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/*
* Vector3.cc
* RVO2-3D Library
*
* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Please send all bug reports to <geom@cs.unc.edu>.
*
* The authors may be contacted via:
*
* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
* Dept. of Computer Science
* 201 S. Columbia St.
* Frederick P. Brooks, Jr. Computer Science Bldg.
* Chapel Hill, N.C. 27599-3175
* United States of America
*
* <https://gamma.cs.unc.edu/RVO2/>
*/
#include "Vector3.h"
#include <cmath>
#include <ostream>
namespace RVO3D {
Vector3::Vector3() : val_() {
val_[0] = 0.0F;
val_[1] = 0.0F;
val_[2] = 0.0F;
}
Vector3::Vector3(const Vector3 &vector) : val_() {
val_[0] = vector[0];
val_[1] = vector[1];
val_[2] = vector[2];
}
Vector3::Vector3(const float val[3]) : val_() {
val_[0] = val[0];
val_[1] = val[1];
val_[2] = val[2];
}
Vector3::Vector3(float x, float y, float z) : val_() {
val_[0] = x;
val_[1] = y;
val_[2] = z;
}
Vector3::~Vector3() {}
Vector3 &Vector3::operator=(const Vector3 &vector) {
if (this != &vector) {
val_[0] = vector[0];
val_[1] = vector[1];
val_[2] = vector[2];
}
return *this;
}
float Vector3::operator[](std::size_t i) const { return val_[i]; }
float &Vector3::operator[](std::size_t i) { return val_[i]; }
Vector3 Vector3::operator-() const {
return Vector3(-val_[0], -val_[1], -val_[2]);
}
float Vector3::operator*(const Vector3 &vector) const {
return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2];
}
Vector3 Vector3::operator*(float scalar) const {
return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar);
}
Vector3 Vector3::operator/(float scalar) const {
const float invScalar = 1.0F / scalar;
return Vector3(val_[0] * invScalar, val_[1] * invScalar, val_[2] * invScalar);
}
Vector3 Vector3::operator+(const Vector3 &vector) const {
return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]);
}
Vector3 Vector3::operator-(const Vector3 &vector) const {
return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]);
}
bool Vector3::operator==(const Vector3 &vector) const {
return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2];
}
bool Vector3::operator!=(const Vector3 &vector) const {
return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2];
}
Vector3 &Vector3::operator*=(float scalar) {
val_[0] *= scalar;
val_[1] *= scalar;
val_[2] *= scalar;
return *this;
}
Vector3 &Vector3::operator/=(float scalar) {
const float invScalar = 1.0F / scalar;
val_[0] *= invScalar;
val_[1] *= invScalar;
val_[2] *= invScalar;
return *this;
}
Vector3 &Vector3::operator+=(const Vector3 &vector) {
val_[0] += vector[0];
val_[1] += vector[1];
val_[2] += vector[2];
return *this;
}
Vector3 &Vector3::operator-=(const Vector3 &vector) {
val_[0] -= vector[0];
val_[1] -= vector[1];
val_[2] -= vector[2];
return *this;
}
Vector3 operator*(float scalar, const Vector3 &vector) {
return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]);
}
std::ostream &operator<<(std::ostream &stream, const Vector3 &vector) {
stream << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")";
return stream;
}
float abs(const Vector3 &vector) { return std::sqrt(vector * vector); }
float absSq(const Vector3 &vector) { return vector * vector; }
Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) {
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]);
}
Vector3 normalize(const Vector3 &vector) { return vector / abs(vector); }
} /* namespace RVO3D */
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