8 float sqr(float a) {return a*a;}
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10 // vector (floating point) implementation
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12 float magnitude(Vector v) {
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13 return float(sqrt(sqr(v.x) + sqr( v.y)+ sqr(v.z)));
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15 Vector normalize(Vector v) {
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16 float d=magnitude(v);
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18 printf("Cant normalize ZERO vector\n");
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28 Vector operator+(Vector v1,Vector v2) {return Vector(v1.x+v2.x,v1.y+v2.y,v1.z+v2.z);}
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29 Vector operator-(Vector v1,Vector v2) {return Vector(v1.x-v2.x,v1.y-v2.y,v1.z-v2.z);}
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30 Vector operator-(Vector v) {return Vector(-v.x,-v.y,-v.z);}
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31 Vector operator*(Vector v1,float s) {return Vector(v1.x*s,v1.y*s,v1.z*s);}
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32 Vector operator*(float s, Vector v1) {return Vector(v1.x*s,v1.y*s,v1.z*s);}
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33 Vector operator/(Vector v1,float s) {return v1*(1.0f/s);}
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34 float operator^(Vector v1,Vector v2) {return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z;}
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35 Vector operator*(Vector v1,Vector v2) {
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37 v1.y * v2.z - v1.z*v2.y,
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38 v1.z * v2.x - v1.x*v2.z,
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39 v1.x * v2.y - v1.y*v2.x);
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41 Vector planelineintersection(Vector n,float d,Vector p1,Vector p2){
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42 // returns the point where the line p1-p2 intersects the plane n&d
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45 float t = -(d+(n^p1) )/dn;
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46 return p1 + (dif*t);
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48 int concurrent(Vector a,Vector b) {
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49 return(a.x==b.x && a.y==b.y && a.z==b.z);
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53 // Matrix Implementation
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54 matrix transpose(matrix m) {
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55 return matrix( Vector(m.x.x,m.y.x,m.z.x),
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56 Vector(m.x.y,m.y.y,m.z.y),
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57 Vector(m.x.z,m.y.z,m.z.z));
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59 Vector operator*(matrix m,Vector v){
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60 m=transpose(m); // since column ordered
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61 return Vector(m.x^v,m.y^v,m.z^v);
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63 matrix operator*(matrix m1,matrix m2){
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65 return matrix(m1*m2.x,m1*m2.y,m1*m2.z);
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68 //Quaternion Implementation
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69 Quaternion operator*(Quaternion a,Quaternion b) {
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71 c.r = a.r*b.r - a.x*b.x - a.y*b.y - a.z*b.z;
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72 c.x = a.r*b.x + a.x*b.r + a.y*b.z - a.z*b.y;
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73 c.y = a.r*b.y - a.x*b.z + a.y*b.r + a.z*b.x;
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74 c.z = a.r*b.z + a.x*b.y - a.y*b.x + a.z*b.r;
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77 Quaternion operator-(Quaternion q) {
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78 return Quaternion(q.r*-1,q.x,q.y,q.z);
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80 Quaternion operator*(Quaternion a,float b) {
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81 return Quaternion(a.r*b, a.x*b, a.y*b, a.z*b);
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83 Vector operator*(Quaternion q,Vector v) {
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84 return q.getmatrix() * v;
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86 Vector operator*(Vector v,Quaternion q){
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87 assert(0); // must multiply with the quat on the left
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88 return Vector(0.0f,0.0f,0.0f);
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91 Quaternion operator+(Quaternion a,Quaternion b) {
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92 return Quaternion(a.r+b.r, a.x+b.x, a.y+b.y, a.z+b.z);
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94 float operator^(Quaternion a,Quaternion b) {
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95 return (a.r*b.r + a.x*b.x + a.y*b.y + a.z*b.z);
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97 Quaternion slerp(Quaternion a,Quaternion b,float interp){
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104 float theta = float(acos(a^b));
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105 if(theta==0.0f) { return(a);}
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106 return a*float(sin(theta-interp*theta)/sin(theta)) + b*float(sin(interp*theta)/sin(theta));
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