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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
/** \author Jia Pan */

#ifndef FCL_CCD_TAYLOR_VECTOR_H
#define FCL_CCD_TAYLOR_VECTOR_H

#include "fcl/ccd/interval_vector.h"
#include "fcl/ccd/taylor_model.h"

namespace fcl
{

class TVector3
{
  TaylorModel i_[3];

public:
  
  TVector3();
  TVector3(const boost::shared_ptr<TimeInterval>& time_interval);
  TVector3(TaylorModel v[3]);
  TVector3(const TaylorModel& v0, const TaylorModel& v1, const TaylorModel& v2);
  TVector3(const Vec3f& v, const boost::shared_ptr<TimeInterval>& time_interval);
  
  TVector3 operator + (const TVector3& other) const;
  TVector3& operator += (const TVector3& other);

  TVector3 operator + (const Vec3f& other) const;
  TVector3& operator += (const Vec3f& other);

  TVector3 operator - (const TVector3& other) const;
  TVector3& operator -= (const TVector3& other);

  TVector3 operator - (const Vec3f& other) const;
  TVector3& operator -= (const Vec3f& other);

  TVector3 operator - () const;

  TVector3 operator * (const TaylorModel& d) const;
  TVector3& operator *= (const TaylorModel& d);
  TVector3 operator * (FCL_REAL d) const;
  TVector3& operator *= (FCL_REAL d);

  const TaylorModel& operator [] (size_t i) const;
  TaylorModel& operator [] (size_t i);

  TaylorModel dot(const TVector3& other) const;
  TVector3 cross(const TVector3& other) const;
  TaylorModel dot(const Vec3f& other) const;
  TVector3 cross(const Vec3f& other) const;

  IVector3 getBound() const;
  IVector3 getBound(FCL_REAL l, FCL_REAL r) const;
  IVector3 getBound(FCL_REAL t) const;

  IVector3 getTightBound() const;
  IVector3 getTightBound(FCL_REAL l, FCL_REAL r) const;

  void print() const;
  FCL_REAL volumn() const;
  void setZero();

  TaylorModel squareLength() const;

  void setTimeInterval(const boost::shared_ptr<TimeInterval>& time_interval);
  void setTimeInterval(FCL_REAL l, FCL_REAL r);

  const boost::shared_ptr<TimeInterval>& getTimeInterval() const;
};

void generateTVector3ForLinearFunc(TVector3& v, const Vec3f& position, const Vec3f& velocity);


TVector3 operator * (const Vec3f& v, const TaylorModel& a);
TVector3 operator + (const Vec3f& v1, const TVector3& v2);
TVector3 operator - (const Vec3f& v1, const TVector3& v2);

}

#endif
