| 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 | // created: 2013/05/02
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| 6 | // filename: Vector3D.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class defining a 3D vector
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Vector3D.h"
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| 19 | #include "Vector2D.h"
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| 20 | #include "RotationMatrix.h"
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| 21 | #include "Euler.h"
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| 22 | #include "Quaternion.h"
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| 23 | #include "Object.h"
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| 24 | #include <math.h>
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| 25 | //#include "Vector3DSpinBox.h"
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| 26 |
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| 27 | namespace flair { namespace core {
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| 28 |
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| 29 | Vector3D::Vector3D(float inX,float inY,float inZ): x(inX),y(inY),z(inZ){
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| 30 | }
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| 31 |
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| 32 | Vector3D::~Vector3D() {
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| 33 |
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| 34 | }
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| 35 | /*
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| 36 | void Vector3D::operator=(const gui::Vector3DSpinBox *vector) {
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| 37 | Vector3D vect=vector->Value();
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| 38 | x=vect.x;
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| 39 | y=vect.y;
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| 40 | z=vect.z;
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| 41 | }*/
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| 42 |
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| 43 | Vector3D &Vector3D::operator=(const Vector3D &vector) {
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| 44 | x=vector.x;
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| 45 | y=vector.y;
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| 46 | z=vector.z;
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| 47 | return (*this);
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| 48 | }
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| 49 |
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| 50 | Vector3D &Vector3D::operator+=(const Vector3D &vector) {
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| 51 | x+=vector.x;
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| 52 | y+=vector.y;
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| 53 | z+=vector.z;
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| 54 | return (*this);
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| 55 | }
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| 56 |
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| 57 | Vector3D &Vector3D::operator-=(const Vector3D &vector) {
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| 58 | x-=vector.x;
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| 59 | y-=vector.y;
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| 60 | z-=vector.z;
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| 61 | return (*this);
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| 62 | }
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| 63 |
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| 64 | float &Vector3D::operator[](size_t idx) {
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| 65 | if(idx==0) {
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| 66 | return x;
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| 67 | } else if(idx==1) {
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| 68 | return y;
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| 69 | } else if(idx==2) {
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| 70 | return z;
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| 71 | } else {
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| 72 | Printf("Vector3D: index %i out of bound\n",idx);
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| 73 | return z;
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| 74 | }
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| 75 | }
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| 76 |
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| 77 | const float &Vector3D::operator[](size_t idx) const {
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| 78 | if(idx==0) {
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| 79 | return x;
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| 80 | } else if(idx==1) {
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| 81 | return y;
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| 82 | } else if(idx==2) {
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| 83 | return z;
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| 84 | } else {
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| 85 | Printf("Vector3D: index %i out of bound\n",idx);
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| 86 | return z;
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| 87 | }
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| 88 | }
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| 89 |
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| 90 | Vector3D CrossProduct(const Vector3D &vectorA,const Vector3D &vectorB) {
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| 91 | return Vector3D(vectorA.y*vectorB.z - vectorA.z*vectorB.y,
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| 92 | vectorA.z*vectorB.x - vectorA.x*vectorB.z,
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| 93 | vectorA.x*vectorB.y - vectorA.y*vectorB.x);
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| 94 | }
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| 95 |
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| 96 | float DotProduct(const Vector3D &vectorA,const Vector3D &vectorB) {
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| 97 | return vectorA.x*vectorB.x + vectorA.y*vectorB.y+ vectorA.z*vectorB.z;
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| 98 | }
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| 99 |
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| 100 | Vector3D operator+ (const Vector3D &vectorA,const Vector3D &vectorB) {
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| 101 | return Vector3D(vectorA.x + vectorB.x,
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| 102 | vectorA.y + vectorB.y,
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| 103 | vectorA.z + vectorB.z);
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| 104 | }
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| 105 |
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| 106 | Vector3D operator- (const Vector3D &vectorA,const Vector3D &vectorB) {
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| 107 | return Vector3D(vectorA.x - vectorB.x,
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| 108 | vectorA.y - vectorB.y,
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| 109 | vectorA.z - vectorB.z);
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| 110 | }
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| 111 |
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| 112 | Vector3D operator-(const Vector3D &vector) {
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| 113 | return Vector3D(-vector.x,-vector.y,-vector.z);
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| 114 | }
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| 115 |
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| 116 | Vector3D operator * (const Vector3D &vectorA,const Vector3D &vectorB) {
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| 117 | return Vector3D(vectorA.x* vectorB.x,
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| 118 | vectorA.y* vectorB.y,
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| 119 | vectorA.z* vectorB.z);
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| 120 | }
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| 121 |
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| 122 | Vector3D operator * (const Vector3D &vector, float coeff) {
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| 123 | return Vector3D(vector.x* coeff,
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| 124 | vector.y* coeff,
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| 125 | vector.z* coeff);
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| 126 | }
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| 127 |
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| 128 | Vector3D operator * (float coeff,const Vector3D &vector) {
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| 129 | return Vector3D(vector.x* coeff,
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| 130 | vector.y* coeff,
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| 131 | vector.z* coeff);
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| 132 | }
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| 133 |
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| 134 | Vector3D operator/ (const Vector3D &vector, float coeff) {
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| 135 | if(coeff!=0) {
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| 136 | return Vector3D(vector.x/ coeff,
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| 137 | vector.y/ coeff,
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| 138 | vector.z/ coeff);
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| 139 | } else {
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| 140 | printf("Vector3D: err divinding by 0\n");
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| 141 | return Vector3D(0,0,0);
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| 142 | }
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| 143 | }
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| 144 |
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| 145 | void Vector3D::RotateX(float value) {
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| 146 | float y_tmp;
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| 147 | y_tmp=y*cosf(value)-z*sinf(value);
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| 148 | z=y*sinf(value)+z*cosf(value);
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| 149 | y=y_tmp;
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| 150 | }
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| 151 |
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| 152 | void Vector3D::RotateXDeg(float value) {
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| 153 | RotateX(Euler::ToRadian(value));
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| 154 | }
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| 155 |
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| 156 | void Vector3D::RotateY(float value) {
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| 157 | float x_tmp;
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| 158 | x_tmp=x*cosf(value)+z*sinf(value);
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| 159 | z=-x*sinf(value)+z*cosf(value);
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| 160 | x=x_tmp;
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| 161 | }
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| 162 |
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| 163 | void Vector3D::RotateYDeg(float value) {
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| 164 | RotateY(Euler::ToRadian(value));
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| 165 | }
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| 166 |
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| 167 | void Vector3D::RotateZ(float value) {
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| 168 | float x_tmp;
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| 169 | x_tmp=x*cosf(value)-y*sinf(value);
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| 170 | y=x*sinf(value)+y*cosf(value);
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| 171 | x=x_tmp;
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| 172 | }
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| 173 |
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| 174 | void Vector3D::RotateZDeg(float value) {
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| 175 | RotateZ(Euler::ToRadian(value));
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| 176 | }
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| 177 |
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| 178 | void Vector3D::Rotate(const RotationMatrix &matrix) {
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| 179 | float a[3]= {0,0,0};
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| 180 | float b[3]= {x,y,z};
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| 181 |
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| 182 | for(int i=0; i<3; i++) {
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| 183 | for(int j=0; j<3; j++) {
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| 184 | a[i]+=matrix.m[i][j]*b[j];
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| 185 | }
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| 186 | }
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| 187 |
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| 188 | x=a[0];
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| 189 | y=a[1];
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| 190 | z=a[2];
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| 191 | }
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| 192 |
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| 193 | void Vector3D::Rotate(const Quaternion &quaternion) {
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| 194 | RotationMatrix matrix;
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| 195 | quaternion.ToRotationMatrix(matrix);
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| 196 | Rotate(matrix);
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| 197 | }
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| 198 |
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| 199 | void Vector3D::To2Dxy(Vector2D &vector) const {
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| 200 | vector.x=x;
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| 201 | vector.y=y;
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| 202 | }
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| 203 |
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| 204 | Vector2D Vector3D::To2Dxy(void) const {
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| 205 | Vector2D vect;
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| 206 | To2Dxy(vect);
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| 207 | return vect;
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| 208 | }
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| 209 |
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| 210 | float Vector3D::GetNorm(void) const {
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| 211 | return sqrt(x*x+y*y+z*z);
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| 212 | }
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| 213 |
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| 214 | void Vector3D::Normalize(void) {
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| 215 | float n=GetNorm();
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| 216 | if(n!=0) {
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| 217 | x=x/n;
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| 218 | y=y/n;
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| 219 | z=z/n;
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| 220 | }
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| 221 | }
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| 222 |
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| 223 | void Vector3D::Saturate(const Vector3D &min,const Vector3D &max) {
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| 224 | if(x<min.x) x=min.x;
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| 225 | if(x>max.x) x=max.x;
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| 226 |
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| 227 | if(y<min.y) y=min.y;
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| 228 | if(y>max.y) y=max.y;
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| 229 |
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| 230 | if(z<min.z) z=min.z;
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| 231 | if(z>max.z) z=max.z;
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| 232 | }
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| 233 |
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| 234 | void Vector3D::Saturate(float min,float max) {
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| 235 | Saturate(Vector3D(min,min,min),Vector3D(max,max,max));
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| 236 | }
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| 237 |
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| 238 | void Vector3D::Saturate(const Vector3D &value) {
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| 239 | float x=fabs(value.x);
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| 240 | float y=fabs(value.y);
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| 241 | float z=fabs(value.z);
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| 242 | Saturate(Vector3D(-x,-y,-z),Vector3D(x,y,z));
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| 243 | }
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| 244 |
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| 245 | void Vector3D::Saturate(float value) {
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| 246 | float sat=fabs(value);
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| 247 | Saturate(Vector3D(-sat,-sat,-sat),Vector3D(sat,sat,sat));
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| 248 | }
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| 249 |
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| 250 | } // end namespace core
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| 251 | } // end namespace flair
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