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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function c = crossProduct3d(a,b)
%CROSSPRODUCT3D Vector cross product faster than inbuilt MATLAB cross.
%
% C = crossProduct3d(A, B)
% returns the cross product of the two 3D vectors A and B, that is:
% C = A x B
% A and B must be N-by-3 element vectors. If either A or B is a 1-by-3
% row vector, the result C will have the size of the other input and will
% be the concatenation of each row's cross product.
%
% Example
% v1 = [2 0 0];
% v2 = [0 3 0];
% crossProduct3d(v1, v2)
% ans =
% 0 0 6
%
% See also
% vectorAngle3d
% ------
% Author: Sven Holcombe
% E-mail: N/A
% Created: 2011
% Copyright 2011-2023
% size of inputs
sizeA = size(a);
sizeB = size(b);
% Initialise c to the size of a or b, whichever has more dimensions. If
% they have the same dimensions, initialise to the larger of the two
switch sign(numel(sizeA) - numel(sizeB))
case 1
c = zeros(sizeA);
case -1
c = zeros(sizeB);
otherwise
c = zeros(max(sizeA, sizeB));
end
c(:) = bsxfun(@times, a(:,[2 3 1],:), b(:,[3 1 2],:)) - ...
bsxfun(@times, b(:,[2 3 1],:), a(:,[3 1 2],:));
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