local THIS_VERSION = "1.0"

--- 3D vector class/operations.
 --
 -- Note that methods can be called in either an object-oriented way:
 --    v1 = Vec3(1, 2, 3)
 --    v2 = v1:add({ x = 2, y = 2, z = 0 })
 -- or as simple functions:
 --    Vec3.add({ x = 1, y = 2, z = 3 }, { x = 2, y = 2, z = 0 })
 --
 -- All methods that can be called on a Vec3 using ":" may be called on a table
 -- using the second functional syntax, but the first parameter MUST have the
 -- expected components "x", "y", and "z".  If a vector is used as the second
 -- paramter, it may instead be a list/array with numeric indices, like
 -- { 1.0, 2.0, 3.0 } in place of { x = 1.0, y = 2.0, z = 3.0 }.
 --
 -- @author prestidigitator (as registered at forum.minetest.net)
 -- @copyright 2013, licensed under WTFPL
 --
local Vec3 = {}
local Vec3_meta = {}
local Vec3_inst_meta = {}

Vec3.VERSION = THIS_VERSION

setmetatable(Vec3, Vec3_meta)
Vec3_inst_meta.__index = Vec3

--- Constructs a Vec3 from three numbers.
 --
 -- Call with one of:
 --    Vec3.new(x, y, z)
 --    Vec3(x, y, z)
 --
 -- @return a new Vec3 object
local function Vec3_new(x, y, z)
   local obj = { x = x or 0.0, y = y or 0.0, z = z or 0.0 }
   setmetatable(obj, Vec3_inst_meta)
   return obj
end
Vec3.new = Vec3_new

--- Constructs a new copy of a Vec3.
 --
 -- Call with one of:
 --    vec:new_copy()
 --    Vec3.new_copy(vec)
 --    Vec3(vec)
 --
 -- @return a new Vec3 object that is a copy of the parameter
local function Vec3_new_copy(v)
   local obj = { x = v.x or v[1] or 0.0,
                 y = v.y or v[2] or 0.0,
                 z = v.z or v[3] or 0.0 }
   setmetatable(obj, Vec3_inst_meta)
   return obj
end
Vec3.new_copy = Vec3_new_copy

Vec3_meta.__call = function(class, a, b, c)
   if type(a) == "table" then
      return Vec3.new_copy(a)
   else
      return Vec3.new(a, b, c)
   end
end

--- Computes the square of the length of a Vec3.
 --
 -- Call with one of:
 --    vec:len_sq()
 --    Vec3.len_sq(vec)
 --
 -- @return a number
local function Vec3_len_sq(v)
   return v.x^2 + v.y^2 + v.z^2
end
Vec3.len_sq = Vec3_len_sq

--- Computes the length of a Vec3.
 --
 -- Call with one of:
 --    vec:len()
 --    Vec3.len(vec)
 --
 -- @return a number
local function Vec3_len(v)
   return math.sqrt(v.x^2 + v.y^2 + v.z^2)
end
Vec3.len = Vec3_len

--- Computes a unit vector pointing in the same direction as a Vec3.
 -- Undefined for a zero-vector and may throw an error.
 --
 -- Call with one of:
 --    vec:unit()
 --    Vec3.unit(vec)
 --
 -- @return a new Vec3 with length 1.0
local function Vec3_unit(v)
   local len = math.sqrt(v.x^2 + v.y^2 + v.z^2)
   return Vec3.new(v.x/len, v.y/len, v.z/len)
end
Vec3.unit = Vec3_unit

--- Multiplies a Vec3 by a number.
 --
 -- Call with one of:
 --    vec:mul(m)
 --    Vec3.mul(vec, m)
 --    vec*m
 --    m*vec
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_mul(v, m)
   local mn = tonumber(m)
   if not mn then error("Can't multiply vector by non-scalar") end
   return Vec3.new(v.x*mn, v.y*mn, v.z*mn)
end
Vec3.mul = Vec3_mul
Vec3_inst_meta.__mul = function(a, b)
   if type(a) == "table" then
      return Vec3_mul(a, b)
   else
      return Vec3_mul(b, a)
   end
end

--- Divides a Vec3 by a number.
 --
 -- Call with one of:
 --    vec:div(m)
 --    Vec3.div(vec, m)
 --    vec/m
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_div(v, m)
   return Vec3.new(v.x/m, v.y/m, v.z/m)
end
Vec3.div = Vec3_div
Vec3_inst_meta.__div = Vec3_div

--- Negates a Vec3 (signs of all components are inverted).
 --
 -- Call with one of:
 --    vec:unm()
 --    Vec3.unm(vec)
 --    -vec
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_unm(v)
   return Vec3.new(-v.x, -v.y, -v.z)
end
Vec3.unm = Vec3_unm
Vec3_inst_meta.__unm = Vec3_unm

--- Adds two Vec3s or a Vec3 composed of three given components.
 --
 -- Call with one of:
 --    vec1:add(vec2)
 --    vec1:add(x, y, z)
 --    Vec3.add(vec1, vec2)
 --    Vec3.add(vec1, x, y, z)
 --    vec1 + vec2
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_add(v, a, b, c)
   if type(a) == "table" then
      return Vec3.new(v.x + (a.x or a[1] or 0.0),
                      v.y + (a.y or a[2] or 0.0),
                      v.z + (a.z or a[3] or 0.0))
   else
      return Vec3.new(v.x + a, v.y + b, v.z + c)
   end
end
Vec3.add = Vec3_add

--- Subtracts two Vec3s or a Vec3 composed of three given components.
 --
 -- Call with one of:
 --    vec1:sub(vec2)
 --    vec1:sub(x, y, z)
 --    Vec3.sub(vec1, vec2)
 --    Vec3.sub(vec1, x, y, z)
 --    vec1 - vec2
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_sub(v, a, b, c)
   if type(a) == "table" then
      return Vec3.new(v.x - (a.x or a[1] or 0.0),
                      v.y - (a.y or a[2] or 0.0),
                      v.z - (a.z or a[3] or 0.0))
   else
      return Vec3.new(v.x - a, v.y - b, v.z - c)
   end
end
Vec3.sub = Vec3_sub

--- Tests two Vec3s or a Vec3 composed of three given components for
 -- exact component-wise equality.
 --
 -- Call with one of:
 --    vec1:eq(vec2)
 --    vec1:eq(x, y, z)
 --    Vec3.eq(vec1, vec2)
 --    Vec3.eq(vec1, x, y, z)
 --    vec1 == vec2
 --    vec1 ~= vec2
 -- Note that because of built-in Lua logic "==" and "~=" work ONLY if
 -- vec1 and vec2 are actually Vec3s (not tables).
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_eq(v, a, b, c)
   if type(a) == "table" then
      return v.x == (a.x or a[1] or 0.0) and
             v.y == (a.y or a[2] or 0.0) and
             v.z == (a.z or a[3] or 0.0)
   else
      return v.x == a and v.y == b and v.z == c
   end
end
Vec3.eq = Vec3_eq

--- Takes the dot product of a Vec3 and a Vec3s or a Vec3 composed of
 -- three given components.
 --
 -- Call with one of:
 --    vec1:dot(vec2)
 --    vec1:dot(x, y, z)
 --    Vec3.dot(vec1, vec2)
 --    Vec3.dot(vec1, x, y, z)
 --
 -- @return a number
local function Vec3_dot(v, a, b, c)
   if type(a) == "table" then
      return v.x * (a.x or a[1] or 0.0) +
             v.y * (a.y or a[2] or 0.0) +
             v.z * (a.z or a[3] or 0.0)
   else
      return v.x * a + v.y * b + v.z * c
   end
end
Vec3.dot = Vec3_dot

--- Takes the cross product of a Vec3 and a Vec3s or a Vec3 composed of
 -- three given components.
 --
 -- Call with one of:
 --    vec1:cross(vec2)
 --    vec1:cross(x, y, z)
 --    Vec3.cross(vec1, vec2)
 --    Vec3.cross(vec1, x, y, z)
 --
 -- @return a new Vec3 with the result of the operation
local function Vec3_cross(v, a, b, c)
   local ux, uy, uz
   if type(a) == "table" then
      ux = a.x or a[1] or 0.0
      uy = a.y or a[2] or 0.0
      uz = a.z or a[3] or 0.0
   else
      ux = a or 0.0
      uy = b or 0.0
      uz = c or 0.0
   end

   return Vec3.new(v.y*uz - v.z*uy, v.z*ux - v.x*uz, v.x*uy - v.y*ux)
end
Vec3.cross = Vec3_cross

--- Rotates this (the first) vector around the second vector by the
 -- given angle.
 --
 -- Call with one of:
 --    vec:rot_around(axis, angle)
 --    Vec3.rot_around(vec, axis, angle)
 --
 -- @param axis
 --    The axis about which to rotate.
 -- @param angle
 --    The angle by which to rotate this vector, in radians.
 -- @return
 --    a new Vec3 with the result of the operation.
local function Vec3_rot_around(v, axis, angle)
   local uaxis = Vec3.new_copy(axis):unit()

   local alen = uaxis:dotvec(v)
   local avec = uaxis:mul(alen)

   local pvec = Vec3.subvec(v, avec)
   local rvec = uaxis:crossvec(v)

   local v1 = pvec:mul(math.cos(angle))
   local v2 = rvec:mul(math.sin(angle))

   return avec:addvec(v1):addvec(v2)
end
Vec3.rot_around = Vec3_rot_around

--- Adds two Vec3s. Optimized for pure Vec3/table operations by removing
 -- type checking and conditionals.  If called with Vec3-likes table(s),
 -- ensure all expected components "x", "y", and "z" exist.
 --
 -- Call with one of:
 --    vec1:addvec(vec2)
 --    Vec3.addvec(vec1, vec2)
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_addvec(v1, v2)
   return Vec3.new(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z)
end
Vec3.addvec = Vec3_addvec
Vec3_inst_meta.__add = Vec3_addvec

--- Subtracts two Vec3s. Optimized for pure Vec3/table operations by
 -- removing type checking and conditionals.  If called with Vec3-likes
 -- table(s), ensure all expected components "x", "y", and "z" exist.
 --
 -- Call with one of:
 --    vec1:subvec(vec2)
 --    Vec3.subvec(vec1, vec2)
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_subvec(v1, v2)
   return Vec3.new(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z)
end
Vec3.subvec = Vec3_subvec
Vec3_inst_meta.__sub = Vec3_subvec

--- Tests two Vec3s for exact component-wise equality. Optimized for pure
 -- Vec3/table operations by removing type checking and conditionals.
 -- If called with Vec3-likes table(s), ensure all expected components
 -- "x", "y", and "z" exist.
 --
 -- Call with one of:
 --    vec1:eqvec(vec2)
 --    Vec3.eqvec(vec1, vec2)
 --
 -- @return a new Vec3 object with the result of the operation
local function Vec3_eqvec(v1, v2)
   return v1.x == v2.x and v1.y == v2.y and v1.z == v2.z
end
Vec3.eqvec = Vec3_eqvec
Vec3_inst_meta.__eq = Vec3_eqvec

--- Takes the dot product of two Vec3s. Optimized for pure Vec3/table
 -- operations by removing type checking and conditionals.  If called
 -- with Vec3-likes table(s), ensure all expected components "x", "y",
 -- and "z" exist.
 --
 -- Call with one of:
 --    vec1:dotvec(vec2)
 --    Vec3.dotvec(vec1, vec2)
 --
 -- @return a number
local function Vec3_dotvec(v1, v2)
   return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z
end
Vec3.dotvec = Vec3_dotvec

--- Takes the cross product of two Vec3s. Optimized for pure Vec3/table
 -- operations by removing type checking and conditionals.  If called
 -- with Vec3-likes table(s), ensure all expected components "x", "y",
 -- and "z" exist.
 --
 -- Call with one of:
 --    vec1:crossvec(vec2)
 --    Vec3.crossvec(vec1, vec2)
 --
 -- @return a new Vec3 with the result of the operation
local function Vec3_crossvec(v1, v2)
   return Vec3.new(v1.y*v2.z - v1.z*v2.y,
                   v1.z*v2.x - v1.x*v2.z,
                   v1.x*v2.y - v1.y*v2.x)
end
Vec3.crossvec = Vec3_crossvec

--- Converts Vec3 to a string with format "(x,y,z)".
 --
 -- Call with one of:
 --    vec:tostring()
 --    Vec3.tostring(vec)
 --    tostring(vec)
 --
 -- @return a string
local function Vec3_tostring(v)
   return "("..
          (v.x or v[1] or "0")
          ..","..
          (v.y or v[2] or "0")
          ..","..
          (v.z or v[3] or "0")
          ..")"
end
Vec3.tostring = Vec3_tostring
Vec3_inst_meta.__tostring = Vec3_tostring

return Vec3