/*******************************************************************************

 Copyright (c) 2009, Charles McGarvey
 All rights reserved.
 
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     this list of conditions and the following disclaimer.
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     this  list of conditions and the following disclaimer in the documentation
     and/or other materials provided with the distribution.
 
 THIS  SOFTWARE  IS  PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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*******************************************************************************/

#ifndef _MOOF_MATH_HH_
#define _MOOF_MATH_HH_

/**
 * @file Math.hh
 * General math-related types and functions.
 */

#include <cmath>
#include <cml/cml.h>

#include <Moof/OpenGL.hh>		// GLscalar


namespace Mf {


typedef GLscalar								Scalar;

typedef cml::vector< Scalar, cml::fixed<2> >	Vector2;
typedef cml::vector< Scalar, cml::fixed<3> >	Vector3;
typedef cml::vector< Scalar, cml::fixed<4> >	Vector4;

typedef cml::matrix< Scalar, cml::fixed<2,2>,
		cml::col_basis, cml::col_major >		Matrix2;
typedef cml::matrix< Scalar, cml::fixed<3,3>,
		cml::col_basis, cml::col_major >		Matrix3;
typedef cml::matrix< Scalar, cml::fixed<4,4>,
		cml::col_basis, cml::col_major >		Matrix4;

typedef cml::quaternion< Scalar, cml::fixed<>, cml::vector_first,
		cml::positive_cross >					Quaternion;

typedef cml::constants<Scalar>					Constants;


inline Vector3& demoteVector(Vector3& left, const Vector4& right)
{
	left[0] = right[0];
	left[1] = right[1];
	left[2] = right[2];
	return left;
}

inline Vector2& demoteVector(Vector2& left, const Vector3& right)
{
	left[0] = right[0];
	left[1] = right[1];
	return left;
}

inline Vector4& promoteVector(Vector4& left, const Vector3& right, Scalar extra = 1.0)
{
	left[0] = right[0];
	left[1] = right[1];
	left[2] = right[2];
	left[3] = extra;
	return left;
}

inline Vector3& promoteVector(Vector3& left, const Vector2& right, Scalar extra = 1.0)
{
	left[0] = right[0];
	left[1] = right[1];
	left[3] = extra;
	return left;
}



const Scalar EPSILON = 0.000001;

/**
 * Check the equality of scalars with a certain degree of error allowed.
 */

inline bool isEqual(Scalar a, Scalar b, Scalar epsilon = EPSILON)
{
	return std::abs(a - b) < epsilon;
}


} // namespace Mf

#endif // _MOOF_MATH_HH_

/** vim: set ts=4 sw=4 tw=80: *************************************************/