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