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17 lines
453 B
Python
17 lines
453 B
Python
import torch
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def normalize(v: torch.Tensor) -> torch.Tensor:
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return v / torch.linalg.norm(v, dim=-1, keepdim=True)
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def cross_product(v1: torch.Tensor, v2: torch.Tensor) -> torch.Tensor:
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return torch.stack(
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[
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v1[..., 1] * v2[..., 2] - v2[..., 1] * v1[..., 2],
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-(v1[..., 0] * v2[..., 2] - v2[..., 0] * v1[..., 2]),
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v1[..., 0] * v2[..., 1] - v2[..., 0] * v1[..., 1],
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],
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dim=-1,
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)
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