/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Module: FGMatrix33.cpp
Author: Originally by Tony Peden [formatted here (and broken??) by JSB]
Date started: 1998
Purpose: FGMatrix33 class
Called by: Various

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------

HISTORY
--------------------------------------------------------------------------------
??/??/??   TP   Created
03/16/2000 JSB  Added exception throwing

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGColumnVector3.h"
#include "FGMatrix33.h"


static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_COLUMNVECTOR3;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

FGColumnVector3::FGColumnVector3(void)
{
  rowCtr = 1;
  //cout << "Allocated: " <<  data << endl;
  //if (debug_lvl & 2) cout << "Instantiated: FGColumnVector3" << endl;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3::FGColumnVector3(int m)
{
  rowCtr = 1;
  data[1]=0;data[2]=0;data[3]=0;
  //cout << "Allocated: " <<  data << endl;
  //if (debug_lvl & 2) cout << "Instantiated: FGColumnVector3" << endl;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3::~FGColumnVector3(void)
{
  //cout << "Freed: " << data << endl;
  if (debug_lvl & 2) cout << "Destroyed:    FGColumnVector3" << endl;
}


//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3::FGColumnVector3(const FGColumnVector3& b) 
{
  data[1] = b.data[1];
  data[2] = b.data[2];
  data[3] = b.data[3];
  rowCtr = 1;

  if (debug_lvl & 2) cout << "Instantiated: FGColumnVector3" << endl;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator=(const FGColumnVector3& b) 
{
  data[1] = b.data[1];
  data[2] = b.data[2];
  data[3] = b.data[3];
  rowCtr = 1;

  if (debug_lvl & 2) cout << "Instantiated: FGColumnVector3" << endl;
  
  return *this;
}


/* //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

double& FGColumnVector3::operator()(int m) const
{
  return data[m];
}
 */

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

/* FGColumnVector3 operator*(const FGMatrix33& Mat, FGColumnVector3& Col)
{
  FGColumnVector3 Product;

  Product(1) = Col(1)*Mat(1,1) + Col(2)*Mat(1,2) + Col(3)*Mat(1,3);
  Product(2) = Col(1)*Mat(2,1) + Col(2)*Mat(2,2) + Col(3)*Mat(2,3);
  Product(3) = Col(1)*Mat(3,1) + Col(2)*Mat(3,2) + Col(3)*Mat(3,3);

  return Product;
}
 */

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator+(const FGColumnVector3& C)
{
  FGColumnVector3 Sum; 
  Sum(1) = C(1) + data[1];
  Sum(2) = C(2) + data[2];
  Sum(3) = C(3) + data[3];

  return Sum;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::operator+=(const FGColumnVector3& C)
{
   data[1] += C(1);
   data[2] += C(2);
   data[3] += C(3);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator*(const double scalar)
{
  FGColumnVector3 Product;

  Product(1) = scalar * data[1];
  Product(2) = scalar * data[2];
  Product(3) = scalar * data[3];

  return Product;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::operator*=(const double scalar)
{
  data[1] *= scalar;
  data[2] *= scalar;
  data[3] *= scalar;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator-(const FGColumnVector3& V)
{
  
  FGColumnVector3 Diff; 
  
  Diff(1) = data[1] - V(1);
  Diff(2) = data[2] - V(2);
  Diff(3) = data[3] - V(3);

  return Diff;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::operator-=(const FGColumnVector3& V)
{
  data[1] -= V(1);
  data[2] -= V(2);
  data[3] -= V(3);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator/(const double scalar)
{
  FGColumnVector3 Quotient;

  if (scalar != 0) {
	  double tmp = 1.0/scalar;
    Quotient(1) = data[1] * tmp;
    Quotient(2) = data[2] * tmp;
    Quotient(3) = data[3] * tmp;
  } else {
    cerr << "Attempt to divide by zero in method FGColumnVector3::operator/(const double scalar), object " << this << endl; 
  }
  return Quotient;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::operator/=(const double scalar)
{
  FGColumnVector3 Quotient;

  if (scalar != 0) {
	  double tmp = 1.0/scalar;
    data[1] *= tmp;
    data[2] *= tmp;
    data[3] *= tmp;
  } else {
    cerr << "Attempt to divide by zero in method FGColumnVector3::operator/=(const double scalar), object " << this << endl; 
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 operator*(const double scalar, const FGColumnVector3& C)
{
  FGColumnVector3 Product;

  Product(1) = scalar * C(1);
  Product(2) = scalar * C(2);
  Product(3) = scalar * C(3);
  
  return Product;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

float FGColumnVector3::Magnitude(void)
{
  double num;

  if ((data[1] == 0.00) &&
      (data[2] == 0.00) &&
      (data[3] == 0.00))
  {
    return 0.00;
  } else {
    num  = data[1]*data[1];
    num += data[2]*data[2];
    num += data[3]*data[3];
    return sqrt(num);
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::Normalize(void)
{
  double Mag = Magnitude();

  if (Mag != 0) {
	  Mag = 1.0/Mag;
     data[1] *= Mag;
     data[2] *= Mag;
     data[3] *= Mag;
  }    

  return *this;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::operator*(const FGColumnVector3& V)
{
  FGColumnVector3 Product;
  
  Product(1) = data[2] * V(3) - data[3] * V(2);
  Product(2) = data[3] * V(1) - data[1] * V(3);
  Product(3) = data[1] * V(2) - data[2] * V(1);

  return Product;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::operator*=(const FGColumnVector3& V)
{
  double a,b,c;
  a = data[1]; b=data[2]; c=data[3];
  
  data[1] = b * V(3) - c * V(2);
  data[2] = c * V(1) - a * V(3);
  data[3] = a * V(2) - b * V(1);

}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3 FGColumnVector3::multElementWise(const FGColumnVector3& V)
{
  FGColumnVector3 Product;

  Product(1) = data[1] * V(1);
  Product(2) = data[2] * V(2);
  Product(3) = data[3] * V(3);

  return Product;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGColumnVector3::Debug(void)
{
    //TODO: Add your source code here
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

ostream& operator<<(ostream& os, const FGColumnVector3& col)
{
  os << col(1) << " , " << col(2) << " , " << col(3);
  return os;
}  

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGColumnVector3& FGColumnVector3::operator<<(const float ff)
{
  data[rowCtr] = ff;
  if (++rowCtr > 3 )
      rowCtr = 1;
  return *this;
}