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package robotrace;
/**
* Represents a 3D vector (immutable).
*/
public class Vector {
// Origin and axis vectors.
public final static Vector O = new Vector(0, 0, 0);
public final static Vector X = new Vector(1, 0, 0);
public final static Vector Y = new Vector(0, 1, 0);
public final static Vector Z = new Vector(0, 0, 1);
// Components.
protected double x, y, z;
/**
* Construct from components.
*/
public Vector(double x, double y, double z) {
this.x = x;
this.y = y;
this.z = z;
}
/**
* Get X component.
*/
public double x() {
return x;
}
/**
* Get Y component.
*/
public double y() {
return y;
}
/**
* Get Z component.
*/
public double z() {
return z;
}
/**
* Euclidian length squared.
*/
public double lengthSqr() {
return x * x + y * y + z * z;
}
/**
* Euclidian length.
*/
public double length() {
return Math.sqrt(x * x + y * y + z * z);
}
/**
* Normalized vector, which is not defined for
* a vector of zero length.
*/
public Vector normalized() {
double length = length();
return new Vector(x / length, y / length, z / length);
}
/**
* Dot product with the given vector.
*/
public double dot(Vector that) {
return this.x * that.x +
this.y * that.y +
this.z * that.z;
}
/**
* Cross product with the given vector.
*/
public Vector cross(Vector that) {
return new Vector(this.y * that.z - this.z * that.y,
this.z * that.x - this.x * that.z,
this.x * that.y - this.y * that.x);
}
/**
* Add with the given vector.
*/
public Vector add(Vector that) {
return new Vector(this.x + that.x,
this.y + that.y,
this.z + that.z);
}
/**
* Subtract by the given vector.
*/
public Vector subtract(Vector that) {
return new Vector(this.x - that.x,
this.y - that.y,
this.z - that.z);
}
/**
* Multiply with the given scalar.
*/
public Vector scale(double scalar) {
return new Vector(scalar * this.x,
scalar * this.y,
scalar * this.z);
}
/**
* String representation.
*/
@Override
public String toString() {
return "(" + x + "," + y + "," + z + ")";
}
}
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