[3607] | 1 | /*! |
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| 2 | \file vector.h |
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| 3 | \brief A basic 3D math framework |
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| 4 | |
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| 5 | Contains classes to handle vectors, lines, rotations and planes |
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| 6 | */ |
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| 7 | |
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| 8 | #ifndef _VECTOR_H |
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| 9 | #define _VECTOR_H |
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| 10 | |
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| 11 | #include <math.h> |
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| 12 | //! PI the circle-constant |
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| 13 | #define PI 3.14159265359f /* this is not nice... make a math_def file or something */ |
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| 14 | |
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| 15 | //! 3D Vector |
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| 16 | /** |
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| 17 | Class to handle 3D Vectors |
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| 18 | */ |
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| 19 | class Vector { |
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| 20 | |
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| 21 | public: |
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| 22 | |
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| 23 | float x; //!< The x Coordinate of the Vector. |
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| 24 | float y; //!< The y Coordinate of the Vector. |
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| 25 | float z; //!< The z Coordinate of the Vector. |
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| 26 | |
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| 27 | Vector (float x, float y, float z) : x(x), y(y), z(z) {} //!< assignment constructor |
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| 28 | Vector () : x(0), y(0), z(0) {} |
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| 29 | ~Vector () {} |
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| 30 | |
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| 31 | Vector operator+ (const Vector& v) const; |
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| 32 | Vector operator- (const Vector& v) const; |
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| 33 | float operator* (const Vector& v) const; |
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| 34 | Vector operator* (float f) const; |
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| 35 | Vector operator/ (float f) const; |
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| 36 | inline float dot (const Vector& v) const; |
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| 37 | Vector cross (const Vector& v) const; |
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| 38 | void scale(const Vector& v); |
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| 39 | float len() const; |
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| 40 | void normalize(); |
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| 41 | Vector* getNormalized(); |
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| 42 | Vector abs(); |
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| 43 | |
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| 44 | void debug(); |
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| 45 | }; |
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| 46 | |
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| 47 | //float angleDeg (const Vector& v1, const Vector& v2); |
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| 48 | //float angleRad (const Vector& v1, const Vector& v2); |
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| 49 | |
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| 50 | |
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| 51 | /** |
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| 52 | \brief add two vectors |
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| 53 | \param v: the other vector |
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| 54 | \return the sum of both vectors |
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| 55 | */ |
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| 56 | Vector Vector::operator+ (const Vector& v) const |
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| 57 | { |
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| 58 | Vector r; |
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| 59 | |
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| 60 | r.x = x + v.x; |
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| 61 | r.y = y + v.y; |
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| 62 | r.z = z + v.z; |
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| 63 | |
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| 64 | return r; |
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| 65 | } |
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| 66 | |
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| 67 | /** |
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| 68 | \brief subtract a vector from another |
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| 69 | \param v: the other vector |
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| 70 | \return the difference between the vectors |
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| 71 | */ |
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| 72 | Vector Vector::operator- (const Vector& v) const |
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| 73 | { |
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| 74 | Vector r; |
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| 75 | |
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| 76 | r.x = x - v.x; |
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| 77 | r.y = y - v.y; |
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| 78 | r.z = z - v.z; |
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| 79 | |
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| 80 | return r; |
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| 81 | } |
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| 82 | |
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| 83 | /** |
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| 84 | \brief calculate the dot product of two vectors |
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| 85 | \param v: the other vector |
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| 86 | \return the dot product of the vectors |
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| 87 | */ |
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| 88 | float Vector::operator* (const Vector& v) const |
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| 89 | { |
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| 90 | return x * v.x + y * v.y + z * v.z; |
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| 91 | } |
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| 92 | |
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| 93 | /** |
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| 94 | \brief multiply a vector with a float |
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| 95 | \param f: the factor |
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| 96 | \return the vector multipied by f |
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| 97 | */ |
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| 98 | Vector Vector::operator* (float f) const |
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| 99 | { |
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| 100 | Vector r; |
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| 101 | |
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| 102 | r.x = x * f; |
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| 103 | r.y = y * f; |
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| 104 | r.z = z * f; |
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| 105 | |
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| 106 | return r; |
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| 107 | } |
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| 108 | |
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| 109 | /** |
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| 110 | \brief divide a vector with a float |
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| 111 | \param f: the divisor |
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| 112 | \return the vector divided by f |
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| 113 | */ |
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| 114 | Vector Vector::operator/ (float f) const |
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| 115 | { |
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| 116 | Vector r; |
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| 117 | |
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| 118 | if( f == 0.0) |
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| 119 | { |
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| 120 | // Prevent divide by zero |
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| 121 | return Vector (0,0,0); |
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| 122 | } |
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| 123 | |
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| 124 | r.x = x / f; |
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| 125 | r.y = y / f; |
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| 126 | r.z = z / f; |
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| 127 | |
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| 128 | return r; |
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| 129 | } |
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| 130 | |
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| 131 | /** |
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| 132 | \brief calculate the dot product of two vectors |
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| 133 | \param v: the other vector |
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| 134 | \return the dot product of the vectors |
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| 135 | */ |
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| 136 | inline float Vector::dot (const Vector& v) const |
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| 137 | { |
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| 138 | return x*v.x+y*v.y+z*v.z; |
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| 139 | } |
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| 140 | |
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| 141 | /** |
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| 142 | \brief calculate the cross product of two vectors |
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| 143 | \param v: the other vector |
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| 144 | \return the cross product of the vectors |
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| 145 | */ |
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| 146 | Vector Vector::cross (const Vector& v) const |
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| 147 | { |
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| 148 | Vector r; |
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| 149 | |
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| 150 | r.x = y * v.z - z * v.y; |
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| 151 | r.y = z * v.x - x * v.z; |
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| 152 | r.z = x * v.y - y * v.x; |
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| 153 | |
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| 154 | return r; |
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| 155 | } |
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| 156 | |
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| 157 | /** |
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| 158 | \brief normalizes the vector to lenght 1.0 |
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| 159 | */ |
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| 160 | void Vector::normalize () |
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| 161 | { |
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| 162 | float l = len(); |
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| 163 | |
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| 164 | if( l == 0.0) |
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| 165 | { |
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| 166 | // Prevent divide by zero |
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| 167 | return; |
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| 168 | } |
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| 169 | |
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| 170 | x = x / l; |
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| 171 | y = y / l; |
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| 172 | z = z / l; |
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| 173 | } |
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| 174 | |
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| 175 | |
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| 176 | /** |
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| 177 | \brief returns the voctor normalized to length 1.0 |
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| 178 | */ |
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| 179 | |
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| 180 | Vector* Vector::getNormalized() |
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| 181 | { |
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| 182 | float l = len(); |
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| 183 | if(l != 1.0) |
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| 184 | { |
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| 185 | return this; |
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| 186 | } |
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| 187 | else if(l == 0.0) |
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| 188 | { |
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| 189 | return 0; |
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| 190 | } |
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| 191 | |
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| 192 | Vector *normalizedVector = new Vector(x / l, y /l, z / l); |
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| 193 | return normalizedVector; |
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| 194 | } |
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| 195 | |
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| 196 | /** |
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| 197 | \brief scales this Vector with Vector v. |
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| 198 | \param v the vector to scale this vector with |
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| 199 | */ |
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| 200 | void Vector::scale(const Vector& v) |
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| 201 | { |
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| 202 | x *= v.x; |
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| 203 | y *= v.y; |
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| 204 | z *= v.z; |
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| 205 | } |
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| 206 | |
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| 207 | |
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| 208 | /** |
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| 209 | \brief calculates the lenght of the vector |
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| 210 | \return the lenght of the vector |
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| 211 | */ |
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| 212 | float Vector::len () const |
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| 213 | { |
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| 214 | return sqrt (x*x+y*y+z*z); |
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| 215 | } |
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| 216 | |
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| 217 | |
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| 218 | /** |
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| 219 | \brief Vector is looking in the positive direction on all axes after this |
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| 220 | */ |
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| 221 | Vector Vector::abs() |
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| 222 | { |
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| 223 | Vector v(fabs(x), fabs(y), fabs(z)); |
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| 224 | return v; |
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| 225 | } |
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| 226 | |
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| 227 | /** |
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| 228 | \brief calculate the angle between two vectors in radiances |
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| 229 | \param v1: a vector |
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| 230 | \param v2: another vector |
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| 231 | \return the angle between the vectors in radians |
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| 232 | */ |
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| 233 | float angleRad (const Vector& v1, const Vector& v2) |
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| 234 | { |
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| 235 | return acos( v1 * v2 / (v1.len() * v2.len())); |
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| 236 | } |
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| 237 | |
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| 238 | |
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| 239 | /** |
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| 240 | \brief calculate the angle between two vectors in degrees |
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| 241 | \param v1: a vector |
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| 242 | \param v2: another vector |
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| 243 | \return the angle between the vectors in degrees |
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| 244 | */ |
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| 245 | float angleDeg (const Vector& v1, const Vector& v2) |
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| 246 | { |
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| 247 | float f; |
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| 248 | f = acos( v1 * v2 / (v1.len() * v2.len())); |
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| 249 | return f * 180 / PI; |
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| 250 | } |
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| 251 | |
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| 252 | |
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| 253 | /** |
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| 254 | \brief Outputs the values of the Vector |
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| 255 | */ |
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| 256 | void Vector::debug(void) |
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| 257 | { |
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| 258 | PRINT(0)("Vector Debug information\n"); |
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| 259 | PRINT(0)("x: %f; y: %f; z: %f", x, y, z); |
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| 260 | PRINT(3)(" lenght: %f", len()); |
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| 261 | PRINT(0)("\n"); |
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| 262 | } |
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| 263 | |
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| 264 | |
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| 265 | #endif /* _VECTOR_H */ |
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