vector3.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_MATH_VECTOR3_HPP
#define M5_UNIT_IMU_MATH_VECTOR3_HPP
 
#include <cmath>
 
namespace m5 {
namespace math {
 
constexpr float VECTOR3_ZERO_EPSILON{1e-9f};
 
struct Vector3 {
    float x{};  
    float y{};  
    float z{};  
 
    Vector3() = default;
    constexpr Vector3(const float x_, const float y_, const float z_) : x(x_), y(y_), z(z_)
    {
    }
 
    inline Vector3 operator+(const Vector3& rhs) const
    {
        return Vector3(x + rhs.x, y + rhs.y, z + rhs.z);
    }
    inline Vector3 operator-(const Vector3& rhs) const
    {
        return Vector3(x - rhs.x, y - rhs.y, z - rhs.z);
    }
    inline Vector3 operator*(const float scalar) const
    {
        return Vector3(x * scalar, y * scalar, z * scalar);
    }
    inline float dot(const Vector3& rhs) const
    {
        return x * rhs.x + y * rhs.y + z * rhs.z;
    }
    inline Vector3 cross(const Vector3& rhs) const
    {
        return Vector3(y * rhs.z - z * rhs.y, z * rhs.x - x * rhs.z, x * rhs.y - y * rhs.x);
    }
    inline float norm() const
    {
        return std::sqrt(x * x + y * y + z * z);
    }
    bool normalize()
    {
        const float n = norm();
        if (n < VECTOR3_ZERO_EPSILON) {
            return false;
        }
        const float inv = 1.0f / n;
        x *= inv;
        y *= inv;
        z *= inv;
        return true;
    }
    inline Vector3 normalized() const
    {
        Vector3 v(*this);
        v.normalize();
        return v;
    }
};
 
}  // namespace math
}  // namespace m5
#endif