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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