IMatrix3 IMatrix3::operator * (const IMatrix3& m) const
{
const IVector3& mc0 = m.getColumn(0);
const IVector3& mc1 = m.getColumn(1);
const IVector3& mc2 = m.getColumn(2);
return IMatrix3(IVector3(v_[0].dot(mc0), v_[0].dot(mc1), v_[0].dot(mc2)),
IVector3(v_[1].dot(mc0), v_[1].dot(mc1), v_[1].dot(mc2)),
IVector3(v_[2].dot(mc0), v_[2].dot(mc1), v_[2].dot(mc2)));
}
IVector3 IVector3::cross(const IVector3& other) const
{
return IVector3(i_[1] * other.i_[2] - i_[2] * other.i_[1],
i_[2] * other.i_[0] - i_[0] * other.i_[2],
i_[0] * other.i_[1] - i_[1] * other.i_[0]);
}
IVector3 IVector3::operator - (const IVector3& other) const
{
return IVector3(i_[0] - other.i_[0], i_[1] - other.i_[1], i_[2] - other.i_[2]);
}
IVector3 IVector3::operator + (const IVector3& other) const
{
return IVector3(i_[0] + other.i_[0], i_[1] + other.i_[1], i_[2] + other.i_[2]);
}
IVector3 IVector3::cross(const Vec3f& other) const
{
return IVector3(i_[1] * other[2] - i_[2] * other[1],
i_[2] * other[0] - i_[0] * other[2],
i_[0] * other[1] - i_[1] * other[0]);
}
IVector3 TVector3::getTightBound(FCL_REAL l, FCL_REAL r) const
{
return IVector3(i_[0].getTightBound(l, r), i_[1].getTightBound(l, r), i_[2].getTightBound(l, r));
}
IVector3 TVector3::getTightBound() const
{
return IVector3(i_[0].getTightBound(), i_[1].getTightBound(), i_[2].getTightBound());
}
IVector3 TVector3::getBound(FCL_REAL t) const
{
return IVector3(i_[0].getBound(t), i_[1].getBound(t), i_[2].getBound(t));
}
IVector3 IMatrix3::getColumn(size_t i) const
{
return IVector3(v_[0][i], v_[1][i], v_[2][i]);
}
IVector3 IMatrix3::operator * (const IVector3& v) const
{
return IVector3(v_[0].dot(v), v_[1].dot(v), v_[2].dot(v));
}
