[372] | 1 | #ifndef _Vector3_h__
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| 2 | #define _Vector3_h__
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| 3 |
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| 4 | #include <iostream>
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| 5 | using namespace std;
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| 6 | #include <math.h>
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| 7 | #include "common.h"
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| 8 |
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[863] | 9 |
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[860] | 10 | namespace GtpVisibilityPreprocessor {
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[372] | 11 |
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| 12 | // Forward-declare some other classes.
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| 13 | class Matrix4x4;
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| 14 | class Vector2;
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| 15 |
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[863] | 16 |
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[372] | 17 | // HACK of returning vector components as array fields.
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| 18 | // NOT guarrantied to work with some strange variable allignment !
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| 19 | #define __VECTOR_HACK
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| 20 |
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| 21 | class Vector3
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[318] | 22 | {
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[372] | 23 | public:
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| 24 | float x, y, z;
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| 25 |
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| 26 | // for compatibility with pascal's code
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| 27 | void setX(float q) { x=q; }
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| 28 | void setY(float q) { y=q; }
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| 29 | void setZ(float q) { z=q; }
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| 30 | float getX() const { return x; }
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| 31 | float getY() const { return y; }
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| 32 | float getZ() const { return z; }
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| 33 |
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| 34 | // constructors
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| 35 | Vector3() { }
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| 36 |
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| 37 | Vector3(float X, float Y, float Z) { x = X; y = Y; z = Z; }
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| 38 | Vector3(float X) { x = y = z = X; }
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| 39 | Vector3(const Vector3 &v) { x = v.x; y = v.y; z = v.z; }
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| 40 |
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| 41 | // Functions to get at the vector components
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| 42 | float& operator[] (int inx) {
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| 43 | #ifndef __VECTOR_HACK
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| 44 | if (inx == 0)
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| 45 | return x;
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| 46 | else
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| 47 | if (inx == 1)
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| 48 | return y;
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| 49 | else
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| 50 | return z;
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| 51 | #else
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| 52 | return (&x)[inx];
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| 53 | #endif
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| 54 |
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| 55 | }
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| 56 |
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| 57 | #ifdef __VECTOR_HACK
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| 58 | operator const float*() const { return (const float*) this; }
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| 59 | #endif
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| 60 |
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| 61 | const float& operator[] (int inx) const {
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| 62 | #ifndef __VECTOR_HACK
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| 63 | if (inx == 0)
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| 64 | return x;
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| 65 | else
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| 66 | if (inx == 1)
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| 67 | return y;
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| 68 | else
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| 69 | return z;
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| 70 | #else
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| 71 | return *(&x+inx);
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| 72 | #endif
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| 73 | }
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| 74 |
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| 75 | void ExtractVerts(float *px, float *py, int which) const;
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| 76 |
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| 77 | void SetValue(const float &a, const float &b, const float &c)
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| 78 | { x=a; y=b; z=c; }
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| 79 |
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| 80 | void SetValue(const float a) { x = y = z = a; }
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| 81 |
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| 82 | // returns the axis, where the vector has the largest value
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| 83 | int DrivingAxis(void) const;
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| 84 |
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| 85 | // returns the axis, where the vector has the smallest value
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| 86 | int TinyAxis(void) const;
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| 87 |
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| 88 | inline float MaxComponent(void) const {
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| 89 | // return (x > y && x > z) ? x : ((y > z) ? y : z);
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| 90 | return (x > y) ? ( (x > z) ? x : z) : ( (y > z) ? y : z);
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| 91 | }
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| 92 |
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| 93 | inline Vector3 Abs(void) const {
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| 94 | return Vector3(fabs(x), fabs(y), fabs(z));
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| 95 | }
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| 96 |
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| 97 | // normalizes the vector of unit size corresponding to given vector
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| 98 | inline void Normalize();
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| 99 |
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[1420] | 100 | /** Returns false if this vector has a nan component.
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| 101 | */
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| 102 | bool CheckValidity() const;
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| 103 |
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[372] | 104 | /**
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| 105 | ===> Using ArbitraryNormal() for constructing coord systems
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| 106 | ===> is obsoleted by RightHandedBase() method (<JK> 12/20/03).
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| 107 |
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| 108 | Return an arbitrary normal to `v'.
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| 109 | In fact it tries v x (0,0,1) an if the result is too small,
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| 110 | it definitely does v x (0,1,0). It will always work for
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| 111 | non-degenareted vector and is much faster than to use
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| 112 | TangentVectors.
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| 113 |
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| 114 | @param v(in) The vector we want to find normal for.
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| 115 | @return The normal vector to v.
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| 116 | */
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| 117 | friend inline Vector3 ArbitraryNormal(const Vector3 &v);
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| 118 |
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| 119 | /**
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| 120 | Find a right handed coordinate system with (*this) being
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| 121 | the z-axis. For a right-handed system, U x V = (*this) holds.
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| 122 | This implementation is here to avoid inconsistence and confusion
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| 123 | when construction coordinate systems using ArbitraryNormal():
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| 124 | In fact:
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| 125 | V = ArbitraryNormal(N);
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| 126 | U = CrossProd(V,N);
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| 127 | constructs a right-handed coordinate system as well, BUT:
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| 128 | 1) bugs can be introduced if one mistakenly constructs a
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| 129 | left handed sytems e.g. by doing
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| 130 | U = ArbitraryNormal(N);
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| 131 | V = CrossProd(U,N);
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| 132 | 2) this implementation gives non-negative base vectors
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| 133 | for (*this)==(0,0,1) | (0,1,0) | (1,0,0), which is
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| 134 | good for debugging and is not the case with the implementation
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| 135 | using ArbitraryNormal()
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| 136 |
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| 137 | ===> Using ArbitraryNormal() for constructing coord systems
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| 138 | is obsoleted by this method (<JK> 12/20/03).
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| 139 | */
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| 140 | void RightHandedBase(Vector3& U, Vector3& V) const;
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| 141 |
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| 142 | /// Transforms a vector to the global coordinate frame.
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| 143 | /**
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| 144 | Given a local coordinate frame (U,V,N) (i.e. U,V,N are
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| 145 | the x,y,z axes of the local coordinate system) and
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| 146 | a vector 'loc' in the local coordiante system, this
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| 147 | function returns a the coordinates of the same vector
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| 148 | in global frame (i.e. frame (1,0,0), (0,1,0), (0,0,1).
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| 149 | */
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| 150 | friend inline Vector3 ToGlobalFrame(const Vector3& loc,
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| 151 | const Vector3& U,
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| 152 | const Vector3& V,
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| 153 | const Vector3& N);
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| 154 |
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| 155 | /// Transforms a vector to a local coordinate frame.
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| 156 | /**
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| 157 | Given a local coordinate frame (U,V,N) (i.e. U,V,N are
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| 158 | the x,y,z axes of the local coordinate system) and
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| 159 | a vector 'loc' in the global coordiante system, this
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| 160 | function returns a the coordinates of the same vector
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| 161 | in the local frame.
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| 162 | */
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| 163 | friend inline Vector3 ToLocalFrame(const Vector3& loc,
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| 164 | const Vector3& U,
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| 165 | const Vector3& V,
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| 166 | const Vector3& N);
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| 167 |
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| 168 | /// the magnitude=size of the vector
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| 169 | friend inline float Magnitude(const Vector3 &v);
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| 170 | /// the squared magnitude of the vector .. for efficiency in some cases
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| 171 | friend inline float SqrMagnitude(const Vector3 &v);
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| 172 | /// Magnitude(v1-v2)
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| 173 | friend inline float Distance(const Vector3 &v1, const Vector3 &v2);
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| 174 | /// SqrMagnitude(v1-v2)
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| 175 | friend inline float SqrDistance(const Vector3 &v1, const Vector3 &v2);
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| 176 |
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| 177 | // creates the vector of unit size corresponding to given vector
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| 178 | friend inline Vector3 Normalize(const Vector3 &A);
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| 179 |
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| 180 | // Rotate a normal vector.
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| 181 | friend Vector3 PlaneRotate(const Matrix4x4 &, const Vector3 &);
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| 182 |
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| 183 | // construct view vectors .. DirAt is the main viewing direction
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| 184 | // Viewer is the coordinates of viewer location, UpL is the vector.
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| 185 | friend void ViewVectors(const Vector3 &DirAt, const Vector3 &Viewer,
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| 186 | const Vector3 &UpL, Vector3 &ViewV,
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| 187 | Vector3 &ViewU, Vector3 &ViewN );
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| 188 |
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| 189 | // Given the intersection point `P', you have available normal `N'
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| 190 | // of unit length. Let us suppose the incoming ray has direction `D'.
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| 191 | // Then we can construct such two vectors `U' and `V' that
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| 192 | // `U',`N', and `D' are coplanar, and `V' is perpendicular
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| 193 | // to the vectors `N','D', and `V'. Then 'N', 'U', and 'V' create
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| 194 | // the orthonormal base in space R3.
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| 195 | friend void TangentVectors(Vector3 &U, Vector3 &V, // output
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| 196 | const Vector3 &normal, // input
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| 197 | const Vector3 &dirIncoming);
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| 198 | // Unary operators
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| 199 | Vector3 operator+ () const;
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| 200 | Vector3 operator- () const;
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| 201 |
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| 202 | // Assignment operators
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| 203 | Vector3& operator+= (const Vector3 &A);
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| 204 | Vector3& operator-= (const Vector3 &A);
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| 205 | Vector3& operator*= (const Vector3 &A);
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| 206 | Vector3& operator*= (float A);
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| 207 | Vector3& operator/= (float A);
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| 208 |
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| 209 | // Binary operators
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| 210 | friend inline Vector3 operator+ (const Vector3 &A, const Vector3 &B);
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| 211 | friend inline Vector3 operator- (const Vector3 &A, const Vector3 &B);
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| 212 | friend inline Vector3 operator* (const Vector3 &A, const Vector3 &B);
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| 213 | friend inline Vector3 operator* (const Vector3 &A, float B);
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| 214 | friend inline Vector3 operator* (float A, const Vector3 &B);
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| 215 | friend Vector3 operator* (const Matrix4x4 &, const Vector3 &);
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| 216 | friend inline Vector3 operator/ (const Vector3 &A, const Vector3 &B);
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| 217 |
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| 218 | friend inline int operator< (const Vector3 &A, const Vector3 &B);
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| 219 | friend inline int operator<= (const Vector3 &A, const Vector3 &B);
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| 220 |
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| 221 | friend inline Vector3 operator/ (const Vector3 &A, float B);
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| 222 | friend inline int operator== (const Vector3 &A, const Vector3 &B);
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| 223 | friend inline float DotProd(const Vector3 &A, const Vector3 &B);
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| 224 | friend inline Vector3 CrossProd (const Vector3 &A, const Vector3 &B);
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| 225 |
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| 226 | friend ostream& operator<< (ostream &s, const Vector3 &A);
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| 227 | friend istream& operator>> (istream &s, Vector3 &A);
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| 228 |
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| 229 | friend void Minimize(Vector3 &min, const Vector3 &candidate);
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| 230 | friend void Maximize(Vector3 &max, const Vector3 &candidate);
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| 231 |
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| 232 | friend inline int EpsilonEqualV3(const Vector3 &v1, const Vector3 &v2, float thr);
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| 233 | friend inline int EpsilonEqualV3(const Vector3 &v1, const Vector3 &v2);
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| 234 |
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| 235 | friend Vector3 UniformRandomVector(const Vector3 &normal);
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[492] | 236 | friend Vector3 UniformRandomVector();
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| 237 |
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| 238 |
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[372] | 239 | };
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| 240 |
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| 241 | inline Vector3
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| 242 | ArbitraryNormal(const Vector3 &N)
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| 243 | {
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| 244 | float dist2 = N.x * N.x + N.y * N.y;
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| 245 | if (dist2 > 0.0001) {
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| 246 | float inv_size = 1.0f/sqrtf(dist2);
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| 247 | return Vector3(N.y * inv_size, -N.x * inv_size, 0); // N x (0,0,1)
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| 248 | }
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| 249 | float inv_size = 1.0f/sqrtf(N.z * N.z + N.x * N.x);
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| 250 | return Vector3(-N.z * inv_size, 0, N.x * inv_size); // N x (0,1,0)
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| 251 | }
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| 252 |
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| 253 |
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| 254 | inline Vector3
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| 255 | ToGlobalFrame(const Vector3 &loc,
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| 256 | const Vector3 &U,
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| 257 | const Vector3 &V,
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| 258 | const Vector3 &N)
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| 259 | {
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| 260 | return loc.x * U + loc.y * V + loc.z * N;
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| 261 | }
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| 262 |
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| 263 | inline Vector3
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| 264 | ToLocalFrame(const Vector3 &loc,
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| 265 | const Vector3 &U,
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| 266 | const Vector3 &V,
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| 267 | const Vector3 &N)
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| 268 | {
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| 269 | return Vector3( loc.x * U.x + loc.y * U.y + loc.z * U.z,
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| 270 | loc.x * V.x + loc.y * V.y + loc.z * V.z,
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| 271 | loc.x * N.x + loc.y * N.y + loc.z * N.z);
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| 272 | }
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| 273 |
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| 274 | inline float
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| 275 | Magnitude(const Vector3 &v)
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| 276 | {
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| 277 | return sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
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| 278 | }
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| 279 |
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| 280 | inline float
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| 281 | SqrMagnitude(const Vector3 &v)
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| 282 | {
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| 283 | return v.x * v.x + v.y * v.y + v.z * v.z;
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| 284 | }
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| 285 |
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| 286 | inline float
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| 287 | Distance(const Vector3 &v1, const Vector3 &v2)
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| 288 | {
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| 289 | return sqrtf(sqr(v1.x-v2.x) + sqr(v1.y-v2.y) + sqr(v1.z-v2.z));
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| 290 | }
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| 291 |
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| 292 | inline float
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| 293 | SqrDistance(const Vector3 &v1, const Vector3 &v2)
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| 294 | {
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| 295 | return sqr(v1.x-v2.x)+sqr(v1.y-v2.y)+sqr(v1.z-v2.z);
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| 296 | }
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| 297 |
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| 298 | inline Vector3
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| 299 | Normalize(const Vector3 &A)
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| 300 | {
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| 301 | return A * (1.0f/Magnitude(A));
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| 302 | }
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| 303 |
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| 304 | inline float
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| 305 | DotProd(const Vector3 &A, const Vector3 &B)
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| 306 | {
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| 307 | return A.x * B.x + A.y * B.y + A.z * B.z;
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| 308 | }
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| 309 |
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| 310 | // angle between two vectors with respect to a surface normal in the
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| 311 | // range [0 .. 2 * pi]
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| 312 | inline float
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| 313 | Angle(const Vector3 &A, const Vector3 &B, const Vector3 &norm)
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| 314 | {
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[318] | 315 | Vector3 cross = CrossProd(A, B);
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| 316 |
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| 317 | float signedAngle;
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| 318 |
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[372] | 319 | if (DotProd(cross, norm) > 0)
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| 320 | signedAngle = atan2(-Magnitude(CrossProd(A, B)), DotProd(A, B));
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| 321 | else
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| 322 | signedAngle = atan2(Magnitude(CrossProd(A, B)), DotProd(A, B));
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| 323 |
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| 324 | if (signedAngle < 0)
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| 325 | return 2 * PI + signedAngle;
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| 326 |
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| 327 | return signedAngle;
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| 328 | }
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| 329 |
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| 330 | inline Vector3
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| 331 | Vector3::operator+() const
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| 332 | {
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| 333 | return *this;
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| 334 | }
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| 335 |
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| 336 | inline Vector3
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| 337 | Vector3::operator-() const
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| 338 | {
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| 339 | return Vector3(-x, -y, -z);
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| 340 | }
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| 341 |
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| 342 | inline Vector3&
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| 343 | Vector3::operator+=(const Vector3 &A)
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| 344 | {
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| 345 | x += A.x; y += A.y; z += A.z;
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| 346 | return *this;
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| 347 | }
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| 348 |
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| 349 | inline Vector3&
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| 350 | Vector3::operator-=(const Vector3 &A)
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| 351 | {
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| 352 | x -= A.x; y -= A.y; z -= A.z;
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| 353 | return *this;
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| 354 | }
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| 355 |
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| 356 | inline Vector3&
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| 357 | Vector3::operator*= (float A)
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| 358 | {
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| 359 | x *= A; y *= A; z *= A;
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| 360 | return *this;
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| 361 | }
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| 362 |
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| 363 | inline Vector3&
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| 364 | Vector3::operator/=(float A)
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| 365 | {
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| 366 | float a = 1.0f/A;
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| 367 | x *= a; y *= a; z *= a;
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| 368 | return *this;
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| 369 | }
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| 370 |
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| 371 | inline Vector3&
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| 372 | Vector3::operator*= (const Vector3 &A)
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| 373 | {
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| 374 | x *= A.x; y *= A.y; z *= A.z;
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| 375 | return *this;
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| 376 | }
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| 377 |
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| 378 | inline Vector3
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| 379 | operator+ (const Vector3 &A, const Vector3 &B)
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| 380 | {
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| 381 | return Vector3(A.x + B.x, A.y + B.y, A.z + B.z);
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| 382 | }
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| 383 |
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| 384 | inline Vector3
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| 385 | operator- (const Vector3 &A, const Vector3 &B)
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| 386 | {
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| 387 | return Vector3(A.x - B.x, A.y - B.y, A.z - B.z);
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| 388 | }
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| 389 |
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| 390 | inline Vector3
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| 391 | operator* (const Vector3 &A, const Vector3 &B)
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| 392 | {
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| 393 | return Vector3(A.x * B.x, A.y * B.y, A.z * B.z);
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| 394 | }
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| 395 |
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| 396 | inline Vector3
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| 397 | operator* (const Vector3 &A, float B)
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| 398 | {
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| 399 | return Vector3(A.x * B, A.y * B, A.z * B);
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| 400 | }
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| 401 |
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| 402 | inline Vector3
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| 403 | operator* (float A, const Vector3 &B)
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| 404 | {
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| 405 | return Vector3(B.x * A, B.y * A, B.z * A);
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| 406 | }
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| 407 |
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| 408 | inline Vector3
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| 409 | operator/ (const Vector3 &A, const Vector3 &B)
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| 410 | {
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| 411 | return Vector3(A.x / B.x, A.y / B.y, A.z / B.z);
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| 412 | }
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| 413 |
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| 414 | inline Vector3
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| 415 | operator/ (const Vector3 &A, float B)
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| 416 | {
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| 417 | float b = 1.0f / B;
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| 418 | return Vector3(A.x * b, A.y * b, A.z * b);
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| 419 | }
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| 420 |
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| 421 | inline int
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| 422 | operator< (const Vector3 &A, const Vector3 &B)
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| 423 | {
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| 424 | return A.x < B.x && A.y < B.y && A.z < B.z;
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| 425 | }
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| 426 |
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| 427 | inline int
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| 428 | operator<= (const Vector3 &A, const Vector3 &B)
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| 429 | {
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| 430 | return A.x <= B.x && A.y <= B.y && A.z <= B.z;
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| 431 | }
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| 432 |
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| 433 | // Might replace floating-point == with comparisons of
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| 434 | // magnitudes, if needed.
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| 435 | inline int operator== (const Vector3 &A, const Vector3 &B)
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| 436 | {
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| 437 | return (A.x == B.x) && (A.y == B.y) && (A.z == B.z);
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| 438 | }
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| 439 |
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| 440 | inline Vector3
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| 441 | CrossProd (const Vector3 &A, const Vector3 &B)
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| 442 | {
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[1328] | 443 | return
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[1579] | 444 | Vector3(A.y * B.z - A.z * B.y,
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[1328] | 445 | A.z * B.x - A.x * B.z,
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[1579] | 446 | A.x * B.y - A.y * B.x);
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[372] | 447 | }
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| 448 |
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[1579] | 449 |
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[372] | 450 | inline void
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| 451 | Vector3::Normalize()
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| 452 | {
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| 453 | float sqrmag = x * x + y * y + z * z;
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| 454 | if (sqrmag > 0.0f)
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| 455 | (*this) *= 1.0f / sqrtf(sqrmag);
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| 456 | }
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| 457 |
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[492] | 458 |
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[372] | 459 | // Overload << operator for C++-style output
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| 460 | inline ostream&
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| 461 | operator<< (ostream &s, const Vector3 &A)
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| 462 | {
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| 463 | return s << "(" << A.x << ", " << A.y << ", " << A.z << ")";
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| 464 | }
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| 465 |
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| 466 | // Overload >> operator for C++-style input
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| 467 | inline istream&
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| 468 | operator>> (istream &s, Vector3 &A)
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| 469 | {
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| 470 | char a;
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| 471 | // read "(x, y, z)"
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| 472 | return s >> a >> A.x >> a >> A.y >> a >> A.z >> a;
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| 473 | }
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| 474 |
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| 475 | inline int
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| 476 | EpsilonEqualV3(const Vector3 &v1, const Vector3 &v2, float thr)
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| 477 | {
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| 478 | if ( fabsf(v1.x-v2.x) > thr )
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| 479 | return false;
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| 480 | if ( fabsf(v1.y-v2.y) > thr )
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| 481 | return false;
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| 482 | if ( fabsf(v1.z-v2.z) > thr )
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| 483 | return false;
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| 484 | return true;
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| 485 | }
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| 486 |
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| 487 | inline int
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| 488 | EpsilonEqualV3(const Vector3 &v1, const Vector3 &v2)
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| 489 | {
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[448] | 490 | return EpsilonEqualV3(v1, v2, Limits::Small);
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[372] | 491 | }
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| 492 |
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| 493 |
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| 494 |
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[860] | 495 | }
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[372] | 496 |
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| 497 | #endif
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