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using namespace std;
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using namespace std;
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namespace CGLA {
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namespace CGLA {
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	template<class T, class V>
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  template<class T, class V>
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	void ArithVec3Float<T,V>::get_spherical(T &theta, T &phi, T &rlen ) const
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  void ArithVec3Float<T,V>::get_spherical(T &theta, T &phi, T &rlen ) const
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	{
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  {
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		rlen = length();
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    rlen = length();
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		theta = acos((*this)[2]/rlen);
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    theta = acos((*this)[2]/rlen);
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		if ((*this)[0]>0)
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    if ((*this)[0]>0)
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			phi = atan((*this)[1]/(*this)[0]);
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      phi = atan((*this)[1]/(*this)[0]);
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		else
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    else
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			if ((*this)[0]<0)
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      if ((*this)[0]<0)
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				phi = atan((*this)[1]/(*this)[0]) + M_PI;
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	phi = atan((*this)[1]/(*this)[0]) + M_PI;
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			else
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      else
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				phi = ((*this)[1]>0) ? M_PI_2 : -1 * M_PI_2;
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	phi = ((*this)[1]>0) ? M_PI_2 : -1 * M_PI_2;
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	}
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  }
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	template<class T, class V>
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  template<class T, class V>
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	void ArithVec3Float<T,V>::set_spherical(T theta, T phi, T rlen )
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  void ArithVec3Float<T,V>::set_spherical(T theta, T phi, T rlen )
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	{
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  {
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		(*this)[0] = rlen * sin(theta) * cos(phi);
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    (*this)[0] = rlen * sin(theta) * cos(phi);
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		(*this)[1] = rlen * sin(theta) * sin(phi);
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    (*this)[1] = rlen * sin(theta) * sin(phi);
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		(*this)[2] = rlen * cos(theta);
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    (*this)[2] = rlen * cos(theta);
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	}
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  }
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	template<class T, class V>
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  template<class T, class V>
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	void orthogonal(const ArithVec3Float<T,V>& _a,
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  void orthogonal(const ArithVec3Float<T,V>& _a,
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									ArithVec3Float<T,V>& b,
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		  ArithVec3Float<T,V>& b,
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									ArithVec3Float<T,V>& c)
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		  ArithVec3Float<T,V>& c)
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	{
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  {
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		V a = normalize(_a);
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    V a = normalize(_a);
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		T max_sqval=sqr(a[0]);
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    T max_sqval=sqr(a[0]);
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		int mi=0;
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    int mi=0;
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		for(int i=1;i<3;i++)
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    for(int i=1;i<3;i++)
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			{
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      {
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				float sqval = sqr(a[i]);
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	T sqval = sqr(a[i]);
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				if(max_sqval<sqval)
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	if(max_sqval<sqval)
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					{
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	  {
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						max_sqval = sqval;
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	    max_sqval = sqval;
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						mi = i;
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	    mi = i;
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					}
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	  }
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			}
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      }
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		b[mi] = 0;
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    b[mi] = 0;
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		b[(mi+1)%3] = 1;
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    b[(mi+1)%3] = 1;
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		b[(mi+2)%3] = 0;
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    b[(mi+2)%3] = 0;
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		b = normalize(b-a*dot(b,a));
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    b = normalize(b-a*dot(b,a));
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		c = normalize(cross(a,b));
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    c = normalize(cross(a,b));
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		if(dot(cross(b,c), a) < 0) swap(b,c);
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    if(dot(cross(b,c), a) < 0) swap(b,c);
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	}
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  }
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	template class ArithVec3Float<float, Vec3f>;
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  template class ArithVec3Float<float, Vec3f>;
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	template void orthogonal<float,Vec3f>(const ArithVec3Float<float,Vec3f>& a,
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  template void orthogonal<float,Vec3f>(const ArithVec3Float<float,Vec3f>& a,
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																				ArithVec3Float<float,Vec3f>& b,
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					ArithVec3Float<float,Vec3f>& b,
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																				ArithVec3Float<float,Vec3f>& c);
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					ArithVec3Float<float,Vec3f>& c);
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	template class ArithVec3Float<double, Vec3d>;
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  template class ArithVec3Float<double, Vec3d>;
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	template void orthogonal<double,Vec3d>(const ArithVec3Float<double,Vec3d>& a,
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  template void orthogonal<double,Vec3d>(const ArithVec3Float<double,Vec3d>& a,
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																				 ArithVec3Float<double,Vec3d>& b,
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					 ArithVec3Float<double,Vec3d>& b,
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																				 ArithVec3Float<double,Vec3d>& c);
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					 ArithVec3Float<double,Vec3d>& c);
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}
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}