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/*
* Copyright (C) 2010 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
* Author: Eric Sauser
* email: eric.sauser@a3.epf.ch
* website: lasa.epfl.ch
*
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#ifndef MATHLIB_VECTOR3_H
#define MATHLIB_VECTOR3_H
#include "MathLibCommon.h"
#include <math.h>
#include "TVector.h"
#ifdef USE_MATHLIB_NAMESPACE
namespace MathLib {
#endif
/**
* \class Vector3
*
* \ingroup MathLib
*
* \brief An implementation of the template TVector class
*/
class Vector3 : public TVector<3>
{
/*
friend class Referential;
friend class Matrix3;
friend class Matrix4;
*/
public:
/// Zero vector
static const Vector3 ZERO;
/// Vector 1 0 0
static const Vector3 EX;
/// Vector 0 1 0
static const Vector3 EY;
/// Vector 0 0 1
static const Vector3 EZ;
public:
/// Empty constructor
inline Vector3():TVector<3>(){};
/// Copy constructor
inline Vector3(const Vector3 &vector):TVector<3>(vector){};
/// Copy constructor
inline Vector3(const TVector<3> vector):TVector<3>(vector){};
/*
/// Copy constructor
inline Vector3(const Vector &vector):TVector<3>(vector){};
*/
/// Data-based constructor
inline Vector3(const REALTYPE _[3]):TVector<3>(_){};
/// Data-based constructor
inline Vector3(REALTYPE x, REALTYPE y, REALTYPE z):TVector<3>(){
Set(x,y,z);
}
inline ~Vector3(){};
/// Access to the first element (can be modified)
inline REALTYPE& x() {return _[0];}
/// Access to the second element (can be modified)
inline REALTYPE& y() {return _[1];}
/// Access to the third element (can be modified)
inline REALTYPE& z() {return _[2];}
/// Access to the first element (constant)
inline REALTYPE cx() const {return _[0];}
/// Access to the second element (constant)
inline REALTYPE cy() const {return _[1];}
/// Access to the thrid element (constant)
inline REALTYPE cz() const {return _[2];}
inline Vector3& Set(REALTYPE x, REALTYPE y, REALTYPE z){
_[0] = x; _[1] = y; _[2] = z;
return *this;
}
inline Vector3& Set(const Vector3 &vector){
TVector<3>::Set(vector);
return *this;
}
inline Vector3& Set(const REALTYPE value){
TVector<3>::Set(value);
return *this;
}
inline Vector3& Set(const Vector &vector){
TVector<3>::Set(vector);
return *this;
}
/// Cross product
inline Vector3 Cross(const Vector3 &vector) const{
Vector3 result;
return Cross(vector,result);
}
/// Cross product
inline Vector3& Cross(const Vector3 &vector, Vector3& result) const {
result._[0] = _[1] * vector._[2] - _[2] * vector._[1];
result._[1] = _[2] * vector._[0] - _[0] * vector._[2];
result._[2] = _[0] * vector._[1] - _[1] * vector._[0];
return result;
}
};
typedef Vector3 Vec3;
#ifdef USE_MATHLIB_NAMESPACE
}
#endif
#endif
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