Vector3D and Point3D classes

Vector3D.h

#include "Vector2D.h"


class Vector3D
{
    public:
    
        float   x;
        float   y;
        float   z;
        
        Vector3D() {}
        
        Vector3D(float r, float s, float t)
        {
            x = r;
            y = s;
            z = t;
        }
        
        Vector3D(const Vector2D& v, float u)
        {
            x = v.x;
            y = v.y;
            z = u;
        }
        
        Vector3D& Set(float r, float s, float t)
        {
            x = r;
            y = s;
            z = t;
            return (*this);
        }
        
        Vector3D& Set(const Vector2D& v, float u)
        {
            x = v.x;
            y = v.y;
            z = u;
            return (*this);
        }

        float& operator [](long k)
        {
            return ((&x)[k]);
        }
        
        const float& operator [](long k) const
        {
            return ((&x)[k]);
        }
        
        Vector3D& operator =(const Vector2D& v)
        {
            x = v.x;
            y = v.y;
            z = 0.0F;
            return (*this);
        }
        
        Vector3D& operator +=(const Vector3D& v)
        {
            x += v.x;
            y += v.y;
            z += v.z;
            return (*this);
        }
        
        Vector3D& operator +=(const Vector2D& v)
        {
            x += v.x;
            y += v.y;
            return (*this);
        }
        
        Vector3D& operator -=(const Vector3D& v)
        {
            x -= v.x;
            y -= v.y;
            z -= v.z;
            return (*this);
        }
        
        Vector3D& operator -=(const Vector2D& v)
        {
            x -= v.x;
            y -= v.y;
            return (*this);
        }
        
        Vector3D& operator *=(float t)
        {
            x *= t;
            y *= t;
            z *= t;
            return (*this);
        }
        
        Vector3D& operator /=(float t)
        {
            float f = 1.0F / t;
            x *= f;
            y *= f;
            z *= f;
            return (*this);
        }
        
        Vector3D& operator %=(const Vector3D& v)
        {
            float       r, s;
            
            r = y * v.z - z * v.y;
            s = z * v.x - x * v.z;
            z = x * v.y - y * v.x;
            x = r;
            y = s;
            
            return (*this);
        }
        
        Vector3D& operator &=(const Vector3D& v)
        {
            x *= v.x;
            y *= v.y;
            z *= v.z;
            return (*this);
        }
        
        Vector3D operator -(void) const
        {
            return (Vector3D(-x, -y, -z));
        }
        
        Vector3D operator +(const Vector3D& v) const
        {
            return (Vector3D(x + v.x, y + v.y, z + v.z));
        }
        
        Vector3D operator +(const Vector2D& v) const
        {
            return (Vector3D(x + v.x, y + v.y, z));
        }
        
        Vector3D operator -(const Vector3D& v) const
        {
            return (Vector3D(x - v.x, y - v.y, z - v.z));
        }
        
        Vector3D operator -(const Vector2D& v) const
        {
            return (Vector3D(x - v.x, y - v.y, z));
        }
        
        Vector3D operator *(float t) const
        {
            return (Vector3D(x * t, y * t, z * t));
        }
        
        Vector3D operator /(float t) const
        {
            float f = 1.0F / t;
            return (Vector3D(x * f, y * f, z * f));
        }
        
        float operator *(const Vector3D& v) const
        {
            return (x * v.x + y * v.y + z * v.z);
        }
        
        float operator *(const Vector2D& v) const
        {
            return (x * v.x + y * v.y);
        }
        
        Vector3D operator %(const Vector3D& v) const
        {
            return (Vector3D(y * v.z - z * v.y, z * v.x - x * v.z,
                    x * v.y - y * v.x));
        }
        
        Vector3D operator &(const Vector3D& v) const
        {
            return (Vector3D(x * v.x, y * v.y, z * v.z));
        }
        
        bool operator ==(const Vector3D& v) const
        {
            return ((x == v.x) && (y == v.y) && (z == v.z));
        }
        
        bool operator !=(const Vector3D& v) const
        {
            return ((x != v.x) || (y != v.y) || (z != v.z));
        }
        
        Vector3D& Normalize(void)
        {
            return (*this /= sqrtf(x * x + y * y + z * z));
        }
        
        Vector3D& RotateAboutX(float angle);
        Vector3D& RotateAboutY(float angle);
        Vector3D& RotateAboutZ(float angle);
        Vector3D& RotateAboutAxis(float angle, const Vector3D& axis);
};


class Point3D : public Vector3D
{
    public:
        
        Point3D() {}
        
        Point3D(float r, float s, float t) : Vector3D(r, s, t) {}
        
        Point3D& operator =(const Vector3D& v)
        {
            x = v.x;
            y = v.y;
            z = v.z;
            return (*this);
        }
        
        Point3D& operator *=(float t)
        {
            x *= t;
            y *= t;
            z *= t;
            return (*this);
        }
        
        Point3D& operator /=(float t)
        {
            float f = 1.0F / t;
            x *= f;
            y *= f;
            z *= f;
            return (*this);
        }
        
        Point3D& operator &=(const Vector3D& v)
        {
            x *= v.x;
            y *= v.y;
            z *= v.z;
            return (*this);
        }
        
        Point3D operator -(void) const
        {
            return (Point3D(-x, -y, -z));
        }
        
        Point3D operator +(const Vector3D& v) const
        {
            return (Point3D(x + v.x, y + v.y, z + v.z));
        }
        
        Point3D operator -(const Vector3D& v) const
        {
            return (Point3D(x - v.x, y - v.y, z - v.z));
        }
        
        Vector3D operator -(const Point3D& p) const
        {
            return (Vector3D(x - p.x, y - p.y, z - p.z));
        }
        
        Point3D operator *(float t) const
        {
            return (Point3D(x * t, y * t, z * t));
        }
        
        Point3D operator /(float t) const
        {
            float f = 1.0F / t;
            return (Point3D(x * f, y * f, z * f));
        }
        
        Point3D operator &(const Vector3D& v) const
        {
            return (Point3D(x * v.x, y * v.y, z * v.z));
        }
};


inline Vector3D operator *(float t, const Vector3D& v)
{
    return (Vector3D(t * v.x, t * v.y, t * v.z));
}

inline Point3D operator *(float t, const Point3D& p)
{
    return (Point3D(t * p.x, t * p.y, t * p.z));
}

inline float Dot(const Vector3D& v1, const Vector3D& v2)
{
    return (v1 * v2);
}

inline Vector3D Cross(const Vector3D& v1, const Vector3D& v2)
{
    return (v1 % v2);
}

inline float Magnitude(const Vector3D& v)
{
    return (sqrtf(v.x * v.x + v.y * v.y + v.z * v.z));
}

inline float InverseMag(const Vector3D& v)
{
    return (1.0F / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z));
}

inline float SquaredMag(const Vector3D& v)
{
    return (v.x * v.x + v.y * v.y + v.z * v.z);
}


struct Origin3D_
{
    const Point3D& operator +(const Vector3D& v)
    {
        return (static_cast<const Point3D&>(v));
    }
    
    Point3D operator -(const Vector3D& v)
    {
        return (Point3D(-v.x, -v.y, -v.z));
    }
};


extern Origin3D_ Origin3D;

Vector3D.cpp

#include "Vector3D.h"


Origin3D_ Origin3D;


Vector3D& Vector3D::RotateAboutX(float angle)
{
    float s = sinf(angle);
    float c = cosf(angle);
    
    float ny = c * y - s * z;
    float nz = c * z + s * y;
    
    y = ny;
    z = nz;
    
    return (*this);
}

Vector3D& Vector3D::RotateAboutY(float angle)
{
    float s = sinf(angle);
    float c = cosf(angle);
    
    float nx = c * x + s * z;
    float nz = c * z - s * x;
    
    x = nx;
    z = nz;
    
    return (*this);
}

Vector3D& Vector3D::RotateAboutZ(float angle)
{
    float s = sinf(angle);
    float c = cosf(angle);
    
    float nx = c * x - s * y;
    float ny = c * y + s * x;
    
    x = nx;
    y = ny;
    
    return (*this);
}

Vector3D& Vector3D::RotateAboutAxis(float angle, const Vector3D& axis)
{
    float s = sinf(angle);
    float c = cosf(angle);
    float k = 1.0F - c;
    
    float nx = x * (c + k * axis.x * axis.x) + y * (k * axis.x * axis.y - s * axis.z)
            + z * (k * axis.x * axis.z + s * axis.y);
    float ny = x * (k * axis.x * axis.y + s * axis.z) + y * (c + k * axis.y * axis.y)
            + z * (k * axis.y * axis.z - s * axis.x);
    float nz = x * (k * axis.x * axis.z - s * axis.y) + y * (k * axis.y * axis.z + s * axis.x)
            + z * (c + k * axis.z * axis.z);
    
    x = nx;
    y = ny;
    z = nz;
    
    return (*this);
}