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* 8/14/85 |
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*/ |
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#include <math.h> |
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#include "fvect.h" |
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#define FTINY 1e-7 |
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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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if (len <= 0.0) |
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return(0.0); |
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/****** problematic |
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if (len >= (1.0-FTINY)*(1.0-FTINY) && |
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len <= (1.0+FTINY)*(1.0+FTINY)) |
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return(1.0); |
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******/ |
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if (len <= 1.0+FTINY && len >= 1.0-FTINY) |
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len = 0.5 + 0.5*len; /* first order approximation */ |
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else |
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len = sqrt(len); |
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|
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len = sqrt(len); |
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v[0] /= len; |
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v[1] /= len; |
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v[2] /= len; |
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return(len); |
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} |
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FVECT vres, vorig, vnorm; |
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double theta; |
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{ |
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extern double sin(), cos(); |
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double sint, cost, dotp; |
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double sint, cost, normprod; |
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FVECT vperp; |
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register int i; |
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if (theta == 0.0) { |
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VCOPY(vres, vorig); |
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if (vres != vorig) |
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VCOPY(vres, vorig); |
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return; |
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} |
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sint = sin(theta); |
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cost = cos(theta); |
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dotp = DOT(vorig, vnorm); |
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sint = sin(theta); |
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normprod = DOT(vorig, vnorm)*(1.-cost); |
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fcross(vperp, vnorm, vorig); |
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for (i = 0; i < 3; i++) |
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vres[i] = vnorm[i]*dotp*(1.-cost) + |
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vorig[i]*cost + vperp[i]*sint; |
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vres[i] = vorig[i]*cost + vnorm[i]*normprod + vperp[i]*sint; |
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} |