1 files changed, 47 insertions, 0 deletions
diff --git a/include/astra/cuda/3d/util3d.h b/include/astra/cuda/3d/util3d.h
index 0146d2d..200abfc 100644
--- a/include/astra/cuda/3d/util3d.h
+++ b/include/astra/cuda/3d/util3d.h
@@ -64,6 +64,53 @@ float dotProduct3D(cudaPitchedPtr data, unsigned int x, unsigned int y, unsigned
 
 int calcNextPowerOfTwo(int _iValue);
 
+struct Vec3 {
+	double x;
+	double y;
+	double z;
+	Vec3(double x_, double y_, double z_) : x(x_), y(y_), z(z_) { }
+	Vec3 operator+(const Vec3 &b) const {
+		return Vec3(x + b.x, y + b.y, z + b.z);
+	}
+	Vec3 operator-(const Vec3 &b) const {
+		return Vec3(x - b.x, y - b.y, z - b.z);
+	}
+	Vec3 operator-() const {
+		return Vec3(-x, -y, -z);
+	}
+	double norm() const {
+		return sqrt(x*x + y*y + z*z);
+	}
+};
+
+static double det3x(const Vec3 &b, const Vec3 &c) {
+	return (b.y * c.z - b.z * c.y);
+}
+static double det3y(const Vec3 &b, const Vec3 &c) {
+	return -(b.x * c.z - b.z * c.x);
+}
+
+static double det3z(const Vec3 &b, const Vec3 &c) {
+	return (b.x * c.y - b.y * c.x);
+}
+
+static double det3(const Vec3 &a, const Vec3 &b, const Vec3 &c) {
+	return a.x * det3x(b,c) + a.y * det3y(b,c) + a.z * det3z(b,c);
+}
+
+static Vec3 cross3(const Vec3 &a, const Vec3 &b) {
+	return Vec3(det3x(a,b), det3y(a,b), det3z(a,b));
+}
+
+static Vec3 scaled_cross3(const Vec3 &a, const Vec3 &b, const Vec3 &sc) {
+	Vec3 ret = cross3(a, b);
+	ret.x *= sc.y * sc.z;
+	ret.y *= sc.x * sc.z;
+	ret.z *= sc.x * sc.y;
+	return ret;
+}
+
+
 }
 
 #endif