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+/*
+---------------------------------------------------------------------------
+Open Asset Import Library (assimp)
+---------------------------------------------------------------------------
+
+Copyright (c) 2006-2022, assimp team
+
+All rights reserved.
+
+Redistribution and use of this software in source and binary forms,
+with or without modification, are permitted provided that the following
+conditions are met:
+
+* Redistributions of source code must retain the above
+ copyright notice, this list of conditions and the
+ following disclaimer.
+
+* 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.
+
+* Neither the name of the assimp team, nor the names of its
+ contributors may be used to endorse or promote products
+ derived from this software without specific prior
+ written permission of the assimp team.
+
+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 COPYRIGHT
+OWNER 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.
+---------------------------------------------------------------------------
+*/
+
+/** @file vector3.inl
+ * @brief Inline implementation of aiVector3t<TReal> operators
+ */
+#pragma once
+#ifndef AI_VECTOR3D_INL_INC
+#define AI_VECTOR3D_INL_INC
+
+#ifdef __cplusplus
+#include <assimp/vector3.h>
+
+#include <cmath>
+
+// ------------------------------------------------------------------------------------------------
+/** Transformation of a vector by a 3x3 matrix */
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator * (const aiMatrix3x3t<TReal>& pMatrix, const aiVector3t<TReal>& pVector) {
+ aiVector3t<TReal> res;
+ res.x = pMatrix.a1 * pVector.x + pMatrix.a2 * pVector.y + pMatrix.a3 * pVector.z;
+ res.y = pMatrix.b1 * pVector.x + pMatrix.b2 * pVector.y + pMatrix.b3 * pVector.z;
+ res.z = pMatrix.c1 * pVector.x + pMatrix.c2 * pVector.y + pMatrix.c3 * pVector.z;
+ return res;
+}
+
+// ------------------------------------------------------------------------------------------------
+/** Transformation of a vector by a 4x4 matrix */
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator * (const aiMatrix4x4t<TReal>& pMatrix, const aiVector3t<TReal>& pVector) {
+ aiVector3t<TReal> res;
+ res.x = pMatrix.a1 * pVector.x + pMatrix.a2 * pVector.y + pMatrix.a3 * pVector.z + pMatrix.a4;
+ res.y = pMatrix.b1 * pVector.x + pMatrix.b2 * pVector.y + pMatrix.b3 * pVector.z + pMatrix.b4;
+ res.z = pMatrix.c1 * pVector.x + pMatrix.c2 * pVector.y + pMatrix.c3 * pVector.z + pMatrix.c4;
+ return res;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+template <typename TOther>
+aiVector3t<TReal>::operator aiVector3t<TOther> () const {
+ return aiVector3t<TOther>(static_cast<TOther>(x),static_cast<TOther>(y),static_cast<TOther>(z));
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE void aiVector3t<TReal>::Set( TReal pX, TReal pY, TReal pZ) {
+ x = pX;
+ y = pY;
+ z = pZ;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE TReal aiVector3t<TReal>::SquareLength() const {
+ return x*x + y*y + z*z;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE TReal aiVector3t<TReal>::Length() const {
+ return std::sqrt( SquareLength());
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+ aiVector3t<TReal>& aiVector3t<TReal>::Normalize() {
+ const TReal l = Length();
+ if (l == 0) {
+ return *this;
+ }
+ *this /= Length();
+
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal>& aiVector3t<TReal>::NormalizeSafe() {
+ TReal len = Length();
+ if ( len > static_cast< TReal >( 0 ) ) {
+ *this /= len;
+ }
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE const aiVector3t<TReal>& aiVector3t<TReal>::operator += (const aiVector3t<TReal>& o) {
+ x += o.x;
+ y += o.y;
+ z += o.z;
+
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE const aiVector3t<TReal>& aiVector3t<TReal>::operator -= (const aiVector3t<TReal>& o) {
+ x -= o.x;
+ y -= o.y;
+ z -= o.z;
+
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE const aiVector3t<TReal>& aiVector3t<TReal>::operator *= (TReal f) {
+ x *= f;
+ y *= f;
+ z *= f;
+
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE const aiVector3t<TReal>& aiVector3t<TReal>::operator /= (TReal f) {
+ if ( f == static_cast<TReal>(0.0)) {
+ return *this;
+ }
+ const TReal invF = (TReal) 1.0 / f;
+ x *= invF;
+ y *= invF;
+ z *= invF;
+
+ return *this;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal>& aiVector3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& mat){
+ return (*this = mat * (*this));
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal>& aiVector3t<TReal>::operator *= (const aiMatrix4x4t<TReal>& mat){
+ return (*this = mat * (*this));
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE TReal aiVector3t<TReal>::operator[](unsigned int i) const {
+ switch (i) {
+ case 0:
+ return x;
+ case 1:
+ return y;
+ case 2:
+ return z;
+ default:
+ break;
+ }
+ return x;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE TReal& aiVector3t<TReal>::operator[](unsigned int i) {
+ switch (i) {
+ case 0:
+ return x;
+ case 1:
+ return y;
+ case 2:
+ return z;
+ default:
+ break;
+ }
+ return x;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE bool aiVector3t<TReal>::operator== (const aiVector3t<TReal>& other) const {
+ return x == other.x && y == other.y && z == other.z;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE bool aiVector3t<TReal>::operator!= (const aiVector3t<TReal>& other) const {
+ return x != other.x || y != other.y || z != other.z;
+}
+// ---------------------------------------------------------------------------
+template<typename TReal>
+AI_FORCE_INLINE bool aiVector3t<TReal>::Equal(const aiVector3t<TReal>& other, TReal epsilon) const {
+ return
+ std::abs(x - other.x) <= epsilon &&
+ std::abs(y - other.y) <= epsilon &&
+ std::abs(z - other.z) <= epsilon;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE bool aiVector3t<TReal>::operator < (const aiVector3t<TReal>& other) const {
+ return x != other.x ? x < other.x : y != other.y ? y < other.y : z < other.z;
+}
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE const aiVector3t<TReal> aiVector3t<TReal>::SymMul(const aiVector3t<TReal>& o) {
+ return aiVector3t<TReal>(x*o.x,y*o.y,z*o.z);
+}
+// ------------------------------------------------------------------------------------------------
+// symmetric addition
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator + (const aiVector3t<TReal>& v1, const aiVector3t<TReal>& v2) {
+ return aiVector3t<TReal>( v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
+}
+// ------------------------------------------------------------------------------------------------
+// symmetric subtraction
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator - (const aiVector3t<TReal>& v1, const aiVector3t<TReal>& v2) {
+ return aiVector3t<TReal>( v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
+}
+// ------------------------------------------------------------------------------------------------
+// scalar product
+template <typename TReal>
+AI_FORCE_INLINE TReal operator * (const aiVector3t<TReal>& v1, const aiVector3t<TReal>& v2) {
+ return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z;
+}
+// ------------------------------------------------------------------------------------------------
+// scalar multiplication
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator * ( TReal f, const aiVector3t<TReal>& v) {
+ return aiVector3t<TReal>( f*v.x, f*v.y, f*v.z);
+}
+// ------------------------------------------------------------------------------------------------
+// and the other way around
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator * ( const aiVector3t<TReal>& v, TReal f) {
+ return aiVector3t<TReal>( f*v.x, f*v.y, f*v.z);
+}
+// ------------------------------------------------------------------------------------------------
+// scalar division
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator / ( const aiVector3t<TReal>& v, TReal f) {
+ return v * (1/f);
+}
+// ------------------------------------------------------------------------------------------------
+// vector division
+template <typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator / ( const aiVector3t<TReal>& v, const aiVector3t<TReal>& v2) {
+ return aiVector3t<TReal>(v.x / v2.x,v.y / v2.y,v.z / v2.z);
+}
+// ------------------------------------------------------------------------------------------------
+// cross product
+template<typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator ^ ( const aiVector3t<TReal>& v1, const aiVector3t<TReal>& v2) {
+ return aiVector3t<TReal>( v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x);
+}
+// ------------------------------------------------------------------------------------------------
+// vector negation
+template<typename TReal>
+AI_FORCE_INLINE aiVector3t<TReal> operator - ( const aiVector3t<TReal>& v) {
+ return aiVector3t<TReal>( -v.x, -v.y, -v.z);
+}
+
+// ------------------------------------------------------------------------------------------------
+
+#endif // __cplusplus
+#endif // AI_VECTOR3D_INL_INC
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