305 lines
6.2 KiB
C
305 lines
6.2 KiB
C
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#ifndef __VECTORS
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#define __VECTORS
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typedef struct{
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float x,y;
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} tVector2;
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typedef struct{
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float x,y,z;
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} tVector3;
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typedef float tMatrix3[3][3];
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typedef float tMatrix4[4][4];
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#ifndef PI
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#define PI 3.14159265359
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#endif
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#define kDegreeRadians (2*PI/360.0)
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#define kMatrixTolerance 0.001
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#define MatrixGetXVector(m) ((tVector3*)(m)[0])
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#define MatrixGetYVector(m) ((tVector3*)(m)[1])
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#define MatrixGetZVector(m) ((tVector3*)(m)[2])
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#define MatrixGetPosVector(m) ((tVector3*)(m)[3])
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void MatrixAdd(tMatrix3 x, tMatrix3 y, tMatrix3 m);
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void MatrixAdd(tMatrix4 x, tMatrix4 y, tMatrix4 m);
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void MatrixSub(tMatrix3 x, tMatrix3 y, tMatrix3 m);
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void MatrixSub(tMatrix4 x, tMatrix4 y, tMatrix4 m);
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void MatrixCopy(tMatrix3 src,tMatrix3 dst);
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void MatrixCopy(tMatrix4 src,tMatrix4 dst);
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void MatrixCopy(tMatrix3 src,tMatrix4 dst);
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void MatrixMult(tMatrix3 x, tMatrix3 y, tMatrix3 m);
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void MatrixMult(tMatrix3 x, tMatrix4 y, tMatrix4 m);
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void MatrixMult(tMatrix4 x, tMatrix3 y, tMatrix4 m);
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void MatrixMult(tMatrix4 x, tMatrix4 y, tMatrix4 m);
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void MatrixIdentity(tMatrix3 m);
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void MatrixIdentity(tMatrix4 m);
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void MatrixTranslate(tMatrix4 target, float x, float y, float z);
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void MatrixTranslateVector(tMatrix4 target,tVector3 v);
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void MatrixScale(tMatrix3 target, float x, float y, float z);
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void MatrixScale(tMatrix4 target, float x, float y, float z);
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void MatrixScaleVector(tMatrix3 target,tVector3 v);
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void MatrixScaleVector(tMatrix4 target,tVector3 v);
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void MatrixRotX(tMatrix3 target, float r);
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void MatrixRotX(tMatrix4 target, float r);
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void MatrixRotY(tMatrix3 target, float r);
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void MatrixRotY(tMatrix4 target, float r);
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void MatrixRotZ(tMatrix3 target, float r);
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void MatrixRotZ(tMatrix4 target, float r);
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void MatrixTranspose(tMatrix3 x,tMatrix3 dst);
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void MatrixTranspose(tMatrix4 x,tMatrix4 dst);
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int MatrixVerify(tMatrix3 m);
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int MatrixVerify(tMatrix4 m);
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void MatrixReAdjust(tMatrix3 m);
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void MatrixReAdjust(tMatrix4 m);
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void RotationVectorToMatrix(tVector3 axis,tMatrix3 mat);
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void RotationVectorToMatrix(tVector3 axis,tMatrix4 mat);
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void EulerAnglesToMatrix(tVector3 euler,tMatrix3 dst);
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void EulerAnglesToMatrix(tVector3 euler,tMatrix4 dst);
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tVector3 MatrixToEulerAngles(tMatrix3 m);
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tVector3 MatrixToEulerAngles(tMatrix4 m);
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//returns the vector (x,y)
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inline tVector2 Vector(float x,float y)
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{
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tVector2 v;
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v.x=x;
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v.y=y;
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return v;
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}
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//returns the vector (x,y,z)
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inline tVector3 Vector(float x,float y,float z)
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{
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tVector3 v;
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v.x=x;
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v.y=y;
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v.z=z;
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return v;
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}
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int VectorZero(tVector2 v);
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int VectorZero(tVector3 v);
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int VectorEqual(tVector3 a,tVector3 b);
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int VectorEqual(tVector2 a,tVector2 b);
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//add two vectors
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inline tVector2 operator +(tVector2 a,tVector2 b)
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{
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tVector2 v;
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v.x=a.x+b.x;
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v.y=a.y+b.y;
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return v;
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}
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inline tVector3 operator +(tVector3 a,tVector3 b)
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{
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tVector3 v;
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v.x=a.x+b.x;
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v.y=a.y+b.y;
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v.z=a.z+b.z;
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return v;
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}
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//subtracts two vectors
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inline tVector2 operator -(tVector2 a,tVector2 b)
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{
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tVector2 v;
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v.x=a.x-b.x;
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v.y=a.y-b.y;
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return v;
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}
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inline tVector3 operator -(tVector3 a,tVector3 b)
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{
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tVector3 v;
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v.x=a.x-b.x;
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v.y=a.y-b.y;
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v.z=a.z-b.z;
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return v;
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}
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//returns the additive inverse of a vector
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inline tVector2 operator -(tVector2 v)
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{
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tVector2 w;
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w.x=-v.x;
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w.y=-v.y;
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return w;
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}
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inline tVector3 operator -(tVector3 v)
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{
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tVector3 w;
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w.x=-v.x;
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w.y=-v.y;
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w.z=-v.z;
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return w;
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}
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inline tVector2 operator *(float s, tVector2 v)
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{
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tVector2 w;
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w.x=v.x*s;
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w.y=v.y*s;
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return w;
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}
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inline tVector3 operator *(float s, tVector3 v)
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{
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tVector3 w;
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w.x=v.x*s;
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w.y=v.y*s;
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w.z=v.z*s;
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return w;
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}
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inline tVector2 operator *(tVector2 v,float s)
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{
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tVector2 w;
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w.x=v.x*s;
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w.y=v.y*s;
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return w;
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}
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inline tVector3 operator *(tVector3 v,float s)
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{
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tVector3 w;
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w.x=v.x*s;
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w.y=v.y*s;
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w.z=v.z*s;
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return w;
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}
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/*
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tVector3 operator *(tVector3 v,tMatrix4 m);
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tVector3 operator *(tVector3 v,tMatrix3 m);
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tVector3 operator *(tMatrix4 m,tVector3 v);
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tVector3 operator *(tMatrix3 m,tVector3 v);
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tVector2 operator /(tVector2 v,float s);
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tVector3 operator /(tVector3 v,float s);
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*/
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//the dot product of two vectors
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inline float operator *(tVector2 a,tVector2 b)
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{
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return a.x*b.x+a.y*b.y;
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}
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inline float operator *(tVector3 a,tVector3 b)
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{
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return a.x*b.x+a.y*b.y+a.z*b.z;
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}
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//i know the overloading operators with operations that do not relate
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//to the operator's original meaning is considered bad programming.
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//however, imho, once one has adopted these conventions, complex vector
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//code becomes much more readable.
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//the cross product of two vectors
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inline tVector3 operator %(tVector3 a,tVector3 b)
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{
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return Vector(
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a.y*b.z-b.y*a.z,
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a.z*b.x-b.z*a.x,
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a.x*b.y-b.x*a.y
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);
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}
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//the absolute value of a vector
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inline float operator ~(tVector2 v)
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{
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return sqrt(v.x*v.x+v.y*v.y);
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}
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inline float operator ~(tVector3 v)
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{
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return sqrt(v.x*v.x+v.y*v.y+v.z*v.z);
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}
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//the normalized form of a vector
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inline tVector2 operator !(tVector2 v)
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{
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float val=~v;
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return val>0.0?((1/val)*v):Vector(0,0);
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}
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inline tVector3 operator !(tVector3 v)
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{
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float val=~v;
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return val>0.0?((1/val)*v):Vector(0,0,0);
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}
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//x*x
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inline float sqr(float x)
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{
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return x*x;
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}
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inline float sqr(tVector2 x)
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{
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return x*x;
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}
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inline float sqr(tVector3 x)
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{
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return x*x;
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}
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//multiplies a vector by a matrix
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inline tVector3 operator *(tVector3 v,tMatrix4 m)
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{
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return Vector(
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v.x*m[0][0]+v.y*m[1][0]+v.z*m[2][0]+m[3][0],
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v.x*m[0][1]+v.y*m[1][1]+v.z*m[2][1]+m[3][1],
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v.x*m[0][2]+v.y*m[1][2]+v.z*m[2][2]+m[3][2]
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);
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}
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inline tVector3 operator *(tVector3 v,tMatrix3 m)
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{
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return Vector(
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v.x*m[0][0]+v.y*m[1][0]+v.z*m[2][0],
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v.x*m[0][1]+v.y*m[1][1]+v.z*m[2][1],
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v.x*m[0][2]+v.y*m[1][2]+v.z*m[2][2]
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);
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}
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inline tVector3 operator *(tMatrix4 m,tVector3 v)
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{
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return Vector(
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v.x*m[0][0]+v.y*m[1][0]+v.z*m[2][0]+m[3][0],
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v.x*m[0][1]+v.y*m[1][1]+v.z*m[2][1]+m[3][1],
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v.x*m[0][2]+v.y*m[1][2]+v.z*m[2][2]+m[3][2]
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);
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}
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inline tVector3 operator *(tMatrix3 m,tVector3 v)
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{
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return Vector(
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v.x*m[0][0]+v.y*m[1][0]+v.z*m[2][0],
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v.x*m[0][1]+v.y*m[1][1]+v.z*m[2][1],
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v.x*m[0][2]+v.y*m[1][2]+v.z*m[2][2]
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);
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}
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//multiplies a vector by 1/scalar
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inline tVector2 operator /(tVector2 v,float s)
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{
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return Vector(v.x/s,v.y/s);
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}
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inline tVector3 operator /(tVector3 v,float s)
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{
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return Vector(v.x/s,v.y/s,v.z/s);
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}
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#define sign(x) ((x)<0?-1:1)
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#endif
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