/home/travis/build/lis-epfl/MAVRIC_Library/util/vectors.h

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
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/*******************************************************************************
 * \file vectors.h
 *
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Geraud L'Eplattenier
 *
 * \brief Stream
 *
 ******************************************************************************/


#ifndef VECTORS_H_
#define VECTORS_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdint.h>
#include "util/maths.h"


#define CROSS(u,v,out) \
    out[0] = u[1] * v[2] - u[2] * v[1];\
    out[1] = u[2] * v[0] - u[0] * v[2];\
    out[2] = u[0] * v[1] - u[1] * v[0];


#define SCP(u,v) \
    (u[0] * v[0] + u[1] * v[1] + u[2] * v[2])


float static inline vectors_scalar_product(const float u[3], const float v[3]) //maths_scalar_product(const float u[3], const float v[3])
{
    float scp = (u[0] * v[0] + u[1] * v[1] + u[2] * v[2]);
    return scp;
}


void static inline vectors_cross_product(const float u[3], const float v[3], float out[3]) //maths_cross_product(const float u[3], const float v[3], float out[3])
{
    out[0] = u[1] * v[2] - u[2] * v[1];
    out[1] = u[2] * v[0] - u[0] * v[2];
    out[2] = u[0] * v[1] - u[1] * v[0];
}


float static inline vectors_norm_sqr(const float u[3]) //maths_vector_norm_sqr(float u[3])
{
    float norm = vectors_scalar_product(u, u);
    return norm;
}


float static inline vectors_norm(const float u[3]) //maths_vector_norm(float u[3])
{
    return maths_fast_sqrt(vectors_norm_sqr(u));
}


void static inline vectors_normalize(const float v[3], float u[3]) //maths_vector_normalize(float v[3], float u[3])
{
    float norm = vectors_norm(v);

    for (int32_t i = 0; i < 3; ++i)
    {
        u[i] = v[i] / norm;
    }
}


#ifdef __cplusplus
}
#endif

#endif /* VECTORS_H_ */