| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 |
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| 6 | /*!
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| 7 | * \file Vector3D.h
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| 8 | * \brief Class defining a 3D vector
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| 9 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | * \date 2013/05/02
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| 11 | * \version 4.0
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| 12 | */
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| 13 | #ifndef VECTOR3D_H
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| 14 | #define VECTOR3D_H
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| 15 |
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| 16 | #include <stddef.h>
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| 17 |
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| 18 | namespace flair { namespace core {
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| 19 | class Vector2D;
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| 20 | class RotationMatrix;
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| 21 | class Quaternion;
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| 22 |
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| 23 | /*! \class Vector3D
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| 24 | *
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| 25 | * \brief Class defining a 3D vector
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| 26 | */
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| 27 | class Vector3D {
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| 28 | public:
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| 29 | /*!
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| 30 | * \brief Constructor
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| 31 | *
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| 32 | * Construct a Vector3D using specified values.
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| 33 | *
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| 34 | * \param x
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| 35 | * \param y
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| 36 | * \param z
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| 37 | */
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| 38 | Vector3D(float x=0,float y=0,float z=0);
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| 39 |
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| 40 | /*!
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| 41 | * \brief Destructor
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| 42 | *
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| 43 | */
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| 44 | ~Vector3D();
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| 45 |
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| 46 | /*!
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| 47 | * \brief x
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| 48 | */
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| 49 | float x;
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| 50 |
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| 51 | /*!
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| 52 | * \brief y
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| 53 | */
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| 54 | float y;
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| 55 |
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| 56 | /*!
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| 57 | * \brief z
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| 58 | */
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| 59 | float z;
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| 60 |
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| 61 | /*!
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| 62 | * \brief x axis rotation
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| 63 | *
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| 64 | * \param value rotation value in radians
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| 65 | */
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| 66 | void RotateX(float value);
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| 67 |
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| 68 | /*!
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| 69 | * \brief x axis rotation
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| 70 | *
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| 71 | * \param value rotation value in degrees
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| 72 | */
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| 73 | void RotateXDeg(float value);
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| 74 |
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| 75 | /*!
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| 76 | * \brief y axis rotation
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| 77 | *
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| 78 | * \param value rotation value in radians
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| 79 | */
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| 80 | void RotateY(float value);
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| 81 |
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| 82 | /*!
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| 83 | * \brief y axis rotation
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| 84 | *
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| 85 | * \param value rotation value in degrees
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| 86 | */
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| 87 | void RotateYDeg(float value);
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| 88 |
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| 89 | /*!
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| 90 | * \brief z axis rotation
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| 91 | *
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| 92 | * \param value rotation value in radians
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| 93 | */
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| 94 | void RotateZ(float value);
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| 95 |
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| 96 | /*!
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| 97 | * \brief z axis rotation
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| 98 | *
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| 99 | * \param value rotation value in degrees
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| 100 | */
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| 101 | void RotateZDeg(float value);
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| 102 |
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| 103 | /*!
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| 104 | * \brief rotation
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| 105 | *
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| 106 | * \param matrix rotation matrix
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| 107 | */
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| 108 | void Rotate(const RotationMatrix &matrix);
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| 109 |
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| 110 | /*!
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| 111 | * \brief rotation
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| 112 | *
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| 113 | * Compute a rotation from a quaternion. This method uses a rotation matrix
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| 114 | * internaly.
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| 115 | *
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| 116 | * \param quaternion quaternion
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| 117 | */
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| 118 | void Rotate(const Quaternion &quaternion);
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| 119 |
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| 120 | /*!
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| 121 | * \brief Convert to a Vector2D
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| 122 | *
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| 123 | * Uses x and y coordinates.
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| 124 | *
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| 125 | * \param vector destination
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| 126 | */
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| 127 | void To2Dxy(Vector2D &vector) const;
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| 128 |
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| 129 | /*!
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| 130 | * \brief Convert to a Vector2D
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| 131 | *
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| 132 | * Uses x and y coordinates.
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| 133 | *
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| 134 | * \return destination
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| 135 | */
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| 136 | Vector2D To2Dxy(void) const;
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| 137 |
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| 138 | /*!
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| 139 | * \brief Norm
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| 140 | *
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| 141 | * \return value
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| 142 | */
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| 143 | float GetNorm(void) const;
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| 144 |
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| 145 | /*!
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| 146 | * \brief Normalize
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| 147 | */
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| 148 | void Normalize(void);
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| 149 |
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| 150 | /*!
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| 151 | * \brief Saturate
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| 152 | *
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| 153 | * Saturate between min and max
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| 154 | *
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| 155 | * \param min minimum value
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| 156 | * \param max maximum value
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| 157 | */
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| 158 | void Saturate(const Vector3D &min,const Vector3D &max);
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| 159 |
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| 160 | /*!
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| 161 | * \brief Saturate
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| 162 | *
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| 163 | * Saturate between min and max
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| 164 | *
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| 165 | * \param min minimum Vector3D(min,min,min) value
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| 166 | * \param max maximum Vector3D(max,max,max) value
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| 167 | */
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| 168 | void Saturate(float min,float max);
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| 169 |
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| 170 | /*!
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| 171 | * \brief Saturate
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| 172 | *
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| 173 | * Saturate between -abs(value) and abs(value)
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| 174 | *
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| 175 | * \param value saturation Vector3D value
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| 176 | */
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| 177 | void Saturate(const Vector3D &value);
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| 178 |
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| 179 | /*!
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| 180 | * \brief Saturate
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| 181 | *
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| 182 | * Saturate between -abs(Vector3D(value,value,value)) and abs(Vector3D(value,value,value))
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| 183 | *
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| 184 | * \param value saturation Vector3D(value,value,value)
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| 185 | */
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| 186 | void Saturate(float value);
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| 187 |
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| 188 | float &operator[](size_t idx);
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| 189 | const float &operator[](size_t idx) const;
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| 190 | Vector3D &operator=(const Vector3D& vector);
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| 191 | Vector3D &operator+=(const Vector3D& vector);
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| 192 | Vector3D &operator-=(const Vector3D& vector);
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| 193 |
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| 194 | private:
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| 195 |
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| 196 | };
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| 197 |
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| 198 | /*! Add
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| 199 | *
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| 200 | * \brief Add
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| 201 | *
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| 202 | * \param vectorA vector
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| 203 | * \param vectorB vector
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| 204 | *
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| 205 | * \return vectorA+vectorB
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| 206 | */
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| 207 | Vector3D operator + (const Vector3D &vectorA,const Vector3D &vectorB);
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| 208 |
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| 209 | /*! Substract
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| 210 | *
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| 211 | * \brief Substract
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| 212 | *
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| 213 | * \param vectorA vector
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| 214 | * \param vectorB vector
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| 215 | *
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| 216 | * \return vectorA-vectorB
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| 217 | */
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| 218 | Vector3D operator - (const Vector3D &vectorA,const Vector3D &vectorB);
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| 219 |
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| 220 | /*! Minus
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| 221 | *
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| 222 | * \brief Minus
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| 223 | *
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| 224 | * \param vector vector
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| 225 | *
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| 226 | * \return -vector
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| 227 | */
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| 228 | Vector3D operator-(const Vector3D &vector);
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| 229 |
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| 230 | /*! Divid
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| 231 | *
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| 232 | * \brief Divid
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| 233 | *
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| 234 | * \param vector vector
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| 235 | * \param coeff coefficent
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| 236 | *
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| 237 | * \return vector/coefficient
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| 238 | */
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| 239 | Vector3D operator / (const Vector3D &vector, float coeff);
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| 240 |
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| 241 | /*! Hadamard product
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| 242 | *
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| 243 | * \brief Hadamard product
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| 244 | *
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| 245 | * \param vectorA vector
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| 246 | * \param vectorBA vector
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| 247 | *
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| 248 | * \return Hadamard product
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| 249 | */
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| 250 | Vector3D operator * (const Vector3D &vectorA, const Vector3D &vectorB);
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| 251 |
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| 252 | /*! Multiply
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| 253 | *
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| 254 | * \brief Multiply
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| 255 | *
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| 256 | * \param vector vector
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| 257 | * \param coeff coefficent
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| 258 | *
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| 259 | * \return coefficient*vector
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| 260 | */
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| 261 | Vector3D operator * (const Vector3D &vector, float coeff);
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| 262 |
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| 263 | /*! Multiply
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| 264 | *
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| 265 | * \brief Multiply
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| 266 | *
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| 267 | * \param coeff coefficent
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| 268 | * \param vector vector
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| 269 | *
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| 270 | * \return coefficient*vector
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| 271 | */
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| 272 | Vector3D operator * (float coeff, const Vector3D &vector);
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| 273 |
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| 274 | /*! Cross product
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| 275 | *
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| 276 | * \brief Cross product
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| 277 | *
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| 278 | * \param vectorA first vector
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| 279 | * \param vectorB second vector
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| 280 | *
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| 281 | * \return cross product
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| 282 | */
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| 283 | Vector3D CrossProduct(const Vector3D &vectorA, const Vector3D &vectorB);
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| 284 |
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| 285 | /*! Dot product
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| 286 | *
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| 287 | * \brief Dot product
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| 288 | *
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| 289 | * \param vectorA first vector
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| 290 | * \param vectorB second vector
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| 291 | *
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| 292 | * \return dot product
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| 293 | */
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| 294 | float DotProduct(const Vector3D &vectorA, const Vector3D &vectorB);
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| 295 |
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| 296 | } // end namespace core
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| 297 | } // end namespace flair
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| 298 |
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| 299 | #endif // VECTOR3D_H
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