/*******************************************************************************
*                                                                              *
*   PrimeSense NITE 1.3                                                        *
*   Copyright (C) 2010 PrimeSense Ltd.                                         *
*                                                                              *
*******************************************************************************/


#ifndef _XNV_MATH_COMMON_H_
#define _XNV_MATH_COMMON_H_

#include <math.h>
#include <XnOS.h>

namespace XnVMathCommon
{

inline void Exchange(XnFloat& a, XnFloat& b)
{
	XnFloat c = a;
	a = b;
	b = c;
}

inline void ExchangeSort(XnFloat& a, XnFloat& b)
{
	if (a > b)
		Exchange(a, b);
}

inline void ExchangeSort(XnFloat& a, XnFloat& b, XnFloat& c)
{
	if (a > b)
		Exchange(a, b);
	if (b > c)
		Exchange(b, c);
	if (a > b)
		Exchange(a, b);
}

inline XnFloat Sqr(XnFloat a)
{
	return a*a;
}

inline XnFloat Max(XnFloat a, XnFloat b)
{
	return (a > b ? a : b);
}

inline XnFloat Min(XnFloat a, XnFloat b)
{
	return (a < b ? a : b);
}

inline XnFloat MaxAbs(XnFloat a, XnFloat b)
{
	return Max(fabs(a), fabs(b));
}

inline XnFloat MinAbs(XnFloat a, XnFloat b)
{
	return Min(fabs(a), fabs(b));
}

inline XnUInt16 ArgMax(XnFloat a, XnFloat b)
{
	return (a > b ? 0 : 1);
}

inline XnUInt16 ArgMax(XnFloat a, XnFloat b, XnFloat c)
{
	return (a > b ? (a > c ? 0 : 2) : (b > c ? 1 : 2));
}

inline XnUInt16 ArgMin(XnFloat a, XnFloat b)
{
	return ArgMax(-a, -b);
}

inline XnUInt16 ArgMin(XnFloat a, XnFloat b, XnFloat c)
{
	return ArgMax(-a, -b, -c);
}

//const XnFloat PI=3.14159265f;
//const XnFloat HALF_PI=(PI/2);

inline XnBool IsZero(XnFloat f, XnFloat fTolerance)
{
	return fabs(f) < fTolerance;
}

}
#endif //_XNV_MATH_COMMON_H_
