and v2
             */
            friend inline double distance( const Vector3d& v1, const Vector3d& v2 );

            /**
             * Returns the squared distance between  two Vectors
             * @param v1 first vector
             * @param v2 second vector
             * @return the squared distance between v1 and v2
             */
            friend inline double distanceSquare( const Vector3d& v1, const Vector3d& v2 );
            
            /**
             * Write to an output stream
             */
            friend std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 );
            
        private:
            double data_[3];
        
    };

    Vector3d operator -(const Vector3d& v1){
        Vector3d tmp(v1);
        return tmp.negate();
    }

    Vector3d operator +(const Vector3d& v1, const Vector3d& v2) {
        Vector3d result;

        result.data_[0] = v1.data_[0] + v2.data_[0]; 
        result.data_[1] = v1.data_[1] + v2.data_[1]; 
        result.data_[2] = v1.data_[2] + v2.data_[2]; 

        return result;        
    }

    Vector3d operator -(const Vector3d& v1, const Vector3d& v2) {
        Vector3d result;

        result.data_[0] = v1.data_[0] - v2.data_[0]; 
        result.data_[1] = v1.data_[1] - v2.data_[1]; 
        result.data_[2] = v1.data_[2] - v2.data_[2]; 

        return result;        
    }
             
    Vector3d operator * ( const Vector3d& v1, double s) {       
        Vector3d result;

        result.data_[0] = v1.data_[0] * s; 
        result.data_[1] = v1.data_[1] * s; 
        result.data_[2] = v1.data_[2] * s; 

        return result;           
    }

    Vector3d operator * ( double s, const Vector3d& v1 ) {
        return v1 * s;
    }

    Vector3d operator / ( const Vector3d& v1, double s) {       
        Vector3d result;

        result.data_[0] = v1.data_[0] / s; 
        result.data_[1] = v1.data_[1] / s; 
        result.data_[2] = v1.data_[2] / s; 

        return result;           
    }
    
    Vector3d operator / ( double s, const Vector3d& v1 ) {
        return v1 / s;
    }

    
    bool epsilonEqual( const Vector3d& v1, const Vector3d& v2 ) {

    }

    double dot( const Vector3d& v1, const Vector3d& v2 ) {
        return v1.data_[0] * v2.data_[0] +
                   v1.data_[1] * v2.data_[1] +
                   v1.data_[2] * v2.data_[2]; 
    }

    Vector3d cross( const Vector3d& v1, const Vector3d& v2 ) {
        Vector3d result;

        result.data_[0] = v1.data_[1] * v2.data_[2] - v1.data_[2] * v2.data_[1] ;
        result.data_[1] = v1.data_[2] * v2.data_[0] - v1.data_[0] * v2.data_[2] ;
        result.data_[2] = v1.data_[0] * v2.data_[1] - v1.data_[1] * v2.data_[0];      

        return result;
    }
    
    double distance( const Vector3d& v1, const Vector3d& v2 ) {
        Vector3d tempVector = v1 - v2;
        return tempVector.length();
    }

    double distanceSquare( const Vector3d& v1, const Vector3d& v2 ) {
        Vector3d tempVector = v1 - v2;
        return tempVector.lengthSquare();
    }

    std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 ) {
        o << " x = " << v1.data_[0] <<" y = " << v1.data_[1] << " z = " << v1.data_[2];
        return o;        
    }

    
}


#endif
Revision:	68
Committed:	Tue Oct 12 23:57:40 2004 UTC (20 years, 6 months ago) by tim
File size:	16774 byte(s)
Log Message:	add Vector3d.hpp and Matrix3x3d.hpp
#	User	Rev	Content
1	tim	68	/*
2			* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project
3			*
4			* Contact: oopse@oopse.org
5			*
6			* This program is free software; you can redistribute it and/or
7			* modify it under the terms of the GNU Lesser General Public License
8			* as published by the Free Software Foundation; either version 2.1
9			* of the License, or (at your option) any later version.
10			* All we ask is that proper credit is given for our work, which includes
11			* - but is not limited to - adding the above copyright notice to the beginning
12			* of your source code files, and to any copyright notice that you may distribute
13			* with programs based on this work.
14			*
15			* This program is distributed in the hope that it will be useful,
16			* but WITHOUT ANY WARRANTY; without even the implied warranty of
17			* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18			* GNU Lesser General Public License for more details.
19			*
20			* You should have received a copy of the GNU Lesser General Public License
21			* along with this program; if not, write to the Free Software
22			* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23			*
24			*/
25
26			/**
27			* @file Vector3d.hpp
28			* @author Teng Lin
29			* @date 09/14/2004
30			* @version 1.0
31			*/
32
33			#ifndef MATH_VECTOR_HPP
34			#define MATH_VECTOR_HPP
35
36			#include <cassert>
37			#include <cmath>
38
39			namespace oopse {
40
41			/**
42			* @class Vector3d Vector3d.hpp "math/Vector3d.hpp"
43			* @brief Fix length vector class
44			*/
45			class Vector3d{
46			public:
47
48			/** default constructor */
49			inline Vector3d(){
50			data_[0] = 0.0;
51			data_[1] = 0.0;
52			data_[2] = 0.0;
53			}
54
55			/** Constructs and initializes a Vector3d from an array */
56			inline Vector3d( double* v) {
57			data_[0] = v[0];
58			data_[1] = v[1];
59			data_[2] = v[2];
60			}
61
62			/** Constructs and initializes a Vector3d from x, y, z coordinates */
63			inline Vector3d( double x, double y, double z) {
64			data_[0] = x;
65			data_[1] = y;
66			data_[2] = z;
67			}
68
69			/**
70			* Returns reference of ith element.
71			* @return reference of ith element
72			* @param i index
73			*/
74			inline double& operator[](unsigned int i) {
75			assert( i < 3);
76			return data_[i]
77			}
78
79			/**
80			* Returns reference of ith element.
81			* @return reference of ith element
82			* @param i index
83			*/
84			inline double& operator()(unsigned int i) {
85			assert( i < 3);
86			return data_[i]
87			}
88
89			/**
90			* Returns constant reference of ith element.
91			* @return reference of ith element
92			* @param i index
93			*/
94			inline const double& operator[](unsigned int i) const {
95			assert( i < 3);
96			return data_[i]
97			}
98
99			/**
100			* Returns constant reference of ith element.
101			* @return reference of ith element
102			* @param i index
103			*/
104			inline const double& operator()(unsigned int i) const {
105			assert( i < 3);
106			return data_[i]
107			}
108			/**
109			* Retunrs reference of the first element of Vector3.
110			* @return reference of the first element of Vector3
111			*/
112			inline double& x() { return data_[0];}
113
114			/**
115			* Retunrs the first element of Vector3.
116			* @return the first element of Vector3
117			*/
118			inline double x() const { return data_[0];}
119
120			/**
121			* Retunrs reference of the second element of Vector3.
122			* @return reference of the second element of Vector3
123			*/
124			inline double& y() { return data_[1];}
125
126			/**
127			* Retunrs the second element of Vector3.
128			* @return c the second element of Vector3
129			*/
130			inline double y() const { return data_[1];}
131
132			/**
133			* Retunrs reference of the third element of Vector3.
134			* @return reference of the third element of Vector3
135			*/
136			inline double& z() { return data_[2];}
137
138			/**
139			* Retunrs the third element of Vector3.
140			* @return f the third element of Vector3
141			*/
142			inline double z() const { return data_[2];}
143
144			/**
145			* Returns multiplication of matrix and vector
146			* @return multiplication of matrix and vector
147			* @param m matrix
148			* @param v vector
149			*/
150			/** Negates the value of this vector in place. */
151			inline void negate() {
152			data_[0] = -data_[0];
153			data_[1] = -data_[1];
154			data_[2] = -data_[2];
155			}
156
157			/**
158			* Sets the value of this vector to the negation of vector v1.
159			* @param v1 the source vector
160			*/
161			inline void negate(const Vector3d& v1) {
162			data_[0] = -v1.data_[0];
163			data_[1] = -v1.data_[1];
164			data_[2] = -v1.data_[2];
165			}
166
167			/**
168			* Sets the value of this vector to the sum of itself and v1 (*this += v1).
169			* @param v1 the other vector
170			*/
171			inline void add( const Vector3d& v1 ) {
172			data_[0] += v1.data_[0];
173			data_[1] += v1.data_[1];
174			data_[2] += v1.data_[2];
175			}
176
177			/**
178			* Sets the value of this vector to the sum of v1 and v2 (*this = v1 + v2).
179			* @param v1 the first vector
180			* @param v2 the second vector
181			*/
182			inline void add( const Vector3d& v1, const Vector3d& v2 ) {
183			data_[0] = v1.data_[0] + v2.data_[0];
184			data_[1] = v1.data_[1] + v2.data_[1];
185			data_[2] = v1.data_[2] + v2.data_[2];
186			}
187
188			/**
189			* Sets the value of this vector to the difference of itself and v1 (*this -= v1).
190			* @param v1 the other vector
191			*/
192			inline void sub( const Vector3d& v1 ) {
193			data_[0] -= v1.data_[0];
194			data_[1] -= v1.data_[1];
195			data_[2] -= v1.data_[2];
196			}
197
198			/**
199			* Sets the value of this vector to the difference of vector v1 and v2 (*this = v1 - v2).
200			* @param v1 the first vector
201			* @param v2 the second vector
202			*/
203			inline void sub( const Vector3d& v1, const Vector3d &v2 ){
204			data_[0] = v1.data_[0] - v2.data_[0];
205			data_[1] = v1.data_[1] - v2.data_[1];
206			data_[2] = v1.data_[2] - v2.data_[2];
207			}
208
209			/**
210			* Sets the value of this vector to the scalar multiplication of itself (this = s).
211			* @param s the scalar value
212			*/
213			inline void mul( double s ) {
214			data_[0] *= s;
215			data_[1] *= s;
216			data_[2] *= s;
217			}
218
219			/**
220			* Sets the value of this vector to the scalar multiplication of vector v1
221			* (this = s v1).
222			* @param s the scalar value
223			* @param v1 the vector
224			*/
225			inline void mul( double s, const Vector3d& v1 ) {
226			data_[0] = s * v1.data_[0];
227			data_[1] = s * v1.data_[1];
228			data_[2] = s * v1.data_[2];
229			}
230
231			/**
232			* Sets the value of this vector to the scalar division of itself (*this /= s ).
233			* @param s the scalar value
234			*/
235			inline void div( double s) {
236			data_[0] /= s;
237			data_[1] /= s;
238			data_[2] /= s;
239			}
240
241			/**
242			* Sets the value of this vector to the scalar division of vector v1 (*this = v1 / s ).
243			* @paran v1 the source vector
244			* @param s the scalar value
245			*/
246			inline void div( const Vector3d& v1, double s ) {
247			data_[0] = v1.data_[0] / s;
248			data_[1] = v1.data_[1] /s;
249			data_[2] = v1.data_[2] /s;
250			}
251
252			/** @see #add */
253			inline void operator +=( const Vector3d& v1 ) {
254			data_[0] += v1.data_[0];
255			data_[1] += v1.data_[1];
256			data_[2] += v1.data_[2];
257			}
258
259			/** @see #sub */
260			inline void operator -=( const Vector3d& v1 ) {
261			data_[0] -= v1.data_[0];
262			data_[1] -= v1.data_[1];
263			data_[2] -= v1.data_[2];
264			}
265
266			/** @see #mul */
267			inline void operator *=( double s) {
268			data_[0] *= s;
269			data_[1] *= s;
270			data_[2] *= s;
271			}
272
273			/** @see #div */
274			inline void operator /=( double s ) {
275			data_[0] /= s;
276			data_[1] /= s;
277			data_[2] /= s;
278			}
279
280			/**
281			* Returns the length of this vector.
282			* @return the length of this vector
283			*/
284			inline double length() {
285			return sqrt(data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2]);
286			}
287
288			/**
289			* Returns the squared length of this vector.
290			* @return the squared length of this vector
291			*/
292			inline double lengthSquared() {
293			return data_[0] * data_[0] + data_[1] * data_[1] + data_[2] * data_[2];
294			}
295
296			/** Normalizes this vector in place */
297			inline void normalize() {
298			double len;
299
300			len = length();
301
302			//if (len == 0)
303			// throw Exception("");
304
305			*this /= len;
306			}
307
308			/** unary minus*/
309			friend inline Vector3d operator -(const Vector3d& v1);
310
311			/**
312			* Return the sum of two vectors (v1 - v2).
313			* @return the sum of two vectors
314			* @param v1 the first vector
315			* @param v2 the second vector
316			*/
317			friend inline Vector3d operator +( const Vector3d& v1 const Vector3d& v2) const;
318
319			/**
320			* Return the difference of two vectors (v1 - v2).
321			* @return the difference of two vectors
322			* @param v1 the first vector
323			* @param v2 the second vector
324			*/
325			friend inline Vector3d operator -(const Vector3d& v1 const Vector3d& v2) const;
326
327			/**
328			* Returns the vaule of scalar multiplication of this vector v1 (v1 * r).
329			* @return the vaule of scalar multiplication of this vector
330			* @param v1 the source vector
331			* @param s the scalar value
332			*/
333			friend inline Vector3d operator * ( const Vector3d& v1, double s);
334
335			/**
336			* Returns the vaule of scalar multiplication of this vector v1 (v1 * r).
337			* @return the vaule of scalar multiplication of this vector
338			* @param s the scalar value
339			* @param v1 the source vector
340			*/
341			friend inline Vector3d operator * ( double s, const Vector3d& v1 );
342
343			/**
344			* Returns the value of division of a vector by a scalar.
345			* @return the vaule of scalar division of this vector
346			* @param v1 the source vector
347			* @param s the scalar value
348			*/
349			friend inline Vector3d operator /( const Vector3d& v1, double s ) const;
350
351			/**
352			* Returns the value of division of a vector by a scalar.
353			* @return the vaule of scalar division of this vector
354			* @param s the scalar value
355			* @param v1 the source vector
356			*/
357			friend inline Vector3d operator /( double s, const Vector3d& v1 ) const;
358
359			/** */
360			friend inline bool epsilonEqual( const Vector3d& v1, const Vector3d& v2);
361
362			/**
363			* Returns the dot product of two Vectors
364			* @param v1 first vector
365			* @param v2 second vector
366			* @return the dot product of v1 and v2
367			*/
368			friend inline double dot( const Vector3d& v1, const Vector3d& v2 );
369
370			/**
371			* Returns the cross product of two Vectors
372			* @param v1 first vector
373			* @param v2 second vector
374			* @return the cross product of v1 and v2
375			* @see #vector::dot
376			*/
377			friend inline Vector3d cross( const Vector3d& v1, const Vector3d& v2 );
378
379			/**
380			* Returns the distance between two Vectors
381			* @param v1 first vector
382			* @param v2 second vector
383			* @return the distance between v1 and v2
384			*/
385			friend inline double distance( const Vector3d& v1, const Vector3d& v2 );
386
387			/**
388			* Returns the squared distance between two Vectors
389			* @param v1 first vector
390			* @param v2 second vector
391			* @return the squared distance between v1 and v2
392			*/
393			friend inline double distanceSquare( const Vector3d& v1, const Vector3d& v2 );
394
395			/**
396			* Write to an output stream
397			*/
398			friend std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 );
399
400			private:
401			double data_[3];
402
403			};
404
405			Vector3d operator -(const Vector3d& v1){
406			Vector3d tmp(v1);
407			return tmp.negate();
408			}
409
410			Vector3d operator +(const Vector3d& v1, const Vector3d& v2) {
411			Vector3d result;
412
413			result.data_[0] = v1.data_[0] + v2.data_[0];
414			result.data_[1] = v1.data_[1] + v2.data_[1];
415			result.data_[2] = v1.data_[2] + v2.data_[2];
416
417			return result;
418			}
419
420			Vector3d operator -(const Vector3d& v1, const Vector3d& v2) {
421			Vector3d result;
422
423			result.data_[0] = v1.data_[0] - v2.data_[0];
424			result.data_[1] = v1.data_[1] - v2.data_[1];
425			result.data_[2] = v1.data_[2] - v2.data_[2];
426
427			return result;
428			}
429
430			Vector3d operator * ( const Vector3d& v1, double s) {
431			Vector3d result;
432
433			result.data_[0] = v1.data_[0] * s;
434			result.data_[1] = v1.data_[1] * s;
435			result.data_[2] = v1.data_[2] * s;
436
437			return result;
438			}
439
440			Vector3d operator * ( double s, const Vector3d& v1 ) {
441			return v1 * s;
442			}
443
444			Vector3d operator / ( const Vector3d& v1, double s) {
445			Vector3d result;
446
447			result.data_[0] = v1.data_[0] / s;
448			result.data_[1] = v1.data_[1] / s;
449			result.data_[2] = v1.data_[2] / s;
450
451			return result;
452			}
453
454			Vector3d operator / ( double s, const Vector3d& v1 ) {
455			return v1 / s;
456			}
457
458
459			bool epsilonEqual( const Vector3d& v1, const Vector3d& v2 ) {
460
461			}
462
463			double dot( const Vector3d& v1, const Vector3d& v2 ) {
464			return v1.data_[0] * v2.data_[0] +
465			v1.data_[1] * v2.data_[1] +
466			v1.data_[2] * v2.data_[2];
467			}
468
469			Vector3d cross( const Vector3d& v1, const Vector3d& v2 ) {
470			Vector3d result;
471
472			result.data_[0] = v1.data_[1] * v2.data_[2] - v1.data_[2] * v2.data_[1] ;
473			result.data_[1] = v1.data_[2] * v2.data_[0] - v1.data_[0] * v2.data_[2] ;
474			result.data_[2] = v1.data_[0] * v2.data_[1] - v1.data_[1] * v2.data_[0];
475
476			return result;
477			}
478
479			double distance( const Vector3d& v1, const Vector3d& v2 ) {
480			Vector3d tempVector = v1 - v2;
481			return tempVector.length();
482			}
483
484			double distanceSquare( const Vector3d& v1, const Vector3d& v2 ) {
485			Vector3d tempVector = v1 - v2;
486			return tempVector.lengthSquare();
487			}
488
489			std::ostream &operator<< ( std::ostream& o, const Vector3d& v1 ) {
490			o << " x = " << v1.data_[0] <<" y = " << v1.data_[1] << " z = " << v1.data_[2];
491			return o;
492			}
493
494
495			}
496
497
498			#endif