//
// 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