/*
 * MathPlanner 3.2 - Mathematical design tool.
 * Copyright(C) 2003  Jarmo Nikkanen
 *
 * This program is free software; you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation.
 *
 * You should have received a copy of the GNU General Public License with this program.
 *
 */


// VECTOR MATH

#include "MathHeaders.h"


mpl_vector mpl_cross(mpl_vector a,mpl_vector b)
{
        mpl_vector v;
        v.i=a.j*b.k-a.k*b.j;
        v.j=a.i*b.k-a.k*b.i;
        v.k=a.i*b.j-a.j*b.i;
        return(v);
}

mpl_vector mpl_neg(mpl_vector a)
{
        mpl_vector v;
        v.i=-a.i;
        v.j=-a.j;
        v.k=-a.k;
        return(v);
}


mpl_real mpl_length(mpl_vector a)
{
        return(sqrt(a.i*a.i+a.j*a.j+a.k*a.k));
}


mpl_vector mpl_unit_vector(mpl_vector a)
{
        mpl_vector v;
        mpl_real l=mpl_length(a);
        if (l>0) {
        v.i=a.i/l;
        v.j=a.j/l;
        v.k=a.k/l;
        }
        else v.i=v.j=v.k=0;
        return(v);
}