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#ifndef QuickHull_Vector3_hpp
#define QuickHull_Vector3_hpp
#include <cmath>
#include <iostream>
namespace quickhull {
template <typename T>
class Vector3
{
public:
Vector3() = default;
Vector3(T x, T y, T z) : x(x), y(y), z(z) {
}
T x,y,z;
T dotProduct(const Vector3& other) const {
return x*other.x+y*other.y+z*other.z;
}
void normalize() {
const T len = getLength();
x/=len;
y/=len;
z/=len;
}
Vector3 getNormalized() const {
const T len = getLength();
return Vector3(x/len,y/len,z/len);
}
T getLength() const {
return std::sqrt(x*x+y*y+z*z);
}
Vector3 operator-(const Vector3& other) const {
return Vector3(x-other.x,y-other.y,z-other.z);
}
Vector3 operator+(const Vector3& other) const {
return Vector3(x+other.x,y+other.y,z+other.z);
}
Vector3& operator+=(const Vector3& other) {
x+=other.x;
y+=other.y;
z+=other.z;
return *this;
}
Vector3& operator-=(const Vector3& other) {
x-=other.x;
y-=other.y;
z-=other.z;
return *this;
}
Vector3& operator*=(T c) {
x*=c;
y*=c;
z*=c;
return *this;
}
Vector3& operator/=(T c) {
x/=c;
y/=c;
z/=c;
return *this;
}
Vector3 operator-() const {
return Vector3(-x,-y,-z);
}
template<typename S>
Vector3 operator*(S c) const {
return Vector3(x*c,y*c,z*c);
}
template<typename S>
Vector3 operator/(S c) const {
return Vector3(x/c,y/c,z/c);
}
T getLengthSquared() const {
return x*x + y*y + z*z;
}
bool operator!=(const Vector3& o) const {
return x != o.x || y != o.y || z != o.z;
}
// Projection onto another vector
Vector3 projection(const Vector3& o) const {
T C = dotProduct(o)/o.getLengthSquared();
return o*C;
}
Vector3 crossProduct (const Vector3& rhs ) {
T a = y * rhs.z - z * rhs.y ;
T b = z * rhs.x - x * rhs.z ;
T c = x * rhs.y - y * rhs.x ;
Vector3 product( a , b , c ) ;
return product ;
}
T getDistanceTo(const Vector3& other) const {
Vector3 diff = *this - other;
return diff.getLength();
}
T getSquaredDistanceTo(const Vector3& other) const {
const T dx = x-other.x;
const T dy = y-other.y;
const T dz = z-other.z;
return dx*dx+dy*dy+dz*dz;
}
};
// Overload also << operator for easy printing of debug data
template <typename T>
inline std::ostream& operator<<(std::ostream& os, const Vector3<T>& vec) {
os << "(" << vec.x << "," << vec.y << "," << vec.z << ")";
return os;
}
template <typename T>
inline Vector3<T> operator*(T c, const Vector3<T>& v) {
return Vector3<T>(v.x*c,v.y*c,v.z*c);
}
}
#endif
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