/*
 * This file is part of the Owl Positioning System (OwlPS).
 * OwlPS is a project of the University of Franche-Comte
 * (Université de Franche-Comté), France.
 *
 * Copyright © Université de Franche-Comté 2007-2012.
 *
 * Corresponding author: Matteo Cypriani <mcy@lm7.fr>
 *
 ***********************************************************************
 *
 * This software is governed by the CeCILL license under French law and
 * abiding by the rules of distribution of free software. You can use,
 * modify and/or redistribute the software under the terms of the CeCILL
 * license as circulated by CEA, CNRS and INRIA at the following URL:
 * http://www.cecill.info
 *
 * As a counterpart to the access to the source code and rights to copy,
 * modify and redistribute granted by the license, users are provided
 * only with a limited warranty and the software's authors, the holder
 * of the economic rights, and the successive licensors have only
 * limited liability.
 *
 * In this respect, the user's attention is drawn to the risks
 * associated with loading, using, modifying and/or developing or
 * reproducing the software by the user in light of its specific status
 * of free software, that may mean that it is complicated to manipulate,
 * and that also therefore means that it is reserved for developers and
 * experienced professionals having in-depth computer knowledge. Users
 * are therefore encouraged to load and test the software's suitability
 * as regards their requirements in conditions enabling the security of
 * their systems and/or data to be ensured and, more generally, to use
 * and operate it in the same conditions as regards security.
 *
 * The fact that you are presently reading this means that you have had
 * knowledge of the CeCILL license and that you accept its terms.
 *
 ***********************************************************************
 */


#ifndef _OWLPS_POSITIONING_POINT3D_HH_
#define _OWLPS_POSITIONING_POINT3D_HH_

#include <string>
#include <ostream>
#include <cmath>

/// Represents a point of the 3-D space
class Point3D
{
protected:
  float x ; ///< X horizontal coordinate (abscissa)
  float y ; ///< Y horizontal coordinate (ordinate)
  float z ; ///< Vertical coordinate

public:
  Point3D(const float _x = 0, const float _y = 0, const float _z = 0):
    x(_x), y(_y), z(_z) {}

  Point3D(const Point3D &source):
    x(source.x), y(source.y), z(source.z) {}

  Point3D(const float source[3]):
    x(source[0]), y(source[1]), z(source[2]) {}

  Point3D(const std::string &source) ;

  virtual ~Point3D(void) {}

  /** @name Read accessors */
  //@{
  float get_x(void) const ;
  float get_y(void) const ;
  float get_z(void) const ;
  //@}

  /** @name Write accessors */
  //@{
  void set_x(const float _x) ;
  void set_y(const float _y) ;
  void set_z(const float _z) ;
  void set_coordinates(const float _x, const float _y, const float _z) ;
  void set_coordinates(const float source[3]) ;
  void set_coordinates(const Point3D &source) ;
  //@}

  /** @name Distance & angles operations */
  //@{
  /// Square euclidean distance to a Point3D, in 2D
  float square_distance_2d(const Point3D &p) const ;
  /// Square euclidean distance to a Point3D
  float square_distance(const Point3D &p) const ;
  /// Euclidean distance to a Point3D, in 2D
  float distance_2d(const Point3D &p) const ;
  /// Euclidean distance to a Point3D
  float distance(const Point3D &p) const ;
  /// Euclidean distance to the radius of a sphere
  float distance_to_sphere(const Point3D &centre,
                           const float radius) const ;
  /// Angle BÂC (A being *this) in 2D
  double angle_2d(const Point3D &b, const Point3D &c) const ;
  /// Rotate #x and #y with a given angle around a center c
  void rotate_2d(const Point3D &center, float angle) ;
  //@}

  /** @name Operators */
  //@{
  Point3D& operator=(const Point3D &source) ;
  bool operator==(const Point3D &source) const ;
  bool operator!=(const Point3D &source) const ;
  bool operator<(const Point3D &source) const ;
  bool operator>(const Point3D &source) const ;
  bool operator<=(const Point3D &source) const ;
  bool operator>=(const Point3D &source) const ;
  operator bool(void) const ;
  operator std::string(void) const ;
  //@}

  /// Displays a Point3D
  friend std::ostream& operator<<(std::ostream &os, const Point3D &p) ;

  /// Hashes a Point3D
  friend std::size_t hash_value(const Point3D &source) ;
} ;



/* *** Read accessors *** */


inline float Point3D::get_x() const
{
  return x ;
}


inline float Point3D::get_y() const
{
  return y ;
}


inline float Point3D::get_z() const
{
  return z ;
}



/* *** Write accessors *** */


inline void Point3D::set_x(const float _x)
{
  x = _x ;
}


inline void Point3D::set_y(const float _y)
{
  y = _y ;
}


inline void Point3D::set_z(const float _z)
{
  z = _z ;
}


inline void Point3D::
set_coordinates(const float _x, const float _y, const float _z)
{
  x = _x ;
  y = _y ;
  z = _z ;
}


inline void Point3D::
set_coordinates(const float source[3])
{
  x = source[0] ;
  y = source[1] ;
  z = source[2] ;
}


/**
 * Updates x, y, z by passing a Point3D.
 * This is useful for derivated classes, and different than a direct
 * call to operator=().
 */
inline void Point3D::set_coordinates(const Point3D &source)
{
  this->operator=(source) ;
}



/* *** Distance operations *** */


/**
 * Note: to compare distances, use preferably square_distance_2d(),
 * which is more efficient.
 */
inline float Point3D::distance_2d(const Point3D &source) const
{
  return sqrt(square_distance_2d(source)) ;
}


/**
 * Note: to compare distances, use preferably square_distance(),
 * which is more efficient.
 */
inline float Point3D::distance(const Point3D &source) const
{
  return sqrt(square_distance(source)) ;
}


/**
 * @param centre The centre of the sphere.
 * @param radius The radius of the sphere.
 */
inline float Point3D::distance_to_sphere(
  const Point3D &centre, const float radius) const
{
  return distance(centre) - radius ;
}



/* *** Operators *** */


inline bool Point3D::operator!=(const Point3D &source) const
{
  return !(*this == source) ;
}


inline bool Point3D::operator>(const Point3D &source) const
{
  return source < *this ;
}


inline bool Point3D::operator<=(const Point3D &source) const
{
  return *this == source || *this < source ;
}


inline bool Point3D::operator>=(const Point3D &source) const
{
  return source <= *this ;
}



#endif // _OWLPS_POSITIONING_POINT3D_HH_