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/* Copyright (c) 1998 Silicon Graphics, Inc. */ |
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#ifndef lint |
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static char SCCSid[] = "$SunId$ SGI"; |
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static const char RCSid[] = "$Id$"; |
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#endif |
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/* |
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* fvect.c - routines for float vector calculations |
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* |
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* 8/14/85 |
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* fvect.c - routines for floating-point vector calculations |
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*/ |
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#include "copyright.h" |
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#include <math.h> |
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#include "fvect.h" |
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double |
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fdot(v1, v2) /* return the dot product of two vectors */ |
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register FVECT v1, v2; |
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fdot( /* return the dot product of two vectors */ |
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register FVECT v1, |
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register FVECT v2 |
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) |
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{ |
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return(DOT(v1,v2)); |
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} |
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double |
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dist2(p1, p2) /* return square of distance between points */ |
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register FVECT p1, p2; |
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dist2( /* return square of distance between points */ |
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register FVECT p1, |
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register FVECT p2 |
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) |
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{ |
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FVECT delta; |
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double |
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dist2line(p, ep1, ep2) /* return square of distance to line */ |
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FVECT p; /* the point */ |
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FVECT ep1, ep2; /* points on the line */ |
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dist2line( /* return square of distance to line */ |
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FVECT p, /* the point */ |
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FVECT ep1, |
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FVECT ep2 /* points on the line */ |
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) |
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{ |
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register double d, d1, d2; |
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double |
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dist2lseg(p, ep1, ep2) /* return square of distance to line segment */ |
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FVECT p; /* the point */ |
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FVECT ep1, ep2; /* the end points */ |
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dist2lseg( /* return square of distance to line segment */ |
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FVECT p, /* the point */ |
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FVECT ep1, |
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FVECT ep2 /* the end points */ |
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) |
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{ |
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register double d, d1, d2; |
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} |
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fcross(vres, v1, v2) /* vres = v1 X v2 */ |
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register FVECT vres, v1, v2; |
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void |
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fcross( /* vres = v1 X v2 */ |
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register FVECT vres, |
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register FVECT v1, |
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register FVECT v2 |
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) |
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{ |
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vres[0] = v1[1]*v2[2] - v1[2]*v2[1]; |
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vres[1] = v1[2]*v2[0] - v1[0]*v2[2]; |
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} |
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fvsum(vres, v0, v1, f) /* vres = v0 + f*v1 */ |
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register FVECT vres, v0, v1; |
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register double f; |
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void |
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fvsum( /* vres = v0 + f*v1 */ |
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register FVECT vres, |
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register FVECT v0, |
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register FVECT v1, |
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register double f |
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) |
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{ |
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vres[0] = v0[0] + f*v1[0]; |
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vres[1] = v0[1] + f*v1[1]; |
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double |
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normalize(v) /* normalize a vector, return old magnitude */ |
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register FVECT v; |
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normalize( /* normalize a vector, return old magnitude */ |
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register FVECT v |
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) |
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{ |
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register double len, d; |
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} |
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spinvector(vres, vorig, vnorm, theta) /* rotate vector around normal */ |
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FVECT vres, vorig, vnorm; |
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double theta; |
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int |
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closestapproach( /* closest approach of two rays */ |
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RREAL t[2], /* returned distances along each ray */ |
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FVECT rorg0, /* first origin */ |
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FVECT rdir0, /* first direction (normalized) */ |
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FVECT rorg1, /* second origin */ |
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FVECT rdir1 /* second direction (normalized) */ |
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) |
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{ |
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double dotprod = DOT(rdir0, rdir1); |
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double denom = 1. - dotprod*dotprod; |
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double o1o2_d1; |
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FVECT o0o1; |
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if (denom <= FTINY) { /* check if lines are parallel */ |
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t[0] = t[1] = 0.0; |
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return(0); |
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} |
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VSUB(o0o1, rorg0, rorg1); |
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o1o2_d1 = DOT(o0o1, rdir1); |
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t[0] = (o1o2_d1*dotprod - DOT(o0o1,rdir0)) / denom; |
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t[1] = o1o2_d1 + t[0]*dotprod; |
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return(1); |
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} |
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#if 0 |
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int |
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closestapproach( /* closest approach of two rays */ |
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RREAL t[2], /* returned distances along each ray */ |
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FVECT rorg0, /* first origin */ |
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FVECT rdir0, /* first direction (unnormalized) */ |
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FVECT rorg1, /* second origin */ |
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FVECT rdir1 /* second direction (unnormalized) */ |
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) |
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{ |
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double dotprod = DOT(rdir0, rdir1); |
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double d0n2 = DOT(rdir0, rdir0); |
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double d1n2 = DOT(rdir1, rdir1); |
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double denom = d0n2*d1n2 - dotprod*dotprod; |
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double o1o2_d1; |
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FVECT o0o1; |
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if (denom <= FTINY) { /* check if lines are parallel */ |
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t[0] = t[1] = 0.0; |
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return(0); |
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} |
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VSUB(o0o1, rorg0, rorg1); |
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o1o2_d1 = DOT(o0o1, rdir1); |
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t[0] = (o1o2_d1*dotprod - DOT(o0o1,rdir0)*d1n2) / denom; |
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t[1] = (o1o2_d1 + t[0]*dotprod) / d1n2; |
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return(1); |
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} |
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#endif |
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void |
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spinvector( /* rotate vector around normal */ |
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FVECT vres, /* returned vector */ |
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FVECT vorig, /* original vector */ |
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FVECT vnorm, /* normalized vector for rotation */ |
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double theta /* left-hand radians */ |
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) |
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{ |
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double sint, cost, normprod; |
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FVECT vperp; |