/*****************************************************************************
                    The Dark Mod GPL Source Code
 
 This file is part of the The Dark Mod Source Code, originally based 
 on the Doom 3 GPL Source Code as published in 2011.
 
 The Dark Mod Source Code is free software: you can redistribute it 
 and/or modify it under the terms of the GNU General Public License as 
 published by the Free Software Foundation, either version 3 of the License, 
 or (at your option) any later version. For details, see LICENSE.TXT.
 
 Project: The Dark Mod (http://www.thedarkmod.com/)
 
******************************************************************************/

#ifndef __MATH_ANGLES_H__
#define __MATH_ANGLES_H__

/*
===============================================================================

	Euler angles

TDM NOTE:
idAngles uses the "yaw, pitch, roll" convention, in which the yaw rotation occurs
first, then pitch occurs relative to the yawed axes, and finally roll
occurs relative to the yawed and pitched axes.  Also known as the "zyx" convention.

===============================================================================
*/

// angle indexes
#define	PITCH				0		// up / down
#define	YAW					1		// left / right
#define	ROLL				2		// fall over

class idVec3;
class idQuat;
class idRotation;
class idMat3;
class idMat4;

class idAngles {
public:
	float			pitch;
	float			yaw;
	float			roll;

					idAngles( void );
					idAngles( float pitch, float yaw, float roll );
					explicit idAngles( const idVec3 &v );

	void 			Set( float pitch, float yaw, float roll );
	idAngles &		Zero( void );

	float			operator[]( int index ) const;
	float &			operator[]( int index );
	idAngles		operator-() const;			// negate angles, in general not the inverse rotation
	idAngles &		operator=( const idAngles &a );
	idAngles		operator+( const idAngles &a ) const;
	idAngles &		operator+=( const idAngles &a );
	idAngles		operator-( const idAngles &a ) const;
	idAngles &		operator-=( const idAngles &a );
	idAngles		operator*( const float a ) const;
	idAngles &		operator*=( const float a );
	idAngles		operator/( const float a ) const;
	idAngles &		operator/=( const float a );

	friend idAngles	operator*( const float a, const idAngles &b );

	bool			Compare( const idAngles &a ) const;							// exact compare, no epsilon
	bool			Compare( const idAngles &a, const float epsilon ) const;	// compare with epsilon
	bool			operator==(	const idAngles &a ) const;						// exact compare, no epsilon
	bool			operator!=(	const idAngles &a ) const;						// exact compare, no epsilon

	idAngles &		Normalize360( void );	// normalizes 'this'
	idAngles &		Normalize180( void );	// normalizes 'this'

	void			Clamp( const idAngles &min, const idAngles &max );

	int				GetDimension( void ) const;

	void			ToVectors( idVec3 *forward, idVec3 *right = NULL, idVec3 *up = NULL ) const;
	idVec3			ToForward( void ) const;
	idQuat			ToQuat( void ) const;
	idRotation		ToRotation( void ) const;
	idMat3			ToMat3( void ) const;
	idMat4			ToMat4( void ) const;
	idVec3			ToAngularVelocity( void ) const;
	const float *	ToFloatPtr( void ) const;
	float *			ToFloatPtr( void );
	const char *	ToString( int precision = 2 ) const;
};

extern idAngles ang_zero;

// Default constructor
ID_INLINE idAngles::idAngles( void )
: pitch(0), yaw(0), roll(0)
{
}

ID_INLINE idAngles::idAngles( float pitch, float yaw, float roll ) {
	this->pitch = pitch;
	this->yaw	= yaw;
	this->roll	= roll;
}

ID_INLINE idAngles::idAngles( const idVec3 &v ) {
	this->pitch = v[0];
	this->yaw	= v[1];
	this->roll	= v[2];
}

ID_INLINE void idAngles::Set( float pitch, float yaw, float roll ) {
	this->pitch = pitch;
	this->yaw	= yaw;
	this->roll	= roll;
}

ID_INLINE idAngles &idAngles::Zero( void ) {
	pitch = yaw = roll = 0.0f;
	return *this;
}

ID_INLINE float idAngles::operator[]( int index ) const {
	assert( ( index >= 0 ) && ( index < 3 ) );
	return ( &pitch )[ index ];
}

ID_INLINE float &idAngles::operator[]( int index ) {
	assert( ( index >= 0 ) && ( index < 3 ) );
	return ( &pitch )[ index ];
}

ID_INLINE idAngles idAngles::operator-() const {
	return idAngles( -pitch, -yaw, -roll );
}

ID_INLINE idAngles &idAngles::operator=( const idAngles &a ) {
	pitch	= a.pitch;
	yaw		= a.yaw;
	roll	= a.roll;
	return *this;
}

ID_INLINE idAngles idAngles::operator+( const idAngles &a ) const {
	return idAngles( pitch + a.pitch, yaw + a.yaw, roll + a.roll );
}

ID_INLINE idAngles& idAngles::operator+=( const idAngles &a ) {
	pitch	+= a.pitch;
	yaw		+= a.yaw;
	roll	+= a.roll;

	return *this;
}

ID_INLINE idAngles idAngles::operator-( const idAngles &a ) const {
	return idAngles( pitch - a.pitch, yaw - a.yaw, roll - a.roll );
}

ID_INLINE idAngles& idAngles::operator-=( const idAngles &a ) {
	pitch	-= a.pitch;
	yaw		-= a.yaw;
	roll	-= a.roll;

	return *this;
}

ID_INLINE idAngles idAngles::operator*( const float a ) const {
	return idAngles( pitch * a, yaw * a, roll * a );
}

ID_INLINE idAngles& idAngles::operator*=( float a ) {
	pitch	*= a;
	yaw		*= a;
	roll	*= a;
	return *this;
}

ID_INLINE idAngles idAngles::operator/( const float a ) const {
	float inva = 1.0f / a;
	return idAngles( pitch * inva, yaw * inva, roll * inva );
}

ID_INLINE idAngles& idAngles::operator/=( float a ) {
	float inva = 1.0f / a;
	pitch	*= inva;
	yaw		*= inva;
	roll	*= inva;
	return *this;
}

ID_INLINE idAngles operator*( const float a, const idAngles &b ) {
	return idAngles( a * b.pitch, a * b.yaw, a * b.roll );
}

ID_INLINE bool idAngles::Compare( const idAngles &a ) const {
	return ( ( a.pitch == pitch ) && ( a.yaw == yaw ) && ( a.roll == roll ) );
}

ID_INLINE bool idAngles::Compare( const idAngles &a, const float epsilon ) const {
	if ( idMath::Fabs( pitch - a.pitch ) > epsilon ) {
		return false;
	}
			
	if ( idMath::Fabs( yaw - a.yaw ) > epsilon ) {
		return false;
	}

	if ( idMath::Fabs( roll - a.roll ) > epsilon ) {
		return false;
	}

	return true;
}

ID_INLINE bool idAngles::operator==( const idAngles &a ) const {
	return Compare( a );
}

ID_INLINE bool idAngles::operator!=( const idAngles &a ) const {
	return !Compare( a );
}

ID_INLINE void idAngles::Clamp( const idAngles &min, const idAngles &max ) {
	if ( pitch < min.pitch ) {
		pitch = min.pitch;
	} else if ( pitch > max.pitch ) {
		pitch = max.pitch;
	}
	if ( yaw < min.yaw ) {
		yaw = min.yaw;
	} else if ( yaw > max.yaw ) {
		yaw = max.yaw;
	}
	if ( roll < min.roll ) {
		roll = min.roll;
	} else if ( roll > max.roll ) {
		roll = max.roll;
	}
}

ID_INLINE int idAngles::GetDimension( void ) const {
	return 3;
}

ID_INLINE const float *idAngles::ToFloatPtr( void ) const {
	return &pitch;
}

ID_INLINE float *idAngles::ToFloatPtr( void ) {
	return &pitch;
}

#endif /* !__MATH_ANGLES_H__ */
