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 | #include <Vector2D.h>
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18 |
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19 | namespace flair {
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20 | namespace core {
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21 | class RotationMatrix;
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22 | class Quaternion;
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23 |
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24 | /*! \class Vector3D
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25 | *
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26 | * \brief Class defining a 3D vector
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27 | */
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28 | template <typename T>
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29 | class Vector3D {
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30 | public:
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31 | /*!
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32 | * \brief Constructor
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33 | *
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34 | * Construct a Vector3D using specified values.
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35 | *
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36 | * \param x
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37 | * \param y
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38 | * \param z
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39 | */
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40 | Vector3D(T x = 0, T y = 0, T z = 0);
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41 |
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42 | /*!
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43 | * \brief Destructor
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44 | *
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45 | */
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46 | ~Vector3D();
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47 |
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48 | /*!
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49 | * \brief x
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50 | */
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51 | T x;
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52 |
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53 | /*!
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54 | * \brief y
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55 | */
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56 | T y;
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57 |
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58 | /*!
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59 | * \brief z
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60 | */
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61 | T z;
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62 |
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63 | /*!
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64 | * \brief x axis rotation
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65 | *
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66 | * \param value rotation value in radians
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67 | */
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68 | void RotateX(float value);
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69 |
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70 | /*!
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71 | * \brief x axis rotation
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72 | *
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73 | * \param value rotation value in degrees
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74 | */
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75 | void RotateXDeg(float value);
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76 |
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77 | /*!
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78 | * \brief y axis rotation
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79 | *
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80 | * \param value rotation value in radians
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81 | */
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82 | void RotateY(float value);
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83 |
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84 | /*!
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85 | * \brief y axis rotation
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86 | *
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87 | * \param value rotation value in degrees
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88 | */
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89 | void RotateYDeg(float value);
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90 |
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91 | /*!
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92 | * \brief z axis rotation
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93 | *
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94 | * \param value rotation value in radians
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95 | */
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96 | void RotateZ(float value);
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97 |
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98 | /*!
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99 | * \brief z axis rotation
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100 | *
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101 | * \param value rotation value in degrees
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102 | */
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103 | void RotateZDeg(float value);
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104 |
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105 | /*!
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106 | * \brief rotation
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107 | *
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108 | * \param matrix rotation matrix
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109 | */
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110 | void Rotate(const RotationMatrix &matrix);
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111 |
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112 | /*!
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113 | * \brief rotation
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114 | *
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115 | * Compute a rotation from a quaternion. This method uses a rotation matrix
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116 | * internaly.
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117 | *
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118 | * \param quaternion quaternion
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119 | */
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120 | void Rotate(const Quaternion &quaternion);
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121 |
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122 | /*!
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123 | * \brief Convert to a Vector2D
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124 | *
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125 | * Uses x and y coordinates.
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126 | *
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127 | * \param vector destination
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128 | */
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129 | void To2Dxy(Vector2D<T> &vector) const;
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130 |
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131 | /*!
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132 | * \brief Convert to a Vector2D
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133 | *
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134 | * Uses x and y coordinates.
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135 | *
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136 | * \return destination
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137 | */
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138 | Vector2D<T> To2Dxy(void) const;
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139 |
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140 | /*!
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141 | * \brief Norm
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142 | *
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143 | * \return value
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144 | */
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145 | float GetNorm(void) const;
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146 |
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147 | /*!
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148 | * \brief Normalize
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149 | */
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150 | void Normalize(void);
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151 |
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152 | /*!
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153 | * \brief Saturate
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154 | *
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155 | * Saturate between min and max
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156 | *
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157 | * \param min minimum value
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158 | * \param max maximum value
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159 | */
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160 | void Saturate(const Vector3D<T> &min, const Vector3D<T> &max);
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161 |
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162 | /*!
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163 | * \brief Saturate
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164 | *
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165 | * Saturate between min and max
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166 | *
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167 | * \param min minimum Vector3D(min,min,min) value
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168 | * \param max maximum Vector3D(max,max,max) value
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169 | */
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170 | void Saturate(float min, float max);
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171 |
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172 | /*!
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173 | * \brief Saturate
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174 | *
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175 | * Saturate between -abs(value) and abs(value)
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176 | *
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177 | * \param value saturation Vector3D value
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178 | */
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179 | void Saturate(const Vector3D<T> &value);
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180 |
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181 | /*!
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182 | * \brief Saturate
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183 | *
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184 | * Saturate between -abs(Vector3D(value,value,value)) and
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185 | *abs(Vector3D(value,value,value))
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186 | *
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187 | * \param value saturation Vector3D(value,value,value)
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188 | */
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189 | void Saturate(float value);
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190 |
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191 | T &operator[](size_t idx);
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192 | const T &operator[](size_t idx) const;
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193 | //Vector3D<T> &operator=(const Vector3D<T> &vector);
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194 | template<typename S> Vector3D<T> &operator=(const Vector3D<S> &vector) {
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195 | x = vector.x;
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196 | y = vector.y;
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197 | z = vector.z;
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198 | return (*this);
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199 | }
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200 | Vector3D<T> &operator+=(const Vector3D<T> &vector);
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201 | Vector3D<T> &operator-=(const Vector3D<T> &vector);
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202 |
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203 | private:
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204 | };
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205 |
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206 | typedef Vector3D<float> Vector3Df;
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207 |
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208 | /*! Add
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209 | *
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210 | * \brief Add
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211 | *
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212 | * \param vectorA vector
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213 | * \param vectorB vector
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214 | *
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215 | * \return vectorA+vectorB
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216 | */
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217 | template<typename T> Vector3D<T> operator+(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB);
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218 |
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219 | /*! Substract
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220 | *
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221 | * \brief Substract
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222 | *
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223 | * \param vectorA vector
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224 | * \param vectorB vector
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225 | *
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226 | * \return vectorA-vectorB
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227 | */
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228 | template<typename T> Vector3D<T> operator-(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB);
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229 |
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230 | /*! Minus
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231 | *
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232 | * \brief Minus
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233 | *
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234 | * \param vector vector
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235 | *
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236 | * \return -vector
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237 | */
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238 | template<typename T> Vector3D<T> operator-(const Vector3D<T> &vector);
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239 |
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240 | /*! Divid
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241 | *
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242 | * \brief Divid
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243 | *
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244 | * \param vector vector
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245 | * \param coeff coefficent
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246 | *
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247 | * \return vector/coefficient
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248 | */
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249 | template<typename T> Vector3D<T> operator/(const Vector3D<T> &vector, float coeff);
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250 |
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251 | /*! Hadamard product
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252 | *
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253 | * \brief Hadamard product
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254 | *
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255 | * \param vectorA vector
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256 | * \param vectorBA vector
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257 | *
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258 | * \return Hadamard product
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259 | */
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260 | template<typename T> Vector3D<T> operator*(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB);
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261 |
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262 | /*! Multiply
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263 | *
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264 | * \brief Multiply
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265 | *
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266 | * \param vector vector
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267 | * \param coeff coefficent
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268 | *
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269 | * \return coefficient*vector
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270 | */
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271 | template<typename T> Vector3D<T> operator*(const Vector3D<T> &vector, float coeff);
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272 |
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273 | /*! Multiply
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274 | *
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275 | * \brief Multiply
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276 | *
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277 | * \param coeff coefficent
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278 | * \param vector vector
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279 | *
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280 | * \return coefficient*vector
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281 | */
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282 | template<typename T> Vector3D<T> operator*(float coeff, const Vector3D<T> &vector);
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283 |
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284 | /*! Cross product
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285 | *
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286 | * \brief Cross product
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287 | *
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288 | * \param vectorA first vector
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289 | * \param vectorB second vector
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290 | *
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291 | * \return cross product
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292 | */
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293 | template<typename T> Vector3D<T> CrossProduct(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB);
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294 |
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295 | /*! Dot product
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296 | *
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297 | * \brief Dot product
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298 | *
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299 | * \param vectorA first vector
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300 | * \param vectorB second vector
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301 | *
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302 | * \return dot product
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303 | */
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304 | template<typename T> float DotProduct(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB);
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305 |
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306 | } // end namespace core
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307 | } // end namespace flair
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308 |
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309 | #endif // VECTOR3D_H
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