Function cross

utils/cpp_utils/include/segmentator.h:99–104

vec3f cross(const vec3f& u, const vec3f& v) {
    vec3f c = { u.y * v.z - u.z * v.y, u.z * v.x - u.x * v.z, u.x * v.y - u.y * v.x };
    float n = sqrtf(c.x * c.x + c.y * c.y + c.z * c.z);
    c.x /= n;  c.y /= n;  c.z /= n;
    return c;
}
vec3f lerp(const vec3f& a, const vec3f& b, const float v) {
    const float u = 1.0f - v;
    return vec3f(v * b.x + u * a.x, v * b.y + u * a.y, v * b.z + u * a.z);