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afebd7e1e5
Don't include the lazy precompiled.h everywhere, only what's required for the compilation unit. platform.h needs to be included instead to provide all essential defines and types. All includes use the relative path to the neo or the game specific root. Move all idlib related includes from idlib/Lib.h to precompiled.h. precompiled.h still exists for the MFC stuff in tools/. Add some missing header guards.
370 lines
10 KiB
C++
370 lines
10 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#ifndef __MATH_PLUECKER_H__
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#define __MATH_PLUECKER_H__
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#include "idlib/math/Vector.h"
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/*
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===============================================================================
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Pluecker coordinate
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===============================================================================
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*/
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class idPluecker {
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public:
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idPluecker( void );
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explicit idPluecker( const float *a );
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explicit idPluecker( const idVec3 &start, const idVec3 &end );
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explicit idPluecker( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
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float operator[]( const int index ) const;
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float & operator[]( const int index );
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idPluecker operator-() const; // flips the direction
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idPluecker operator*( const float a ) const;
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idPluecker operator/( const float a ) const;
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float operator*( const idPluecker &a ) const; // permuted inner product
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idPluecker operator-( const idPluecker &a ) const;
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idPluecker operator+( const idPluecker &a ) const;
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idPluecker & operator*=( const float a );
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idPluecker & operator/=( const float a );
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idPluecker & operator+=( const idPluecker &a );
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idPluecker & operator-=( const idPluecker &a );
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bool Compare( const idPluecker &a ) const; // exact compare, no epsilon
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bool Compare( const idPluecker &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idPluecker &a ) const; // exact compare, no epsilon
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bool operator!=( const idPluecker &a ) const; // exact compare, no epsilon
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void Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
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void Zero( void );
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void FromLine( const idVec3 &start, const idVec3 &end ); // pluecker from line
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void FromRay( const idVec3 &start, const idVec3 &dir ); // pluecker from ray
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bool FromPlanes( const idPlane &p1, const idPlane &p2 ); // pluecker from intersection of planes
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bool ToLine( idVec3 &start, idVec3 &end ) const; // pluecker to line
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bool ToRay( idVec3 &start, idVec3 &dir ) const; // pluecker to ray
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void ToDir( idVec3 &dir ) const; // pluecker to direction
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float PermutedInnerProduct( const idPluecker &a ) const; // pluecker permuted inner product
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float Distance3DSqr( const idPluecker &a ) const; // pluecker line distance
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float Length( void ) const; // pluecker length
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float LengthSqr( void ) const; // pluecker squared length
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idPluecker Normalize( void ) const; // pluecker normalize
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float NormalizeSelf( void ); // pluecker normalize
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int GetDimension( void ) const;
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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const char * ToString( int precision = 2 ) const;
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private:
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float p[6];
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};
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extern idPluecker pluecker_origin;
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#define pluecker_zero pluecker_origin
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ID_INLINE idPluecker::idPluecker( void ) {
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}
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ID_INLINE idPluecker::idPluecker( const float *a ) {
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memcpy( p, a, 6 * sizeof( float ) );
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}
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ID_INLINE idPluecker::idPluecker( const idVec3 &start, const idVec3 &end ) {
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FromLine( start, end );
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}
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ID_INLINE idPluecker::idPluecker( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
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p[0] = a1;
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p[1] = a2;
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p[2] = a3;
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p[3] = a4;
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p[4] = a5;
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p[5] = a6;
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}
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ID_INLINE idPluecker idPluecker::operator-() const {
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return idPluecker( -p[0], -p[1], -p[2], -p[3], -p[4], -p[5] );
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}
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ID_INLINE float idPluecker::operator[]( const int index ) const {
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return p[index];
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}
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ID_INLINE float &idPluecker::operator[]( const int index ) {
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return p[index];
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}
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ID_INLINE idPluecker idPluecker::operator*( const float a ) const {
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return idPluecker( p[0]*a, p[1]*a, p[2]*a, p[3]*a, p[4]*a, p[5]*a );
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}
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ID_INLINE float idPluecker::operator*( const idPluecker &a ) const {
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return p[0] * a.p[4] + p[1] * a.p[5] + p[2] * a.p[3] + p[4] * a.p[0] + p[5] * a.p[1] + p[3] * a.p[2];
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}
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ID_INLINE idPluecker idPluecker::operator/( const float a ) const {
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float inva;
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assert( a != 0.0f );
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inva = 1.0f / a;
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return idPluecker( p[0]*inva, p[1]*inva, p[2]*inva, p[3]*inva, p[4]*inva, p[5]*inva );
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}
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ID_INLINE idPluecker idPluecker::operator+( const idPluecker &a ) const {
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return idPluecker( p[0] + a[0], p[1] + a[1], p[2] + a[2], p[3] + a[3], p[4] + a[4], p[5] + a[5] );
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}
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ID_INLINE idPluecker idPluecker::operator-( const idPluecker &a ) const {
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return idPluecker( p[0] - a[0], p[1] - a[1], p[2] - a[2], p[3] - a[3], p[4] - a[4], p[5] - a[5] );
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}
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ID_INLINE idPluecker &idPluecker::operator*=( const float a ) {
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p[0] *= a;
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p[1] *= a;
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p[2] *= a;
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p[3] *= a;
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p[4] *= a;
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p[5] *= a;
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return *this;
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}
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ID_INLINE idPluecker &idPluecker::operator/=( const float a ) {
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float inva;
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assert( a != 0.0f );
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inva = 1.0f / a;
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p[0] *= inva;
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p[1] *= inva;
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p[2] *= inva;
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p[3] *= inva;
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p[4] *= inva;
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p[5] *= inva;
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return *this;
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}
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ID_INLINE idPluecker &idPluecker::operator+=( const idPluecker &a ) {
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p[0] += a[0];
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p[1] += a[1];
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p[2] += a[2];
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p[3] += a[3];
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p[4] += a[4];
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p[5] += a[5];
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return *this;
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}
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ID_INLINE idPluecker &idPluecker::operator-=( const idPluecker &a ) {
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p[0] -= a[0];
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p[1] -= a[1];
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p[2] -= a[2];
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p[3] -= a[3];
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p[4] -= a[4];
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p[5] -= a[5];
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return *this;
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}
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ID_INLINE bool idPluecker::Compare( const idPluecker &a ) const {
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return ( ( p[0] == a[0] ) && ( p[1] == a[1] ) && ( p[2] == a[2] ) &&
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( p[3] == a[3] ) && ( p[4] == a[4] ) && ( p[5] == a[5] ) );
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}
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ID_INLINE bool idPluecker::Compare( const idPluecker &a, const float epsilon ) const {
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if ( idMath::Fabs( p[0] - a[0] ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( p[1] - a[1] ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( p[2] - a[2] ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( p[3] - a[3] ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( p[4] - a[4] ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( p[5] - a[5] ) > epsilon ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idPluecker::operator==( const idPluecker &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idPluecker::operator!=( const idPluecker &a ) const {
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return !Compare( a );
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}
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ID_INLINE void idPluecker::Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
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p[0] = a1;
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p[1] = a2;
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p[2] = a3;
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p[3] = a4;
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p[4] = a5;
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p[5] = a6;
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}
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ID_INLINE void idPluecker::Zero( void ) {
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p[0] = p[1] = p[2] = p[3] = p[4] = p[5] = 0.0f;
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}
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ID_INLINE void idPluecker::FromLine( const idVec3 &start, const idVec3 &end ) {
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p[0] = start[0] * end[1] - end[0] * start[1];
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p[1] = start[0] * end[2] - end[0] * start[2];
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p[2] = start[0] - end[0];
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p[3] = start[1] * end[2] - end[1] * start[2];
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p[4] = start[2] - end[2];
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p[5] = end[1] - start[1];
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}
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ID_INLINE void idPluecker::FromRay( const idVec3 &start, const idVec3 &dir ) {
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p[0] = start[0] * dir[1] - dir[0] * start[1];
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p[1] = start[0] * dir[2] - dir[0] * start[2];
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p[2] = -dir[0];
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p[3] = start[1] * dir[2] - dir[1] * start[2];
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p[4] = -dir[2];
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p[5] = dir[1];
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}
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ID_INLINE bool idPluecker::ToLine( idVec3 &start, idVec3 &end ) const {
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idVec3 dir1, dir2;
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float d;
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dir1[0] = p[3];
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dir1[1] = -p[1];
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dir1[2] = p[0];
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dir2[0] = -p[2];
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dir2[1] = p[5];
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dir2[2] = -p[4];
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d = dir2 * dir2;
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if ( d == 0.0f ) {
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return false; // pluecker coordinate does not represent a line
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}
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start = dir2.Cross(dir1) * (1.0f / d);
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end = start + dir2;
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return true;
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}
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ID_INLINE bool idPluecker::ToRay( idVec3 &start, idVec3 &dir ) const {
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idVec3 dir1;
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float d;
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dir1[0] = p[3];
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dir1[1] = -p[1];
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dir1[2] = p[0];
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dir[0] = -p[2];
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dir[1] = p[5];
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dir[2] = -p[4];
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d = dir * dir;
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if ( d == 0.0f ) {
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return false; // pluecker coordinate does not represent a line
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}
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start = dir.Cross(dir1) * (1.0f / d);
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return true;
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}
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ID_INLINE void idPluecker::ToDir( idVec3 &dir ) const {
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dir[0] = -p[2];
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dir[1] = p[5];
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dir[2] = -p[4];
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}
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ID_INLINE float idPluecker::PermutedInnerProduct( const idPluecker &a ) const {
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return p[0] * a.p[4] + p[1] * a.p[5] + p[2] * a.p[3] + p[4] * a.p[0] + p[5] * a.p[1] + p[3] * a.p[2];
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}
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ID_INLINE float idPluecker::Length( void ) const {
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return ( float )idMath::Sqrt( p[5] * p[5] + p[4] * p[4] + p[2] * p[2] );
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}
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ID_INLINE float idPluecker::LengthSqr( void ) const {
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return ( p[5] * p[5] + p[4] * p[4] + p[2] * p[2] );
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}
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ID_INLINE float idPluecker::NormalizeSelf( void ) {
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float l, d;
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l = LengthSqr();
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if ( l == 0.0f ) {
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return l; // pluecker coordinate does not represent a line
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}
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d = idMath::InvSqrt( l );
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p[0] *= d;
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p[1] *= d;
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p[2] *= d;
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p[3] *= d;
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p[4] *= d;
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p[5] *= d;
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return d * l;
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}
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ID_INLINE idPluecker idPluecker::Normalize( void ) const {
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float d;
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d = LengthSqr();
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if ( d == 0.0f ) {
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return *this; // pluecker coordinate does not represent a line
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}
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d = idMath::InvSqrt( d );
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return idPluecker( p[0]*d, p[1]*d, p[2]*d, p[3]*d, p[4]*d, p[5]*d );
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}
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ID_INLINE int idPluecker::GetDimension( void ) const {
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return 6;
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}
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ID_INLINE const float *idPluecker::ToFloatPtr( void ) const {
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return p;
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}
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ID_INLINE float *idPluecker::ToFloatPtr( void ) {
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return p;
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}
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#endif /* !__MATH_PLUECKER_H__ */
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