Initial version.

2023-12-20 00:11:03 +08:00
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+//
+// Copyright (C) 2020 OpenSim Ltd.
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+
+
+#ifndef _COORD_H
+#define _COORD_H
+
+/**
+ * @brief Structure for storing 3D coordinates.
+ *
+ * Some comparison and basic arithmetic operators are implemented.
+ *
+ * @ingroup utils
+ */
+
+typedef struct{
+    double x;
+    double y;
+    double z;
+} COORD;
+
+extern const COORD COORD_NIL;
+extern const COORD COORD_ZERO;
+extern const COORD COORD_ONE;
+extern const COORD COORD_X_AXIS;
+extern const COORD COORD_Y_AXIS;
+extern const COORD COORD_Z_AXIS;
+
+/** @brief Subtracts two coordinate vectors. */
+COORD Coord_Sub(COORD a, COORD b);
+
+/** @brief Adds two coordinate vectors. */
+COORD Coord_Add(COORD a, COORD b);
+
+/** @brief Multiplies a coordinate vector by a real number. */
+void Coord_ScalarMult(COORD *a, double t);
+
+/** @brief Multiplies a coordinate vector by a real number. */
+COORD Coord_GetScalarMult(COORD a, double t);
+
+/** @brief Divides a coordinate vector by a real number. */
+void Coord_ScalarDiv(COORD *a, double t);
+
+/** @brief Divides a coordinate vector by a real number. */
+COORD Coord_GetScalarDiv(COORD a, double t);
+
+/** @brief Dot product. */
+double Coord_Dot(COORD a, COORD b);
+
+/** @brief Cross product. */
+COORD Coord_Cross(COORD a, COORD b);
+
+/** @brief Multiplies two coordinate vector in elementwise. */
+COORD Coord_ElementwiseMult(COORD a, COORD b);
+
+/** @brief Divides two coordinate vector in elementwise. */
+COORD Coord_ElementwiseDiv(COORD a, COORD b);
+
+/** @brief Calculate a coordinate vector length^2 (omits calling square root). */
+double Coord_SquareLength(COORD a);
+
+/** @brief Calculate a coordinate vector length. */
+double Coord_Length(COORD a);
+
+/** @brief Calculate two coordinates' distance. */
+double Coord_Distance(COORD a, COORD b);
+
+/** @brief Normalize coordinate vector. */
+void Coord_Normalize(COORD *a);
+
+/** @brief Normalize coordinate vector. */
+COORD Coord_GetNormalized(COORD a);
+
+/** @brief Returns the angle between the two vectors. */
+double Coord_Angle(COORD a, COORD b);
+
+#endif
+