545 lines
18 KiB
C++
545 lines
18 KiB
C++
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/**
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\file G3D.lib/source/Vector3.cpp
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3D vector class
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\maintainer Morgan McGuire, http://graphics.cs.williams.edu
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\cite Portions based on Dave Eberly's Magic Software Library at http://www.magic-software.com
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\created 2001-06-02
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\edited 2011-11-27
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*/
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#include <limits>
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#include <stdlib.h>
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#include "G3D/Vector3.h"
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#include "G3D/g3dmath.h"
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#include "G3D/stringutils.h"
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#include "G3D/BinaryInput.h"
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#include "G3D/BinaryOutput.h"
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#include "G3D/TextInput.h"
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#include "G3D/TextOutput.h"
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#include "G3D/Vector3int16.h"
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#include "G3D/Matrix3.h"
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#include "G3D/Vector2.h"
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#include "G3D/Color3.h"
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#include "G3D/Vector4int8.h"
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#include "G3D/Vector4.h"
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#include "G3D/Vector3int32.h"
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#include "G3D/Any.h"
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namespace G3D {
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Vector3 Vector3::movedTowards(const Vector3& goal, float maxTranslation) const {
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Vector3 t = *this;
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t.moveTowards(goal, maxTranslation);
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return t;
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}
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void Vector3::moveTowards(const Vector3& goal, float maxTranslation) {
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// Apply clamped translation
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Vector3 dX = goal - *this;
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float length = dX.length();
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if ((length < 0.00001f) || (length < maxTranslation)) {
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*this = goal;
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} else {
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*this += G3D::min(1.0f, maxTranslation / length) * dX;
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}
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}
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Vector3::Vector3(const Any& any) {
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if (any.name() == "Vector3::inf" || any.name() == "Point3::inf") {
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*this = inf();
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return;
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} else if (any.name() == "Vector3::zero" || any.name() == "Point3::zero") {
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*this = zero();
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return;
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} else if (any.name() == "Vector3::nan" || any.name() == "Point3::nan") {
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*this = nan();
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return;
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}
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any.verifyName("Vector3", "Point3");
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any.verifyType(Any::TABLE, Any::ARRAY);
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any.verifySize(3);
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if (any.type() == Any::ARRAY) {
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x = any[0];
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y = any[1];
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z = any[2];
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} else {
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// Table
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x = any["x"];
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y = any["y"];
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z = any["z"];
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}
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}
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bool Vector3::isNaN() const {
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return G3D::isNaN(x) || G3D::isNaN(y) || G3D::isNaN(z);
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}
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Vector3& Vector3::operator=(const Any& a) {
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*this = Vector3(a);
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return *this;
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}
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Any Vector3::toAny() const {
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return toAny("Vector3");
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}
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Any Vector3::toAny(const std::string& name) const {
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Any any(Any::ARRAY, name);
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any.append(x, y, z);
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return any;
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}
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Vector3::Vector3(const class Color3& v) : x(v.r), y(v.g), z(v.b) {}
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Vector3::Vector3(const class Vector3int32& v) : x((float)v.x), y((float)v.y), z((float)v.z) {}
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Vector3::Vector3(const Vector4int8& v) : x(v.x / 127.0f), y(v.y / 127.0f), z(v.z / 127.0f) {}
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Vector3::Vector3(const class Vector2& v, float _z) : x(v.x), y(v.y), z(_z) {
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}
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Vector3& Vector3::ignore() {
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static Vector3 v;
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return v;
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}
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const Vector3& Vector3::zero() { static const Vector3 v(0, 0, 0); return v; }
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const Vector3& Vector3::one() { static const Vector3 v(1, 1, 1); return v; }
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const Vector3& Vector3::unitX() { static const Vector3 v(1, 0, 0); return v; }
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const Vector3& Vector3::unitY() { static const Vector3 v(0, 1, 0); return v; }
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const Vector3& Vector3::unitZ() { static const Vector3 v(0, 0, 1); return v; }
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const Vector3& Vector3::inf() { static const Vector3 v((float)G3D::finf(), (float)G3D::finf(), (float)G3D::finf()); return v; }
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const Vector3& Vector3::nan() { static const Vector3 v((float)G3D::fnan(), (float)G3D::fnan(), (float)G3D::fnan()); return v; }
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const Vector3& Vector3::minFinite(){ static const Vector3 v(-FLT_MAX, -FLT_MAX, -FLT_MAX); return v; }
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const Vector3& Vector3::maxFinite(){ static const Vector3 v(FLT_MAX, FLT_MAX, FLT_MAX); return v; }
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Vector3::Axis Vector3::primaryAxis() const {
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Axis a = X_AXIS;
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double nx = abs(x);
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double ny = abs(y);
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double nz = abs(z);
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if (nx > ny) {
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if (nx > nz) {
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a = X_AXIS;
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} else {
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a = Z_AXIS;
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}
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} else {
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if (ny > nz) {
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a = Y_AXIS;
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} else {
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a = Z_AXIS;
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}
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}
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return a;
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}
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size_t Vector3::hashCode() const {
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const uint32* u = (const uint32*)this;
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return
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HashTrait<uint32>::hashCode(u[0]) ^
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HashTrait<uint32>::hashCode(~u[1]) ^
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HashTrait<uint32>::hashCode((u[2] << 16) | ~(u[2] >> 16));
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}
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std::ostream& operator<<(std::ostream& os, const Vector3& v) {
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return os << v.toString();
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}
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//----------------------------------------------------------------------------
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double frand() {
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return rand() / (double) RAND_MAX;
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}
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Vector3::Vector3(TextInput& t) {
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deserialize(t);
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}
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Vector3::Vector3(BinaryInput& b) {
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deserialize(b);
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}
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Vector3::Vector3(const class Vector3int16& v) {
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x = v.x;
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y = v.y;
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z = v.z;
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}
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void Vector3::deserialize(BinaryInput& b) {
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x = b.readFloat32();
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y = b.readFloat32();
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z = b.readFloat32();
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}
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void Vector3::deserialize(TextInput& t) {
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t.readSymbol("(");
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x = (float)t.readNumber();
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t.readSymbol(",");
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y = (float)t.readNumber();
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t.readSymbol(",");
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z = (float)t.readNumber();
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t.readSymbol(")");
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}
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void Vector3::serialize(TextOutput& t) const {
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t.writeSymbol("(");
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t.writeNumber(x);
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t.writeSymbol(",");
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t.writeNumber(y);
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t.writeSymbol(",");
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t.writeNumber(z);
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t.writeSymbol(")");
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}
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void Vector3::serialize(BinaryOutput& b) const {
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b.writeFloat32(x);
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b.writeFloat32(y);
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b.writeFloat32(z);
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}
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Vector3 Vector3::random(Random& r) {
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Vector3 result;
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r.sphere(result.x, result.y, result.z);
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return result;
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}
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Vector3 Vector3::reflectAbout(const Vector3& normal) const {
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Vector3 out;
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Vector3 N = normal.direction();
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// 2 * normal.dot(this) * normal - this
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return N * 2 * this->dot(N) - *this;
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}
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Vector3 Vector3::cosHemiRandom(const Vector3& normal, Random& r) {
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debugAssertM(G3D::fuzzyEq(normal.length(), 1.0f),
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"cosHemiRandom requires its argument to have unit length");
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float x, y, z;
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r.cosHemi(x, y, z);
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// Make a coordinate system
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const Vector3& Z = normal;
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Vector3 X, Y;
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normal.getTangents(X, Y);
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return
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x * X +
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y * Y +
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z * Z;
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}
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Vector3 Vector3::cosSphereRandom(const Vector3& normal, Random& r) {
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debugAssertM(G3D::fuzzyEq(normal.length(), 1.0f),
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"cosSphereRandom requires its argument to have unit length");
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float x, y, z;
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r.cosSphere(x, y, z);
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// Make a coordinate system
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const Vector3& Z = normal;
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Vector3 X, Y;
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normal.getTangents(X, Y);
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return
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x * X +
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y * Y +
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z * Z;
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}
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Vector3 Vector3::cosPowHemiRandom(const Vector3& normal, const float k, Random& r) {
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debugAssertM(G3D::fuzzyEq(normal.length(), 1.0f),
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"cosPowHemiRandom requires its argument to have unit length");
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float x, y, z;
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r.cosPowHemi(k, x, y, z);
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// Make a coordinate system
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const Vector3& Z = normal;
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Vector3 X, Y;
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normal.getTangents(X, Y);
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return
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x * X +
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y * Y +
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z * Z;
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}
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Vector3 Vector3::hemiRandom(const Vector3& normal, Random& r) {
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const Vector3& V = Vector3::random(r);
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if (V.dot(normal) < 0) {
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return -V;
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} else {
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return V;
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}
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}
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//----------------------------------------------------------------------------
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Vector3 Vector3::reflectionDirection(const Vector3& normal) const {
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return -reflectAbout(normal).direction();
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}
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//----------------------------------------------------------------------------
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Vector3 Vector3::refractionDirection(
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const Vector3& normal,
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float iInside,
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float iOutside) const {
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// From pg. 24 of Henrik Wann Jensen. Realistic Image Synthesis
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// Using Photon Mapping. AK Peters. ISBN: 1568811470. July 2001.
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// Invert the directions from Wann Jensen's formulation
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// and normalize the vectors.
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const Vector3 W = -direction();
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Vector3 N = normal.direction();
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float h1 = iOutside;
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float h2 = iInside;
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if (normal.dot(*this) > 0.0f) {
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h1 = iInside;
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h2 = iOutside;
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N = -N;
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}
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const float hRatio = h1 / h2;
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const float WdotN = W.dot(N);
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float det = 1.0f - (float)square(hRatio) * (1.0f - (float)square(WdotN));
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if (det < 0) {
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// Total internal reflection
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return Vector3::zero();
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} else {
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return -hRatio * (W - WdotN * N) - N * sqrt(det);
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}
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}
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//----------------------------------------------------------------------------
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void Vector3::orthonormalize (Vector3 akVector[3]) {
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// If the input vectors are v0, v1, and v2, then the Gram-Schmidt
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// orthonormalization produces vectors u0, u1, and u2 as follows,
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//
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// u0 = v0/|v0|
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// u1 = (v1-(u0*v1)u0)/|v1-(u0*v1)u0|
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// u2 = (v2-(u0*v2)u0-(u1*v2)u1)/|v2-(u0*v2)u0-(u1*v2)u1|
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//
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// where |A| indicates length of vector A and A*B indicates dot
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// product of vectors A and B.
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// compute u0
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akVector[0] = akVector[0].direction();
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// compute u1
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float fDot0 = akVector[0].dot(akVector[1]);
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akVector[1] -= akVector[0] * fDot0;
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akVector[1] = akVector[1].direction();
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// compute u2
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float fDot1 = akVector[1].dot(akVector[2]);
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fDot0 = akVector[0].dot(akVector[2]);
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akVector[2] -= akVector[0] * fDot0 + akVector[1] * fDot1;
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akVector[2] = akVector[2].direction();
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}
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//----------------------------------------------------------------------------
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std::string Vector3::toString() const {
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return G3D::format("(%g, %g, %g)", x, y, z);
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}
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//----------------------------------------------------------------------------
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Matrix3 Vector3::cross() const {
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return Matrix3( 0, -z, y,
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z, 0, -x,
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-y, x, 0);
|
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}
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void serialize(const Vector3::Axis& a, class BinaryOutput& bo) {
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bo.writeUInt8((uint8)a);
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}
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void deserialize(Vector3::Axis& a, class BinaryInput& bi) {
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a = (Vector3::Axis)bi.readUInt8();
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}
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//----------------------------------------------------------------------------
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// 2-char swizzles
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Vector2 Vector3::xx() const { return Vector2 (x, x); }
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Vector2 Vector3::yx() const { return Vector2 (y, x); }
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Vector2 Vector3::zx() const { return Vector2 (z, x); }
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Vector2 Vector3::xy() const { return Vector2 (x, y); }
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Vector2 Vector3::yy() const { return Vector2 (y, y); }
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Vector2 Vector3::zy() const { return Vector2 (z, y); }
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Vector2 Vector3::xz() const { return Vector2 (x, z); }
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Vector2 Vector3::yz() const { return Vector2 (y, z); }
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||
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Vector2 Vector3::zz() const { return Vector2 (z, z); }
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// 3-char swizzles
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Vector3 Vector3::xxx() const { return Vector3 (x, x, x); }
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Vector3 Vector3::yxx() const { return Vector3 (y, x, x); }
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Vector3 Vector3::zxx() const { return Vector3 (z, x, x); }
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Vector3 Vector3::xyx() const { return Vector3 (x, y, x); }
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||
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Vector3 Vector3::yyx() const { return Vector3 (y, y, x); }
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||
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Vector3 Vector3::zyx() const { return Vector3 (z, y, x); }
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||
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Vector3 Vector3::xzx() const { return Vector3 (x, z, x); }
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||
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Vector3 Vector3::yzx() const { return Vector3 (y, z, x); }
|
||
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Vector3 Vector3::zzx() const { return Vector3 (z, z, x); }
|
||
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Vector3 Vector3::xxy() const { return Vector3 (x, x, y); }
|
||
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Vector3 Vector3::yxy() const { return Vector3 (y, x, y); }
|
||
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Vector3 Vector3::zxy() const { return Vector3 (z, x, y); }
|
||
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Vector3 Vector3::xyy() const { return Vector3 (x, y, y); }
|
||
|
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Vector3 Vector3::yyy() const { return Vector3 (y, y, y); }
|
||
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Vector3 Vector3::zyy() const { return Vector3 (z, y, y); }
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||
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Vector3 Vector3::xzy() const { return Vector3 (x, z, y); }
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||
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Vector3 Vector3::yzy() const { return Vector3 (y, z, y); }
|
||
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Vector3 Vector3::zzy() const { return Vector3 (z, z, y); }
|
||
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Vector3 Vector3::xxz() const { return Vector3 (x, x, z); }
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||
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Vector3 Vector3::yxz() const { return Vector3 (y, x, z); }
|
||
|
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Vector3 Vector3::zxz() const { return Vector3 (z, x, z); }
|
||
|
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Vector3 Vector3::xyz() const { return Vector3 (x, y, z); }
|
||
|
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Vector3 Vector3::yyz() const { return Vector3 (y, y, z); }
|
||
|
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Vector3 Vector3::zyz() const { return Vector3 (z, y, z); }
|
||
|
|
Vector3 Vector3::xzz() const { return Vector3 (x, z, z); }
|
||
|
|
Vector3 Vector3::yzz() const { return Vector3 (y, z, z); }
|
||
|
|
Vector3 Vector3::zzz() const { return Vector3 (z, z, z); }
|
||
|
|
|
||
|
|
// 4-char swizzles
|
||
|
|
|
||
|
|
Vector4 Vector3::xxxx() const { return Vector4 (x, x, x, x); }
|
||
|
|
Vector4 Vector3::yxxx() const { return Vector4 (y, x, x, x); }
|
||
|
|
Vector4 Vector3::zxxx() const { return Vector4 (z, x, x, x); }
|
||
|
|
Vector4 Vector3::xyxx() const { return Vector4 (x, y, x, x); }
|
||
|
|
Vector4 Vector3::yyxx() const { return Vector4 (y, y, x, x); }
|
||
|
|
Vector4 Vector3::zyxx() const { return Vector4 (z, y, x, x); }
|
||
|
|
Vector4 Vector3::xzxx() const { return Vector4 (x, z, x, x); }
|
||
|
|
Vector4 Vector3::yzxx() const { return Vector4 (y, z, x, x); }
|
||
|
|
Vector4 Vector3::zzxx() const { return Vector4 (z, z, x, x); }
|
||
|
|
Vector4 Vector3::xxyx() const { return Vector4 (x, x, y, x); }
|
||
|
|
Vector4 Vector3::yxyx() const { return Vector4 (y, x, y, x); }
|
||
|
|
Vector4 Vector3::zxyx() const { return Vector4 (z, x, y, x); }
|
||
|
|
Vector4 Vector3::xyyx() const { return Vector4 (x, y, y, x); }
|
||
|
|
Vector4 Vector3::yyyx() const { return Vector4 (y, y, y, x); }
|
||
|
|
Vector4 Vector3::zyyx() const { return Vector4 (z, y, y, x); }
|
||
|
|
Vector4 Vector3::xzyx() const { return Vector4 (x, z, y, x); }
|
||
|
|
Vector4 Vector3::yzyx() const { return Vector4 (y, z, y, x); }
|
||
|
|
Vector4 Vector3::zzyx() const { return Vector4 (z, z, y, x); }
|
||
|
|
Vector4 Vector3::xxzx() const { return Vector4 (x, x, z, x); }
|
||
|
|
Vector4 Vector3::yxzx() const { return Vector4 (y, x, z, x); }
|
||
|
|
Vector4 Vector3::zxzx() const { return Vector4 (z, x, z, x); }
|
||
|
|
Vector4 Vector3::xyzx() const { return Vector4 (x, y, z, x); }
|
||
|
|
Vector4 Vector3::yyzx() const { return Vector4 (y, y, z, x); }
|
||
|
|
Vector4 Vector3::zyzx() const { return Vector4 (z, y, z, x); }
|
||
|
|
Vector4 Vector3::xzzx() const { return Vector4 (x, z, z, x); }
|
||
|
|
Vector4 Vector3::yzzx() const { return Vector4 (y, z, z, x); }
|
||
|
|
Vector4 Vector3::zzzx() const { return Vector4 (z, z, z, x); }
|
||
|
|
Vector4 Vector3::xxxy() const { return Vector4 (x, x, x, y); }
|
||
|
|
Vector4 Vector3::yxxy() const { return Vector4 (y, x, x, y); }
|
||
|
|
Vector4 Vector3::zxxy() const { return Vector4 (z, x, x, y); }
|
||
|
|
Vector4 Vector3::xyxy() const { return Vector4 (x, y, x, y); }
|
||
|
|
Vector4 Vector3::yyxy() const { return Vector4 (y, y, x, y); }
|
||
|
|
Vector4 Vector3::zyxy() const { return Vector4 (z, y, x, y); }
|
||
|
|
Vector4 Vector3::xzxy() const { return Vector4 (x, z, x, y); }
|
||
|
|
Vector4 Vector3::yzxy() const { return Vector4 (y, z, x, y); }
|
||
|
|
Vector4 Vector3::zzxy() const { return Vector4 (z, z, x, y); }
|
||
|
|
Vector4 Vector3::xxyy() const { return Vector4 (x, x, y, y); }
|
||
|
|
Vector4 Vector3::yxyy() const { return Vector4 (y, x, y, y); }
|
||
|
|
Vector4 Vector3::zxyy() const { return Vector4 (z, x, y, y); }
|
||
|
|
Vector4 Vector3::xyyy() const { return Vector4 (x, y, y, y); }
|
||
|
|
Vector4 Vector3::yyyy() const { return Vector4 (y, y, y, y); }
|
||
|
|
Vector4 Vector3::zyyy() const { return Vector4 (z, y, y, y); }
|
||
|
|
Vector4 Vector3::xzyy() const { return Vector4 (x, z, y, y); }
|
||
|
|
Vector4 Vector3::yzyy() const { return Vector4 (y, z, y, y); }
|
||
|
|
Vector4 Vector3::zzyy() const { return Vector4 (z, z, y, y); }
|
||
|
|
Vector4 Vector3::xxzy() const { return Vector4 (x, x, z, y); }
|
||
|
|
Vector4 Vector3::yxzy() const { return Vector4 (y, x, z, y); }
|
||
|
|
Vector4 Vector3::zxzy() const { return Vector4 (z, x, z, y); }
|
||
|
|
Vector4 Vector3::xyzy() const { return Vector4 (x, y, z, y); }
|
||
|
|
Vector4 Vector3::yyzy() const { return Vector4 (y, y, z, y); }
|
||
|
|
Vector4 Vector3::zyzy() const { return Vector4 (z, y, z, y); }
|
||
|
|
Vector4 Vector3::xzzy() const { return Vector4 (x, z, z, y); }
|
||
|
|
Vector4 Vector3::yzzy() const { return Vector4 (y, z, z, y); }
|
||
|
|
Vector4 Vector3::zzzy() const { return Vector4 (z, z, z, y); }
|
||
|
|
Vector4 Vector3::xxxz() const { return Vector4 (x, x, x, z); }
|
||
|
|
Vector4 Vector3::yxxz() const { return Vector4 (y, x, x, z); }
|
||
|
|
Vector4 Vector3::zxxz() const { return Vector4 (z, x, x, z); }
|
||
|
|
Vector4 Vector3::xyxz() const { return Vector4 (x, y, x, z); }
|
||
|
|
Vector4 Vector3::yyxz() const { return Vector4 (y, y, x, z); }
|
||
|
|
Vector4 Vector3::zyxz() const { return Vector4 (z, y, x, z); }
|
||
|
|
Vector4 Vector3::xzxz() const { return Vector4 (x, z, x, z); }
|
||
|
|
Vector4 Vector3::yzxz() const { return Vector4 (y, z, x, z); }
|
||
|
|
Vector4 Vector3::zzxz() const { return Vector4 (z, z, x, z); }
|
||
|
|
Vector4 Vector3::xxyz() const { return Vector4 (x, x, y, z); }
|
||
|
|
Vector4 Vector3::yxyz() const { return Vector4 (y, x, y, z); }
|
||
|
|
Vector4 Vector3::zxyz() const { return Vector4 (z, x, y, z); }
|
||
|
|
Vector4 Vector3::xyyz() const { return Vector4 (x, y, y, z); }
|
||
|
|
Vector4 Vector3::yyyz() const { return Vector4 (y, y, y, z); }
|
||
|
|
Vector4 Vector3::zyyz() const { return Vector4 (z, y, y, z); }
|
||
|
|
Vector4 Vector3::xzyz() const { return Vector4 (x, z, y, z); }
|
||
|
|
Vector4 Vector3::yzyz() const { return Vector4 (y, z, y, z); }
|
||
|
|
Vector4 Vector3::zzyz() const { return Vector4 (z, z, y, z); }
|
||
|
|
Vector4 Vector3::xxzz() const { return Vector4 (x, x, z, z); }
|
||
|
|
Vector4 Vector3::yxzz() const { return Vector4 (y, x, z, z); }
|
||
|
|
Vector4 Vector3::zxzz() const { return Vector4 (z, x, z, z); }
|
||
|
|
Vector4 Vector3::xyzz() const { return Vector4 (x, y, z, z); }
|
||
|
|
Vector4 Vector3::yyzz() const { return Vector4 (y, y, z, z); }
|
||
|
|
Vector4 Vector3::zyzz() const { return Vector4 (z, y, z, z); }
|
||
|
|
Vector4 Vector3::xzzz() const { return Vector4 (x, z, z, z); }
|
||
|
|
Vector4 Vector3::yzzz() const { return Vector4 (y, z, z, z); }
|
||
|
|
Vector4 Vector3::zzzz() const { return Vector4 (z, z, z, z); }
|
||
|
|
|
||
|
|
|
||
|
|
void serialize(const Vector3& v, class BinaryOutput& b) {
|
||
|
|
v.serialize(b);
|
||
|
|
}
|
||
|
|
|
||
|
|
void deserialize(Vector3& v, class BinaryInput& b) {
|
||
|
|
v.deserialize(b);
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace
|