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354 lines
12 KiB
C++
354 lines
12 KiB
C++
/*
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* Vector3.h
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* RVO2-3D Library
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*
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* Copyright 2008 University of North Carolina at Chapel Hill
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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/**
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* \file Vector3.h
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* \brief Contains the Vector3 class.
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*/
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#ifndef RVO3D_VECTOR3_H_
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#define RVO3D_VECTOR3_H_
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#include <cmath>
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#include <cstddef>
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#include <ostream>
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namespace RVO3D {
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/**
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* \brief Defines a three-dimensional vector.
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*/
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class Vector3 {
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public:
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/**
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* \brief Constructs and initializes a three-dimensional vector instance to zero.
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*/
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inline Vector3()
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{
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val_[0] = 0.0f;
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val_[1] = 0.0f;
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val_[2] = 0.0f;
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}
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/**
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* \brief Constructs and initializes a three-dimensional vector from the specified three-dimensional vector.
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* \param vector The three-dimensional vector containing the xyz-coordinates.
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*/
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inline Vector3(const Vector3 &vector)
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{
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val_[0] = vector[0];
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val_[1] = vector[1];
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val_[2] = vector[2];
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}
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/**
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* \brief Constructs and initializes a three-dimensional vector from the specified three-element array.
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* \param val The three-element array containing the xyz-coordinates.
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*/
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inline explicit Vector3(const float val[3])
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{
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val_[0] = val[0];
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val_[1] = val[1];
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val_[2] = val[2];
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}
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/**
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* \brief Constructs and initializes a three-dimensional vector from the specified xyz-coordinates.
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* \param x The x-coordinate of the three-dimensional vector.
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* \param y The y-coordinate of the three-dimensional vector.
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* \param z The z-coordinate of the three-dimensional vector.
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*/
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inline Vector3(float x, float y, float z)
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{
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val_[0] = x;
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val_[1] = y;
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val_[2] = z;
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}
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/**
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* \brief Returns the x-coordinate of this three-dimensional vector.
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* \return The x-coordinate of the three-dimensional vector.
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*/
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inline float x() const { return val_[0]; }
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/**
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* \brief Returns the y-coordinate of this three-dimensional vector.
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* \return The y-coordinate of the three-dimensional vector.
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*/
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inline float y() const { return val_[1]; }
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/**
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* \brief Returns the z-coordinate of this three-dimensional vector.
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* \return The z-coordinate of the three-dimensional vector.
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*/
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inline float z() const { return val_[2]; }
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/**
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* \brief Returns the specified coordinate of this three-dimensional vector.
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* \param i The coordinate that should be returned (0 <= i < 3).
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* \return The specified coordinate of the three-dimensional vector.
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*/
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inline float operator[](size_t i) const { return val_[i]; }
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/**
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* \brief Returns a reference to the specified coordinate of this three-dimensional vector.
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* \param i The coordinate to which a reference should be returned (0 <= i < 3).
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* \return A reference to the specified coordinate of the three-dimensional vector.
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*/
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inline float &operator[](size_t i) { return val_[i]; }
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/**
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* \brief Computes the negation of this three-dimensional vector.
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* \return The negation of this three-dimensional vector.
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*/
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inline Vector3 operator-() const
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{
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return Vector3(-val_[0], -val_[1], -val_[2]);
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}
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/**
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* \brief Computes the dot product of this three-dimensional vector with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which the dot product should be computed.
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* \return The dot product of this three-dimensional vector with a specified three-dimensional vector.
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*/
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inline float operator*(const Vector3 &vector) const
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{
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return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2];
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}
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/**
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* \brief Computes the scalar multiplication of this three-dimensional vector with the specified scalar value.
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* \param scalar The scalar value with which the scalar multiplication should be computed.
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* \return The scalar multiplication of this three-dimensional vector with a specified scalar value.
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*/
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inline Vector3 operator*(float scalar) const
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{
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return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar);
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}
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/**
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* \brief Computes the scalar division of this three-dimensional vector with the specified scalar value.
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* \param scalar The scalar value with which the scalar division should be computed.
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* \return The scalar division of this three-dimensional vector with a specified scalar value.
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*/
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inline Vector3 operator/(float scalar) const
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{
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const float invScalar = 1.0f / scalar;
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return Vector3(val_[0] * invScalar, val_[1] * invScalar, val_[2] * invScalar);
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}
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/**
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* \brief Computes the vector sum of this three-dimensional vector with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which the vector sum should be computed.
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* \return The vector sum of this three-dimensional vector with a specified three-dimensional vector.
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*/
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inline Vector3 operator+(const Vector3 &vector) const
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{
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return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]);
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}
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/**
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* \brief Computes the vector difference of this three-dimensional vector with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which the vector difference should be computed.
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* \return The vector difference of this three-dimensional vector with a specified three-dimensional vector.
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*/
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inline Vector3 operator-(const Vector3 &vector) const
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{
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return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]);
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}
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/**
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* \brief Tests this three-dimensional vector for equality with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which to test for equality.
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* \return True if the three-dimensional vectors are equal.
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*/
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inline bool operator==(const Vector3 &vector) const
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{
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return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2];
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}
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/**
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* \brief Tests this three-dimensional vector for inequality with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which to test for inequality.
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* \return True if the three-dimensional vectors are not equal.
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*/
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inline bool operator!=(const Vector3 &vector) const
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{
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return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2];
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}
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/**
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* \brief Sets the value of this three-dimensional vector to the scalar multiplication of itself with the specified scalar value.
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* \param scalar The scalar value with which the scalar multiplication should be computed.
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* \return A reference to this three-dimensional vector.
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*/
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inline Vector3 &operator*=(float scalar)
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{
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val_[0] *= scalar;
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val_[1] *= scalar;
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val_[2] *= scalar;
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return *this;
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}
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/**
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* \brief Sets the value of this three-dimensional vector to the scalar division of itself with the specified scalar value.
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* \param scalar The scalar value with which the scalar division should be computed.
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* \return A reference to this three-dimensional vector.
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*/
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inline Vector3 &operator/=(float scalar)
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{
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const float invScalar = 1.0f / scalar;
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val_[0] *= invScalar;
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val_[1] *= invScalar;
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val_[2] *= invScalar;
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return *this;
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}
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/**
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* \brief Sets the value of this three-dimensional vector to the vector
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* sum of itself with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which the vector sum should be computed.
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* \return A reference to this three-dimensional vector.
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*/
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inline Vector3 &operator+=(const Vector3 &vector)
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{
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val_[0] += vector[0];
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val_[1] += vector[1];
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val_[2] += vector[2];
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return *this;
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}
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/**
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* \brief Sets the value of this three-dimensional vector to the vector difference of itself with the specified three-dimensional vector.
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* \param vector The three-dimensional vector with which the vector difference should be computed.
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* \return A reference to this three-dimensional vector.
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*/
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inline Vector3 &operator-=(const Vector3 &vector)
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{
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val_[0] -= vector[0];
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val_[1] -= vector[1];
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val_[2] -= vector[2];
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return *this;
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}
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inline Vector3 &operator=(const Vector3 &vector)
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{
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val_[0] = vector[0];
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val_[1] = vector[1];
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val_[2] = vector[2];
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return *this;
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}
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private:
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float val_[3];
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};
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/**
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* \relates Vector3
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* \brief Computes the scalar multiplication of the specified three-dimensional vector with the specified scalar value.
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* \param scalar The scalar value with which the scalar multiplication should be computed.
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* \param vector The three-dimensional vector with which the scalar multiplication should be computed.
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* \return The scalar multiplication of the three-dimensional vector with the scalar value.
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*/
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inline Vector3 operator*(float scalar, const Vector3 &vector)
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{
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return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]);
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}
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/**
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* \relates Vector3
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* \brief Computes the cross product of the specified three-dimensional vectors.
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* \param vector1 The first vector with which the cross product should be computed.
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* \param vector2 The second vector with which the cross product should be computed.
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* \return The cross product of the two specified vectors.
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*/
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inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2)
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{
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return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]);
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}
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/**
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* \relates Vector3
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* \brief Inserts the specified three-dimensional vector into the specified output stream.
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* \param os The output stream into which the three-dimensional vector should be inserted.
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* \param vector The three-dimensional vector which to insert into the output stream.
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* \return A reference to the output stream.
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*/
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inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector)
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{
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os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")";
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return os;
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}
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/**
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* \relates Vector3
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* \brief Computes the length of a specified three-dimensional vector.
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* \param vector The three-dimensional vector whose length is to be computed.
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* \return The length of the three-dimensional vector.
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*/
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inline float abs(const Vector3 &vector)
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{
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return std::sqrt(vector * vector);
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}
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/**
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* \relates Vector3
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* \brief Computes the squared length of a specified three-dimensional vector.
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* \param vector The three-dimensional vector whose squared length is to be computed.
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* \return The squared length of the three-dimensional vector.
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*/
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inline float absSq(const Vector3 &vector)
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{
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return vector * vector;
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}
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/**
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* \relates Vector3
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* \brief Computes the normalization of the specified three-dimensional vector.
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* \param vector The three-dimensional vector whose normalization is to be computed.
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* \return The normalization of the three-dimensional vector.
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*/
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inline Vector3 normalize(const Vector3 &vector)
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{
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return vector / abs(vector);
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}
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}
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#endif
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