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 |
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26 | namespace flair {
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27 | namespace core {
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28 |
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29 | template class Vector3D<double>;
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30 | template Vector3D<double> operator+(const Vector3D<double>&, const Vector3D<double>&);
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31 | template Vector3D<double> operator-(const Vector3D<double>&, const Vector3D<double>&);
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32 | template Vector3D<double> operator-(const Vector3D<double>&);
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33 | template Vector3D<double> operator/(const Vector3D<double>&, float);
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34 | template Vector3D<double> operator*(const Vector3D<double>&, const Vector3D<double>&);
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35 | template Vector3D<double> operator*(const Vector3D<double>&, float);
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36 | template Vector3D<double> operator*(float, const Vector3D<double>&);
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37 | template Vector3D<double> CrossProduct(const Vector3D<double>&, const Vector3D<double>&);
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38 | template float DotProduct(const Vector3D<double>&, const Vector3D<double>&);
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39 |
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40 | template class Vector3D<float>;
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41 | template Vector3D<float> operator+(const Vector3D<float>&, const Vector3D<float>&);
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42 | template Vector3D<float> operator-(const Vector3D<float>&, const Vector3D<float>&);
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43 | template Vector3D<float> operator-(const Vector3D<float>&);
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44 | template Vector3D<float> operator/(const Vector3D<float>&, float);
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45 | template Vector3D<float> operator*(const Vector3D<float>&, const Vector3D<float>&);
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46 | template Vector3D<float> operator*(const Vector3D<float>&, float);
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47 | template Vector3D<float> operator*(float, const Vector3D<float>&);
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48 | template Vector3D<float> CrossProduct(const Vector3D<float>&, const Vector3D<float>&);
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49 | template float DotProduct(const Vector3D<float>&, const Vector3D<float>&);
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50 |
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51 | template <typename T> Vector3D<T>::Vector3D(T inX, T inY, T inZ) {
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52 | x=inX;
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53 | y=inY;
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54 | z=inZ;
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55 | }
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56 |
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57 | template <typename T> Vector3D<T>::~Vector3D() {}
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58 |
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59 | /*
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60 | void Vector3D::operator=(const gui::Vector3DSpinBox *vector) {
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61 | Vector3D vect=vector->Value();
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62 | x=vect.x;
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63 | y=vect.y;
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64 | z=vect.z;
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65 | }*/
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66 | /*
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67 | template<typename T,typename S> Vector3D<T> &Vector3D<T>::operator=(const Vector3D<S> &vector) {
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68 | //template <typename T> Vector3D<T> &Vector3D<T>::operator=(const Vector3D<T> &vector) {
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69 | x = vector.x;
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70 | y = vector.y;
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71 | z = vector.z;
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72 | return (*this);
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73 | }
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74 | */
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75 | template <typename T> Vector3D<T> &Vector3D<T>::operator+=(const Vector3D<T> &vector) {
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76 | x += vector.x;
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77 | y += vector.y;
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78 | z += vector.z;
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79 | return (*this);
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80 | }
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81 |
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82 | template <typename T> Vector3D<T> &Vector3D<T>::operator-=(const Vector3D<T> &vector) {
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83 | x -= vector.x;
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84 | y -= vector.y;
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85 | z -= vector.z;
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86 | return (*this);
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87 | }
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88 |
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89 | template <typename T> T &Vector3D<T>::operator[](size_t idx) {
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90 | if (idx == 0) {
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91 | return x;
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92 | } else if (idx == 1) {
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93 | return y;
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94 | } else if (idx == 2) {
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95 | return z;
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96 | } else {
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97 | Printf("Vector3D: index %i out of bound\n", idx);
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98 | return z;
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99 | }
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100 | }
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101 |
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102 | template <typename T> const T &Vector3D<T>::operator[](size_t idx) const {
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103 | if (idx == 0) {
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104 | return x;
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105 | } else if (idx == 1) {
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106 | return y;
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107 | } else if (idx == 2) {
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108 | return z;
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109 | } else {
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110 | Printf("Vector3D: index %i out of bound\n", idx);
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111 | return z;
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112 | }
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113 | }
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114 |
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115 | template <typename T> Vector3D<T> CrossProduct(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB) {
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116 | return Vector3D<T>(vectorA.y * vectorB.z - vectorA.z * vectorB.y,
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117 | vectorA.z * vectorB.x - vectorA.x * vectorB.z,
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118 | vectorA.x * vectorB.y - vectorA.y * vectorB.x);
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119 | }
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120 |
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121 | template <typename T> float DotProduct(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB) {
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122 | return vectorA.x * vectorB.x + vectorA.y * vectorB.y + vectorA.z * vectorB.z;
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123 | }
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124 |
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125 | template <typename T> Vector3D<T> operator+(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB) {
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126 | return Vector3D<T>(vectorA.x + vectorB.x, vectorA.y + vectorB.y,
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127 | vectorA.z + vectorB.z);
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128 | }
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129 |
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130 | template <typename T> Vector3D<T> operator-(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB) {
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131 | return Vector3D<T>(vectorA.x - vectorB.x, vectorA.y - vectorB.y,
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132 | vectorA.z - vectorB.z);
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133 | }
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134 |
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135 | template <typename T> Vector3D<T> operator-(const Vector3D<T> &vector) {
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136 | return Vector3D<T>(-vector.x, -vector.y, -vector.z);
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137 | }
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138 |
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139 | template <typename T> Vector3D<T> operator*(const Vector3D<T> &vectorA, const Vector3D<T> &vectorB) {
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140 | return Vector3D<T>(vectorA.x * vectorB.x, vectorA.y * vectorB.y,
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141 | vectorA.z * vectorB.z);
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142 | }
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143 |
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144 | template <typename T> Vector3D<T> operator*(const Vector3D<T> &vector, float coeff) {
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145 | return Vector3D<T>(vector.x * coeff, vector.y * coeff, vector.z * coeff);
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146 | }
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147 |
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148 | template <typename T> Vector3D<T> operator*(float coeff, const Vector3D<T> &vector) {
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149 | return Vector3D<T>(vector.x * coeff, vector.y * coeff, vector.z * coeff);
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150 | }
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151 |
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152 | template <typename T> Vector3D<T> operator/(const Vector3D<T> &vector, float coeff) {
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153 | if (coeff != 0) {
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154 | return Vector3D<T>(vector.x / coeff, vector.y / coeff, vector.z / coeff);
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155 | } else {
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156 | printf("Vector3D: err divinding by 0\n");
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157 | return Vector3D<T>(0, 0, 0);
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158 | }
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159 | }
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160 |
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161 | template <typename T> void Vector3D<T>::RotateX(float value) {
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162 | float y_tmp;
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163 | y_tmp = y * cosf(value) - z * sinf(value);
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164 | z = y * sinf(value) + z * cosf(value);
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165 | y = y_tmp;
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166 | }
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167 |
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168 | template <typename T> void Vector3D<T>::RotateXDeg(float value) { RotateX(Euler::ToRadian(value)); }
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169 |
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170 | template <typename T> void Vector3D<T>::RotateY(float value) {
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171 | float x_tmp;
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172 | x_tmp = x * cosf(value) + z * sinf(value);
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173 | z = -x * sinf(value) + z * cosf(value);
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174 | x = x_tmp;
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175 | }
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176 |
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177 | template <typename T> void Vector3D<T>::RotateYDeg(float value) { RotateY(Euler::ToRadian(value)); }
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178 |
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179 | template <typename T> void Vector3D<T>::RotateZ(float value) {
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180 | float x_tmp;
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181 | x_tmp = x * cosf(value) - y * sinf(value);
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182 | y = x * sinf(value) + y * cosf(value);
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183 | x = x_tmp;
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184 | }
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185 |
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186 | template <typename T> void Vector3D<T>::RotateZDeg(float value) { RotateZ(Euler::ToRadian(value)); }
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187 |
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188 | template <typename T> void Vector3D<T>::Rotate(const RotationMatrix &matrix) {
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189 | T a[3] = {0, 0, 0};
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190 | T b[3] = {x, y, z};
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191 |
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192 | for (int i = 0; i < 3; i++) {
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193 | for (int j = 0; j < 3; j++) {
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194 | a[i] += matrix.m[i][j] * b[j];
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195 | }
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196 | }
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197 |
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198 | x = a[0];
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199 | y = a[1];
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200 | z = a[2];
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201 | }
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202 |
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203 | template <typename T> void Vector3D<T>::Rotate(const Quaternion &quaternion) {
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204 | RotationMatrix matrix;
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205 | quaternion.ToRotationMatrix(matrix);
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206 | Rotate(matrix);
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207 | }
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208 |
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209 | template <typename T> void Vector3D<T>::To2Dxy(Vector2D<T> &vector) const {
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210 | vector.x = x;
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211 | vector.y = y;
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212 | }
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213 |
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214 | template <typename T> Vector2D<T> Vector3D<T>::To2Dxy(void) const {
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215 | Vector2D<T> vect;
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216 | To2Dxy(vect);
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217 | return vect;
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218 | }
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219 |
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220 | template <typename T> float Vector3D<T>::GetNorm(void) const { return sqrt(x * x + y * y + z * z); }
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221 |
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222 | template <typename T> void Vector3D<T>::Normalize(void) {
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223 | float n = GetNorm();
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224 | if (n != 0) {
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225 | x = x / n;
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226 | y = y / n;
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227 | z = z / n;
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228 | }
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229 | }
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230 |
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231 | template <typename T> void Vector3D<T>::Saturate(const Vector3D<T> &min, const Vector3D<T> &max) {
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232 | if (x < min.x)
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233 | x = min.x;
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234 | if (x > max.x)
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235 | x = max.x;
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236 |
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237 | if (y < min.y)
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238 | y = min.y;
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239 | if (y > max.y)
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240 | y = max.y;
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241 |
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242 | if (z < min.z)
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243 | z = min.z;
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244 | if (z > max.z)
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245 | z = max.z;
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246 | }
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247 |
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248 | template <typename T> void Vector3D<T>::Saturate(float min, float max) {
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249 | Saturate(Vector3D<T>(min, min, min), Vector3D<T>(max, max, max));
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250 | }
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251 |
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252 | template <typename T> void Vector3D<T>::Saturate(const Vector3D<T> &value) {
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253 | float x = fabs(value.x);
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254 | float y = fabs(value.y);
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255 | float z = fabs(value.z);
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256 | Saturate(Vector3D<T>(-x, -y, -z), Vector3D<T>(x, y, z));
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257 | }
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258 |
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259 | template <typename T> void Vector3D<T>::Saturate(float value) {
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260 | float sat = fabs(value);
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261 | Saturate(Vector3D<T>(-sat, -sat, -sat), Vector3D<T>(sat, sat, sat));
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262 | }
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263 |
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264 | } // end namespace core
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265 | } // end namespace flair
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