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/* copy-pasted from:
* https://www.programming-techniques.com/2013/05/basic-euclidean-vector-operations-in-c.htm
*/
#include <iostream>
#include <cmath>
#include <fml/quat.h>
using std::ostream;
using namespace fml;
namespace fml{
vec3::vec3() {
v[0] = 0;
v[1] = 0;
v[2] = 0;
}
vec3::vec3(scalar x) {
v[0] = x;
v[1] = 0;
v[2] = 0;
}
vec3::vec3(scalar x, scalar y, scalar z) {
v[0] = x;
v[1] = y;
v[2] = z;
}
scalar &vec3::operator[](int index) {
return v[index];
}
scalar vec3::operator[](int index) const {
return v[index];
}
vec3 vec3::operator*(scalar scale) const {
return vec3(v[0] * scale, v[1] * scale, v[2] * scale);
}
vec3 vec3::operator/(scalar scale) const {
return vec3(v[0] / scale, v[1] / scale, v[2] / scale);
}
vec3 vec3::operator+(const vec3 &other) const{
return vec3(v[0] + other.v[0], v[1] + other.v[1], v[2] + other.v[2]);
}
vec3 vec3::operator-(const vec3 &other) const {
return vec3(v[0] - other.v[0], v[1] - other.v[1], v[2] - other.v[2]);
}
vec3 vec3::operator-() const {
return vec3(-v[0], -v[1], -v[2]);
}
const vec3 &vec3::operator*=(scalar scale) {
v[0] *= scale;
v[1] *= scale;
v[2] *= scale;
return *this;
}
const vec3 &vec3::operator/=(scalar scale) {
v[0] /= scale;
v[1] /= scale;
v[2] /= scale;
return *this;
}
const vec3 &vec3::operator+=(const vec3 &other) {
v[0] += other.v[0];
v[1] += other.v[1];
v[2] += other.v[2];
return *this;
}
const vec3 &vec3::operator-=(const vec3 &other) {
v[0] -= other.v[0];
v[1] -= other.v[1];
v[2] -= other.v[2];
return *this;
}
scalar vec3::magnitude() const {
return sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
}
scalar vec3::magnitudeSquared() const {
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
}
vec3 vec3::normalize() const {
scalar m = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
return vec3(v[0] / m, v[1] / m, v[2] / m);
}
scalar vec3::dot(const vec3 &other) const {
return v[0] * other.v[0] + v[1] * other.v[1] + v[2] * other.v[2];
}
vec3 vec3::cross(const vec3 &other) const {
return vec3(v[1] * other.v[2] - v[2] * other.v[1],
v[2] * other.v[0] - v[0] * other.v[2],
v[0] * other.v[1] - v[1] * other.v[0]);
}
std::ostream &operator<<(std::ostream &output, const vec3 &v) {
return output << v[0] << " " << v[1] << " " << v[2];
}
std::istream &operator>>(std::istream &input, vec3 &v)
{
if(!(input >> v[0] >> v[1] >> v[2]))
throw "error parsing vector";
return input;
}
vec3 operator*(scalar scale, const vec3 &v)
{
return v * scale;
}
vec3 vec3::rotateby(const quat &rotquat) const
{
return rotquat * (*this) * rotquat.conjugate();
}
#define EPS 1e-5
#define ISZERO(a) ((fabs((a)) < EPS))
vec3 vec3::any_unit_normal(const vec3 &v)
{
if(ISZERO(v[0]) && ISZERO(v[1]))
return vec3(1, 0, 0);
return vec3(-v[1], v[0], 0).normalize();
}
}
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