tb_vector.hpp

#ifndef TurtleBrains_Vector_hpp
#define TurtleBrains_Vector_hpp

#include <turtle_brains/math/tb_math.hpp>
#include <turtle_brains/math/tb_angle.hpp>
#include <turtle_brains/core/tb_error.hpp>
#include <turtle_brains/core/tb_defines.hpp> //For tb_unsused

namespace TurtleBrains
{
    namespace Math
    {

        enum SkipInitialization { kSkipInitialization = 0, };

        enum VectorComponent
        {
            kComponentX = 0, 
            kComponentY,     
            kComponentZ,     
            kComponentW      
        };

        class Vector2
        {
        public:
            static Vector2 Zero(void) { return Vector2(0.0f, 0.0f); }

            union
            {
                float mComponents[2];

#if defined(tb_visual_cpp)
#pragma warning(push)
#pragma warning(disable: 4201)
                struct { float x, y; };
#pragma warning(pop)
#else
                struct { float x, y; };
#endif
            };

            inline explicit Vector2(const SkipInitialization& fastAndStupid)
            {
                tb_unused(fastAndStupid);
            }

            inline Vector2(void) :
                x(0.0f),
                y(0.0f)
            {
            }

            inline Vector2(const float valueX, const float valueY) :
                x(valueX),
                y(valueY)
            {
            }

            inline explicit Vector2(const float* componentArray) :
                x(componentArray[0]),
                y(componentArray[1])
            {
            }

            inline Vector2(const Vector2& other) :
                x(other.x),
                y(other.y)
            {
            }

            inline ~Vector2(void)
            {
            }

            inline Vector2& operator=(const Vector2& other)
            {
                x = other.x;
                y = other.y;
                return *this;
            }

            inline bool operator==(const Vector2& other) const
            {
                return (true == IsEqual(x, other.x) && true == IsEqual(y, other.y)) ? true : false;
            }

            inline bool operator!=(const Vector2& other) const
            {
                return (true == operator==(other)) ? false : true;
            }

            inline explicit operator const float*(void) const { return mComponents; }

            inline explicit operator float*(void) { return mComponents; }

            inline const float& operator[](const int index) const { return mComponents[index]; }

            inline float& operator[](const int index) { return mComponents[index]; }

#if defined(tb_with_math_operators)
            inline Vector2 operator+(const Vector2& rightSide) const    {   return Vector2(x + rightSide.x, y + rightSide.y);   }

            inline Vector2& operator+=(const Vector2& rightSide)        {   x += rightSide.x; y += rightSide.y; return *this;   }

            inline Vector2 operator-(const Vector2& rightSide) const    {   return Vector2(x - rightSide.x, y - rightSide.y);   }

            inline Vector2& operator-=(const Vector2& rightSide)        {   x -= rightSide.x; y -= rightSide.y; return *this;   }

            inline Vector2 operator*(float scalar) const                {   return Vector2(x * scalar, y * scalar); }

            friend Vector2 operator*(float scalar, const Vector2& rightSide) { return Vector2(scalar * rightSide.x, scalar * rightSide.y); }

            inline Vector2& operator*=(float scalar)                {   x *= scalar;    y *= scalar;    return *this;   }

            inline Vector2 operator/(float scalar) const            {   return Vector2(x / scalar, y / scalar); }

            inline Vector2& operator/=(float scalar)                {   x /= scalar;    y /= scalar;    return *this;   }

            friend Vector2 operator/(float scalar, const Vector2& rightSide) { return Vector2(scalar / rightSide.x, scalar / rightSide.y); }

            inline Vector2 operator-(void) const                {   return Vector2(-x, -y);     }

            inline float operator*(const Vector2 &rhs) const    {   return (x * rhs.x) + (y * rhs.y);   }

            inline float Magnitude(void) const { return sqrt((x * x) + (y * y)); }

            inline float MagnitudeSquared(void) const { return (x * x) + (y * y); }

            inline Vector2 GetNormalized(void) const
            {
                const float magnitude(Magnitude());
                if (true == IsZero(magnitude)) { return Zero(); }
                return Vector2(x / magnitude, y / magnitude);
            }

            inline float Normalize(void)
            {
                const float magnitude(Magnitude());
                if (false == IsZero(magnitude))
                {
                    x /= magnitude;
                    y /= magnitude;
                }
                return magnitude;
            }

            inline void Scale(float scalar) { *this *= scalar; }

            inline void SetLength(float length) { Normalize(); *this *= length; }
#endif /* tb_with_math_operators */
        };

//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//

        class Vector3
        {
        public:
            static Vector3 Zero(void) { return Vector3(0.0f, 0.0f, 0.0f); }

            union
            {
                float mComponents[3];

#if defined(tb_visual_cpp)
#pragma warning(push)
#pragma warning(disable: 4201)
                struct { float x, y, z; };
#pragma warning(pop)
#else
                struct { float x, y, z; };
#endif
            };

            inline explicit Vector3(const SkipInitialization& fastAndStupid)
            {
                tb_unused(fastAndStupid);
            }

            Vector3(void) :
                x(0.0f),
                y(0.0f),
                z(0.0f)
            {
            }

            inline Vector3(const float valueX, const float valueY, const float valueZ) :
                x(valueX),
                y(valueY),
                z(valueZ)
            {
            }

            inline explicit Vector3(const Vector2& other, const float valueZ) :
                x(other.x),
                y(other.y),
                z(valueZ)
            {
            }

            inline explicit Vector3(const float* componentArray) :
                x(componentArray[0]),
                y(componentArray[1]),
                z(componentArray[2])
            {
            }

            Vector3(const Vector3& other) :
                x(other.x),
                y(other.y),
                z(other.z)
            {
            }

            ~Vector3(void)
            {
            }

            inline Vector3& operator=(const Vector3& other)
            {
                x = other.x;
                y = other.y;
                z = other.z;
                return *this;
            }

            //
            // TODO: TIM: Planning: Would this be useful to have, or just dangerous?
            //
            //inline Vector3& operator=(const Vector2 &v)
            //{
            //  x = v.x;    y = v.y; /* z = z; */
            //  return (*this);
            //}

            inline bool operator==(const Vector3& other) const
            {
                return (true == IsEqual(x, other.x) && true == IsEqual(y, other.y) && true == IsEqual(z, other.z)) ? true : false;
            }

            inline bool operator!=(const Vector3& other) const
            {
                return (true == operator==(other)) ? false : true;
            }

            inline explicit operator const float*(void) const { return mComponents; }

            inline explicit operator float*(void) { return mComponents; }

            inline const float& operator[](const int index) const { return mComponents[index]; }

            inline float& operator[](const int index) { return mComponents[index]; }

    #if defined(tb_with_math_operators)
            inline Vector3 operator+(const Vector3& rightSide) const    {   return Vector3(x + rightSide.x, y + rightSide.y, z + rightSide.z);  }

            inline Vector3& operator+=(const Vector3& rightSide)        {   x += rightSide.x; y += rightSide.y; z += rightSide.z;   return *this;   }

            inline Vector3 operator-(const Vector3& rightSide) const    {   return Vector3(x - rightSide.x, y - rightSide.y, z - rightSide.z);  }

            inline Vector3& operator-=(const Vector3& rightSide)        {   x -= rightSide.x; y -= rightSide.y; z -= rightSide.z;   return *this;   }


            inline Vector3 operator*(float scalar) const            {   return Vector3(x * scalar, y * scalar, z * scalar); }

            friend Vector3 operator*(float scalar, const Vector3& rightSide) { return Vector3(scalar * rightSide.x, scalar * rightSide.y, scalar * rightSide.z); }

            inline Vector3& operator*=(float scalar)                {   x *= scalar;    y *= scalar;    z *= scalar;    return *this;   }

            inline Vector3 operator/(float scalar) const            {   return Vector3(x / scalar, y / scalar, z / scalar); }

            inline Vector3& operator/=(float scalar)                {   x /= scalar;    y /= scalar;    z /= scalar;    return *this;   }

            friend Vector3 operator/(float scalar, const Vector3& rightSide) { return Vector3(scalar / rightSide.x, scalar / rightSide.y, scalar / rightSide.z); }

            inline Vector3 operator-(void) const                {   return Vector3(-x, -y, -z);     }

            inline float operator*(const Vector3 &rhs) const    {   return (x * rhs.x) + (y * rhs.y) + (z * rhs.z);     }

            inline Vector3 operator^(const Vector3& rightSide) const
            {
                return Vector3((y * rightSide.z) - (rightSide.y * z), -((x * rightSide.z) - (rightSide.x * z)), (x * rightSide.y) - (rightSide.x * y));
            }


            inline float Magnitude(void) const { return sqrt((x * x) + (y * y) + (z * z)); }

            inline float MagnitudeSquared(void) const { return (x * x) + (y * y) + (z * z); }

            inline Vector3 GetNormalized(void) const
            {
                const float magnitude(Magnitude());
                if (true == IsZero(magnitude)) { return Zero(); }
                return Vector3(x / magnitude, y / magnitude, z / magnitude);
            }

            inline float Normalize(void)
            {
                const float magnitude(Magnitude());
                if (false == IsZero(magnitude))
                {
                    x /= magnitude;
                    y /= magnitude;
                    z /= magnitude;
                }
                return magnitude;
            }

            inline void Scale(float scalar) { *this *= scalar; }

            inline void SetLength(float length) { Normalize(); *this *= length; }
    #endif /* tb_with_math_operators */
        };

//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//

        class Vector4
        {
        public:
            static Vector4 Zero(void) { return Vector4(0.0f, 0.0f, 0.0f, 0.0f); }

            union
            {
                float mComponents[4];

#if defined(tb_visual_cpp)
#pragma warning(push)
#pragma warning(disable: 4201)
                struct { float x, y, z, w; };
#pragma warning(pop)
#else
                struct { float x, y, z, w; };
#endif
            };

            inline explicit Vector4(const SkipInitialization& fastAndStupid)
            {
                tb_unused(fastAndStupid);
            }

            inline Vector4(void) :
                x(0.0f),
                y(0.0f),
                z(0.0f),
                w(0.0f)
            {
            }

            inline Vector4(const float valueX, const float valueY, const float valueZ, const float valueW) :
                x(valueX),
                y(valueY),
                z(valueZ),
                w(valueW)
            {
            }

            inline explicit Vector4(const Vector2& other, const float valueZ, const float valueW) :
                x(other.x),
                y(other.y),
                z(valueZ),
                w(valueW)
            {
            }

            inline explicit Vector4(const Vector3& other, const float valueW) :
                x(other.x),
                y(other.y),
                z(other.z),
                w(valueW)
            {
            }

            inline explicit Vector4(const float* componentArray) :
                x(componentArray[0]),
                y(componentArray[1]),
                z(componentArray[2]),
                w(componentArray[3])
            {
            }

            inline Vector4(const Vector4& other) :
                x(other.x),
                y(other.y),
                z(other.z),
                w(other.w)
            {
            }

            ~Vector4(void)
            {
            }

            inline Vector4& operator=(const Vector4& other)
            {
                x = other.x;
                y = other.y;
                z = other.z;
                w = other.w;
                return *this;
            }

            inline bool operator==(const Vector4& other) const
            {
                return (true == IsEqual(x, other.x) && true == IsEqual(y, other.y) &&
                    true == IsEqual(z, other.z) && true == IsEqual(w, other.w)) ? true : false;
            }

            inline bool operator!=(const Vector4& other) const
            {
                return (true == operator==(other)) ? false : true;
            }

            inline explicit operator const float*(void) const { return mComponents; }

            inline explicit operator float*(void) { return mComponents; }

            inline const float& operator[](const int index) const { return mComponents[index]; }

            inline float& operator[](const int index) { return mComponents[index]; }

#if defined(tb_with_math_operators)
            inline Vector4 operator+(const Vector4& rightSide) const    {   return Vector4(x + rightSide.x, y + rightSide.y, z + rightSide.z, w + rightSide.w); }

            inline Vector4& operator+=(const Vector4& rightSide)        {   x += rightSide.x; y += rightSide.y; z += rightSide.z; w += rightSide.w; return *this; }

            inline Vector4 operator-(const Vector4& rightSide) const    {   return Vector4(x - rightSide.x, y - rightSide.y, z - rightSide.z, w - rightSide.w); }

            inline Vector4& operator-=(const Vector4& rightSide)        {   x -= rightSide.x; y -= rightSide.y; z -= rightSide.z; w -= rightSide.w; return *this;   }


            inline Vector4 operator*(float scalar) const                {   return Vector4(x * scalar, y * scalar, z * scalar, w * scalar); }

            friend Vector4 operator*(float scalar, const Vector4& rightSide) { return Vector4(scalar * rightSide.x, scalar * rightSide.y, scalar * rightSide.z, scalar * rightSide.w); }

            inline Vector4& operator*=(float scalar)                    {   x *= scalar;    y *= scalar;    z *= scalar; w *= scalar;   return *this;   }

            inline Vector4 operator/(float scalar) const            {   return Vector4(x / scalar, y / scalar, z / scalar, w / scalar); }

            inline Vector4& operator/=(float scalar)                {   x /= scalar;    y /= scalar;    z /= scalar; w /= scalar;   return *this;   }

            friend Vector4 operator/(float scalar, const Vector4& rightSide) { return Vector4(scalar / rightSide.x, scalar / rightSide.y, scalar / rightSide.z, scalar / rightSide.w); }

            inline Vector4 operator-(void) const                {   return Vector4(-x, -y, -z, -w);     }

            inline float operator*(const Vector4& rightSide) const  {   return (x * rightSide.x) + (y * rightSide.y) + (z * rightSide.z) + (w * rightSide.w);   }

            //TODO: TIM: Reconsider: Does this work, and if it does, how do we want to support it?  Document if needed.
            //inline Vector4 operator^(const Vector4 &rhs) const    {   return Vector4((y * rhs.z) - (rhs.y * z), -((x * rhs.z) - (rhs.x * z)), (x * rhs.y) - (rhs.x * y));  }

            inline float Magnitude(void) const { return sqrt((x * x) + (y * y) + (z * z) + (w * w)); }

            inline float MagnitudeSquared(void) const { return (x * x) + (y * y) + (z * z) + (w * w); }

            inline Vector4 GetNormalized(void) const
            {
                const float magnitude(Magnitude());
                if (true == IsZero(magnitude)) { return Zero(); }
                return Vector4(x / magnitude, y / magnitude, z / magnitude, w / magnitude);
            }

            inline float Normalize(void)
            {
                const float magnitude(Magnitude());
                if (false == IsZero(magnitude))
                {
                    x /= magnitude;
                    y /= magnitude;
                    z /= magnitude;
                    w /= magnitude;
                }
                return magnitude;
            }

            inline void Scale(float scalar) { *this *= scalar; }

            inline void SetLength(float length) { Normalize(); *this *= length; }
#endif /* tb_with_math_operators */
        };

//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//

        inline Vector2* Vector2Add(Vector2* result, const Vector2* leftSide, const Vector2* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x + rightSide->x;
            result->y = leftSide->y + rightSide->y;
            return result;
        }

        inline Vector3* Vector3Add(Vector3* result, const Vector3* leftSide, const Vector3* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x + rightSide->x;
            result->y = leftSide->y + rightSide->y;
            result->z = leftSide->z + rightSide->z;
            return result;
        }

        inline Vector4* Vector4Add(Vector4* result, const Vector4* leftSide, const Vector4* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x + rightSide->x;
            result->y = leftSide->y + rightSide->y;
            result->z = leftSide->z + rightSide->z;
            result->w = leftSide->w + rightSide->w;
            return result;
        }

        inline Vector2* Vector2Subtract(Vector2* result, const Vector2* leftSide, const Vector2* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x - rightSide->x;
            result->y = leftSide->y - rightSide->y;
            return result;
        }

        inline Vector3* Vector3Subtract(Vector3* result, const Vector3* leftSide, const Vector3* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x - rightSide->x;
            result->y = leftSide->y - rightSide->y;
            result->z = leftSide->z - rightSide->z;
            return result;
        }

        inline Vector4* Vector4Subtract(Vector4* result, const Vector4* leftSide, const Vector4* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");

            result->x = leftSide->x - rightSide->x;
            result->y = leftSide->y - rightSide->y;
            result->z = leftSide->z - rightSide->z;
            result->w = leftSide->w - rightSide->w;
            return result;
        }

        inline Vector2* Vector2Scale(Vector2* result, const Vector2* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x * scalar;
            result->y = input->y * scalar;
            return result;
        }

        inline Vector3* Vector3Scale(Vector3* result, const Vector3* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x * scalar;
            result->y = input->y * scalar;
            result->z = input->z * scalar;
            return result;
        }

        inline Vector4* Vector4Scale(Vector4* result, const Vector4* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x * scalar;
            result->y = input->y * scalar;
            result->z = input->z * scalar;
            result->w = input->w * scalar;
            return result;
        }

        inline Vector2* Vector2ScaleDivide(Vector2* result, const Vector2* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x / scalar;
            result->y = input->y / scalar;
            return result;
        }

        inline Vector3* Vector3ScaleDivide(Vector3* result, const Vector3* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x / scalar;
            result->y = input->y / scalar;
            result->z = input->z / scalar;
            return result;
        }

        inline Vector4* Vector4ScaleDivide(Vector4* result, const Vector4* input, const float scalar)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = input->x / scalar;
            result->y = input->y / scalar;
            result->z = input->z / scalar;
            result->w = input->w / scalar;
            return result;
        }

        inline Vector2* Vector2Negate(Vector2* result, const Vector2* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = -input->x;
            result->y = -input->y;
            return result;
        }

        inline Vector3* Vector3Negate(Vector3* result, const Vector3* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = -input->x;
            result->y = -input->y;
            result->z = -input->z;
            return result;
        }

        inline Vector4* Vector4Negate(Vector4* result, const Vector4* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            result->x = -input->x;
            result->y = -input->y;
            result->z = -input->z;
            result->w = -input->w;
            return result;
        }

        inline float Vector2DotProduct(const Vector2* leftSide, const Vector2* rightSide)
        {
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");
            return (leftSide->x * rightSide->x) + (leftSide->y * rightSide->y);
        }

        inline float Vector3DotProduct(const Vector3* leftSide, const Vector3* rightSide)
        {
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");
            return (leftSide->x * rightSide->x) + (leftSide->y * rightSide->y) + (leftSide->z * rightSide->z);
        }

        inline float Vector4DotProduct(const Vector4* leftSide, const Vector4* rightSide)
        {
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");
            return (leftSide->x * rightSide->x) + (leftSide->y * rightSide->y) + (leftSide->z * rightSide->z) + (leftSide->w * rightSide->w);
        }

        inline Vector3* Vector3CrossProduct(Vector3* result, const Vector3* leftSide, const Vector3* rightSide)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == leftSide, "tbExternalError: Invalid parameter for leftSide, expected valid pointer.");
            tb_error_if(nullptr == rightSide, "tbExternalError: Invalid parameter for rightSide, expected valid pointer.");
            tb_error_if(leftSide == rightSide, "tbExternalError: Invalid parameter; expected leftSide to be different from rightSide.");
            tb_error_if(result == leftSide || result == rightSide, "Invalid parameter; expected result to be different than leftSide and rightSide");

            result->x = ((leftSide->y * rightSide->z) - (rightSide->y * leftSide->z));
            result->y = -(((leftSide->x * rightSide->z) - (rightSide->x * leftSide->z)));
            result->z = ((leftSide->x * rightSide->y) - (rightSide->x * leftSide->y));
            return result;
        }

        inline float Vector2Magnitude(const Vector2* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return sqrt((input->x * input->x) + (input->y * input->y));
        }

        inline float Vector3Magnitude(const Vector3* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return sqrt((input->x * input->x) + (input->y * input->y) + (input->z * input->z));
        }

        inline float Vector4Magnitude(const Vector4* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return sqrt((input->x * input->x) + (input->y * input->y) + (input->z * input->z) + (input->w * input->w));
        }

        inline float Vector2MagnitudeSquared(const Vector2* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return (input->x * input->x) + (input->y * input->y);
        }

        inline float Vector3MagnitudeSquared(const Vector3* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return (input->x * input->x) + (input->y * input->y) + (input->z * input->z);
        }

        inline float Vector4MagnitudeSquared(const Vector4* input)
        {
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");
            return (input->x * input->x) + (input->y * input->y) + (input->z * input->z) + (input->w * input->w);
        }

        inline Vector2* Vector2Normalize(Vector2* result, const Vector2* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            const float magnitude = Vector2Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
            }
            return result;
        }

        inline Vector3* Vector3Normalize(Vector3* result, const Vector3* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            const float magnitude = Vector3Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
                result->z = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
                result->z = input->z / magnitude;
            }
            return result;
        }

        inline Vector4* Vector4Normalize(Vector4* result, const Vector4* input)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            const float magnitude = Vector4Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
                result->z = 0.0f;
                result->w = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
                result->z = input->z / magnitude;
                result->w = input->w / magnitude;
            }
            return result;
        }

        inline Vector2* Vector2NormalizeMagnitude(Vector2* result, const Vector2* input, float& magnitude)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            magnitude = Vector2Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
            }
            return result;
        }

        inline Vector3* Vector3NormalizeMagnitude(Vector3* result, const Vector3* input, float &magnitude)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            magnitude = Vector3Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
                result->z = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
                result->z = input->z / magnitude;
            }
            return result;
        }

        inline Vector4* Vector4NormalizeMagnitude(Vector4* result, const Vector4* input, float &magnitude)
        {
            tb_error_if(nullptr == result, "tbExternalError: Invalid parameter for result, expected valid pointer.");
            tb_error_if(nullptr == input, "tbExternalError: Invalid parameter for input, expected valid pointer.");

            magnitude = Vector4Magnitude(input);
            if (true == IsZero(magnitude))
            {
                result->x = 0.0f;
                result->y = 0.0f;
                result->z = 0.0f;
                result->w = 0.0f;
            }
            else
            {
                result->x = input->x / magnitude;
                result->y = input->y / magnitude;
                result->z = input->z / magnitude;
                result->w = input->w / magnitude;
            }
            return result;
        }

        inline Angle Vector3AngleBetween(const Vector3* left, const Vector3* right)
        {
            const float productOfMagnitudes(Vector3Magnitude(left) * Vector3Magnitude(right));
            if (true == IsZero(productOfMagnitudes)) { return 0.0_radians; }
            const float value(Vector3DotProduct(left, right) / productOfMagnitudes);
            const float clampedValue((value < -1.0f) ? -1.0f : (value > 1.0f) ? 1.0f  : value); //Clamp: -1.0f <= value <= 1.0f
            return Angle::Radians(acos(clampedValue));
        }

        static inline Vector3& RotationXZToForwardVector3(Vector3& result, const Angle& orientation)
        {
            result.x = sin(orientation.AsRadians());
            result.y = 0.0f;
            result.z = -cos(orientation.AsRadians());
            return result;
        }

        static inline Vector2& RotationToForwardVector2(Vector2& result, const Angle& orientation)
        {
            result.x = sin(orientation.AsRadians());
            result.y = -cos(orientation.AsRadians());
            return result;
        }

        static inline Angle ForwardVector3ToRotationXZ(const Vector3& forward)
        {
            Vector3 vZAxis(0.0f, 0.0f, -1.0f);
            float orientation = acos((vZAxis.x * forward.x) + (vZAxis.y * forward.y) + (vZAxis.z * forward.z));
            if (forward.x < 0.0f)
            {
                orientation = fabs(orientation - kTwoPi);
            }
            return Angle::Radians(orientation);
        }

        static inline Angle ForwardVector2ToRotation(const Vector2& forward)
        {
            Vector2 yAxis(0.0f, -1.0f);
            float orientation = acos((yAxis.x * forward.x) + (yAxis.y * forward.y));
            if (forward.x < 0.0f)
            {
                orientation = fabs(orientation - kTwoPi);
            }
            return Angle::Radians(orientation);
        }

    }; /* namespace Math */
}; /* namespace TurtleBrains */

namespace tbMath = TurtleBrains::Math;

#endif /* TurtleBrains_Vector_hpp */