231 lines
7.9 KiB
C
231 lines
7.9 KiB
C
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/*************************************************************************/
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/* matrix3.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef MATRIX3_H
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#define MATRIX3_H
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#include "vector3.h"
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#include "quat.h"
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/**
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@author Juan Linietsky <reduzio@gmail.com>
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*/
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class Matrix3 {
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public:
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Vector3 elements[3];
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_FORCE_INLINE_ const Vector3& operator[](int axis) const {
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return elements[axis];
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}
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_FORCE_INLINE_ Vector3& operator[](int axis) {
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return elements[axis];
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}
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void invert();
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void transpose();
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Matrix3 inverse() const;
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Matrix3 transposed() const;
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_FORCE_INLINE_ float determinant() const;
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void from_z(const Vector3& p_z);
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_FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
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// get actual basis axis (elements is transposed for performance)
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return Vector3( elements[0][p_axis], elements[1][p_axis], elements[2][p_axis] );
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}
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_FORCE_INLINE_ void set_axis(int p_axis, const Vector3& p_value) {
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// get actual basis axis (elements is transposed for performance)
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elements[0][p_axis]=p_value.x;
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elements[1][p_axis]=p_value.y;
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elements[2][p_axis]=p_value.z;
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}
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void rotate(const Vector3& p_axis, real_t p_phi);
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Matrix3 rotated(const Vector3& p_axis, real_t p_phi) const;
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void scale( const Vector3& p_scale );
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Matrix3 scaled( const Vector3& p_scale ) const;
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Vector3 get_scale() const;
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Vector3 get_euler() const;
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void set_euler(const Vector3& p_euler);
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// transposed dot products
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_FORCE_INLINE_ real_t tdotx(const Vector3& v) const {
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return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
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}
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_FORCE_INLINE_ real_t tdoty(const Vector3& v) const {
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return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2];
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}
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_FORCE_INLINE_ real_t tdotz(const Vector3& v) const {
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return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2];
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}
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bool operator==(const Matrix3& p_matrix) const;
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bool operator!=(const Matrix3& p_matrix) const;
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_FORCE_INLINE_ Vector3 xform(const Vector3& p_vector) const;
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_FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const;
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_FORCE_INLINE_ void operator*=(const Matrix3& p_matrix);
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_FORCE_INLINE_ Matrix3 operator*(const Matrix3& p_matrix) const;
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int get_orthogonal_index() const;
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void set_orthogonal_index(int p_index);
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operator String() const;
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void get_axis_and_angle(Vector3 &r_axis,real_t& r_angle) const;
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/* create / set */
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_FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
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elements[0][0]=xx;
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elements[0][1]=xy;
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elements[0][2]=xz;
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elements[1][0]=yx;
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elements[1][1]=yy;
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elements[1][2]=yz;
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elements[2][0]=zx;
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elements[2][1]=zy;
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elements[2][2]=zz;
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}
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_FORCE_INLINE_ Vector3 get_column(int i) const {
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return Vector3(elements[0][i],elements[1][i],elements[2][i]);
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}
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_FORCE_INLINE_ Vector3 get_row(int i) const {
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return Vector3(elements[i][0],elements[i][1],elements[i][2]);
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}
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_FORCE_INLINE_ void set_row(int i, const Vector3& p_row) {
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elements[i][0]=p_row.x;
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elements[i][1]=p_row.y;
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elements[i][2]=p_row.z;
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}
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_FORCE_INLINE_ void set_zero() {
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elements[0].zero();
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elements[1].zero();
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elements[2].zero();
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}
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_FORCE_INLINE_ Matrix3 transpose_xform(const Matrix3& m) const
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{
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return Matrix3(
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elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
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elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
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elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
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elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
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elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
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elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
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elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
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elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
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elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
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}
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Matrix3(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
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set(xx, xy, xz, yx, yy, yz, zx, zy, zz);
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}
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void orthonormalize();
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Matrix3 orthonormalized() const;
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operator Quat() const;
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Matrix3(const Quat& p_quat); // euler
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Matrix3(const Vector3& p_euler); // euler
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Matrix3(const Vector3& p_axis, real_t p_phi);
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_FORCE_INLINE_ Matrix3() {
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elements[0][0]=1;
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elements[0][1]=0;
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elements[0][2]=0;
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elements[1][0]=0;
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elements[1][1]=1;
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elements[1][2]=0;
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elements[2][0]=0;
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elements[2][1]=0;
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elements[2][2]=1;
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}
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};
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_FORCE_INLINE_ void Matrix3::operator*=(const Matrix3& p_matrix) {
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set(
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p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
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p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
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p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
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}
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_FORCE_INLINE_ Matrix3 Matrix3::operator*(const Matrix3& p_matrix) const {
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return Matrix3(
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p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
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p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
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p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]) );
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}
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Vector3 Matrix3::xform(const Vector3& p_vector) const {
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return Vector3(
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elements[0].dot(p_vector),
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elements[1].dot(p_vector),
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elements[2].dot(p_vector)
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);
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}
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Vector3 Matrix3::xform_inv(const Vector3& p_vector) const {
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return Vector3(
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(elements[0][0]*p_vector.x ) + ( elements[1][0]*p_vector.y ) + ( elements[2][0]*p_vector.z ),
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(elements[0][1]*p_vector.x ) + ( elements[1][1]*p_vector.y ) + ( elements[2][1]*p_vector.z ),
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(elements[0][2]*p_vector.x ) + ( elements[1][2]*p_vector.y ) + ( elements[2][2]*p_vector.z )
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);
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}
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float Matrix3::determinant() const {
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return elements[0][0]*(elements[1][1]*elements[2][2] - elements[2][1]*elements[1][2]) -
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elements[1][0]*(elements[0][1]*elements[2][2] - elements[2][1]*elements[0][2]) +
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elements[2][0]*(elements[0][1]*elements[1][2] - elements[1][1]*elements[0][2]);
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}
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#endif
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