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diff --git a/Doc/doxygen/html/_geometry_8cpp_source.html b/Doc/doxygen/html/_geometry_8cpp_source.html new file mode 100644 index 0000000..354da3f --- /dev/null +++ b/Doc/doxygen/html/_geometry_8cpp_source.html @@ -0,0 +1,815 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<title>Starshatter_Open: D:/SRC/StarshatterSVN/nGenEx/Geometry.cpp Source File</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="navtree.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="resize.js"></script> +<script type="text/javascript" src="navtree.js"></script> +<script type="text/javascript"> + $(document).ready(initResizable); +</script> +<link href="search/search.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="search/search.js"></script> +<script type="text/javascript"> + $(document).ready(function() { searchBox.OnSelectItem(0); }); +</script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! 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All Rights Reserved.</span></div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"></span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> SUBSYSTEM: nGenEx.lib</span></div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> FILE: Geometry.cpp</span></div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> AUTHOR: John DiCamillo</span></div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"></span></div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"></span></div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> OVERVIEW</span></div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> ========</span></div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> Geometric Utilities</span></div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">*/</span></div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="_mem_debug_8h.html">MemDebug.h</a>"</span></div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="_geometry_8h.html">Geometry.h</a>"</span></div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div> +<div class="line"><a name="l00020"></a><span class="lineno"><a class="code" href="struct_rect.html#aaf7b062bbef6819c1104f6de549c58c7"> 20</a></span> <span class="keywordtype">void</span> <a class="code" href="struct_rect.html#aaf7b062bbef6819c1104f6de549c58c7">Rect::Inflate</a>(<span class="keywordtype">int</span> dx, <span class="keywordtype">int</span> dy)</div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> {</div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="struct_rect.html#a64d1ef14e429e1816539de4c54361e55">x</a> -= dx;</div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="struct_rect.html#a36b6c8bb15c7706c3b2b3e91345e11f8">w</a> += dx*2;</div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="struct_rect.html#a1e37b6f8a4fb0d68ba22c8fffffab0a4">y</a> -= dy;</div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="struct_rect.html#af9111a21106ba65952da60320ea91df6">h</a> += dy*2;</div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> }</div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div> +<div class="line"><a name="l00028"></a><span class="lineno"><a class="code" href="struct_rect.html#a1508d1d285a77918f29b9632327c31c7"> 28</a></span> <span class="keywordtype">void</span> <a class="code" href="struct_rect.html#a1508d1d285a77918f29b9632327c31c7">Rect::Deflate</a>(<span class="keywordtype">int</span> dx, <span class="keywordtype">int</span> dy)</div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> {</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="struct_rect.html#a64d1ef14e429e1816539de4c54361e55">x</a> += dx;</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="struct_rect.html#a36b6c8bb15c7706c3b2b3e91345e11f8">w</a> -= dx*2;</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="struct_rect.html#a1e37b6f8a4fb0d68ba22c8fffffab0a4">y</a> += dy;</div> +<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="struct_rect.html#af9111a21106ba65952da60320ea91df6">h</a> -= dy*2;</div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div> +<div class="line"><a name="l00036"></a><span class="lineno"><a class="code" href="struct_rect.html#a9763b4eb1b7944b98f1e52636fe58423"> 36</a></span> <span class="keywordtype">void</span> <a class="code" href="struct_rect.html#a9763b4eb1b7944b98f1e52636fe58423">Rect::Inset</a>(<span class="keywordtype">int</span> l, <span class="keywordtype">int</span> r, <span class="keywordtype">int</span> t, <span class="keywordtype">int</span> b)</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> {</div> +<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="struct_rect.html#a64d1ef14e429e1816539de4c54361e55">x</a> += l;</div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="struct_rect.html#a1e37b6f8a4fb0d68ba22c8fffffab0a4">y</a> += t;</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="struct_rect.html#a36b6c8bb15c7706c3b2b3e91345e11f8">w</a> -= l + r;</div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="struct_rect.html#af9111a21106ba65952da60320ea91df6">h</a> -= t + b;</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> }</div> +<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div> +<div class="line"><a name="l00044"></a><span class="lineno"><a class="code" href="struct_rect.html#a313d99d90704af63f9efa437bbbf453d"> 44</a></span> <span class="keywordtype">int</span> <a class="code" href="struct_rect.html#a313d99d90704af63f9efa437bbbf453d">Rect::Contains</a>(<span class="keywordtype">int</span> ax, <span class="keywordtype">int</span> ay)<span class="keyword"> const</span></div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">if</span> (ax < <a class="code" href="struct_rect.html#a64d1ef14e429e1816539de4c54361e55">x</a>) <span class="keywordflow">return</span> 0;</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">if</span> (ax > <a class="code" href="struct_rect.html#a64d1ef14e429e1816539de4c54361e55">x</a>+<a class="code" href="struct_rect.html#a36b6c8bb15c7706c3b2b3e91345e11f8">w</a>) <span class="keywordflow">return</span> 0;</div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span> (ay < <a class="code" href="struct_rect.html#a1e37b6f8a4fb0d68ba22c8fffffab0a4">y</a>) <span class="keywordflow">return</span> 0;</div> +<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">if</span> (ay > <a class="code" href="struct_rect.html#a1e37b6f8a4fb0d68ba22c8fffffab0a4">y</a>+<a class="code" href="struct_rect.html#af9111a21106ba65952da60320ea91df6">h</a>) <span class="keywordflow">return</span> 0;</div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">return</span> 1;</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">double</span></div> +<div class="line"><a name="l00057"></a><span class="lineno"><a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525"> 57</a></span> <a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Point::Normalize</a>()</div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> {</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">double</span> scale = 1.0;</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">double</span> len = <a class="code" href="struct_point.html#a8ebcce847b8c214b7351904ce60f5518">length</a>();</div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (len)</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  scale /= len;</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> *= scale;</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> *= scale;</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> *= scale;</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> len;</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> }</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00075"></a><span class="lineno"><a class="code" href="struct_point.html#aafa2cfc2d9e6970d88e6c907a439b9f9"> 75</a></span> <a class="code" href="struct_point.html#aafa2cfc2d9e6970d88e6c907a439b9f9">Point::SetElement</a>(<span class="keywordtype">int</span> i, <span class="keywordtype">double</span> v)</div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> {</div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">switch</span> (i) {</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">case</span> 0: <a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = v; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">case</span> 1: <a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = v; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">case</span> 2: <a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = v; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">default</span>: <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> }</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <a class="code" href="struct_point.html">Point</a></div> +<div class="line"><a name="l00088"></a><span class="lineno"><a class="code" href="struct_point.html#ab6b5ad683a3856794910f349b545be6e"> 88</a></span> <a class="code" href="struct_point.html#a600cf33930378261575cc785f9f16fba">Point::operator*</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)<span class="keyword"> const</span></div> +<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="struct_point.html">Point</a> result;</div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  result.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] * <a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] * <a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] * <a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  result.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] * <a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] * <a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] * <a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  result.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] * <a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] * <a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] * <a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> }</div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div> +<div class="line"><a name="l00101"></a><span class="lineno"><a class="code" href="_geometry_8h.html#ad3944c476d46188249376f290a934d21"> 101</a></span> <span class="keywordtype">double</span> <a class="code" href="_geometry_8cpp.html#ad3944c476d46188249376f290a934d21">ClosestApproachTime</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& loc1, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vel1,</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& loc2, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vel2)</div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> {</div> +<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">double</span> t = 0;</div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div> +<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="struct_point.html">Point</a> D = loc1-loc2;</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="struct_point.html">Point</a> Dv = vel1-vel2;</div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div> +<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (Dv.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> || Dv.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> || Dv.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>)</div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  t = -1 * (Dv*D) / (Dv*Dv);</div> +<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div> +<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">return</span> t;</div> +<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> }</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">float</span></div> +<div class="line"><a name="l00118"></a><span class="lineno"><a class="code" href="struct_vec2.html#a8b020be41d8606cc978031c0a28cb067"> 118</a></span> <a class="code" href="struct_vec2.html#a8b020be41d8606cc978031c0a28cb067">Vec2::Normalize</a>()</div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> {</div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">float</span> scale = 1.0f;</div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">float</span> len = <a class="code" href="struct_vec2.html#a83adaf3f787cfb5de4576073898b93db">length</a>();</div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">if</span> (len)</div> +<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  scale /= len;</div> +<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="struct_vec2.html#adf8ee322d4b4bcc04146762c018d731f">x</a> *= scale;</div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="struct_vec2.html#a30543787e62f6d915543cf1dfb04c094">y</a> *= scale;</div> +<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">return</span> len;</div> +<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> }</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div> +<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">float</span></div> +<div class="line"><a name="l00135"></a><span class="lineno"><a class="code" href="struct_vec3.html#a269d13893a87a616b6709e5fc3d34d4f"> 135</a></span> <a class="code" href="struct_vec3.html#a269d13893a87a616b6709e5fc3d34d4f">Vec3::Normalize</a>()</div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> {</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">float</span> scale = 1.0f;</div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">float</span> len = <a class="code" href="struct_vec3.html#a17b354d08f44a6cad8e435aea73ae7f9">length</a>();</div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div> +<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">if</span> (len)</div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  scale /= len;</div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a> *= scale;</div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a> *= scale;</div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a> *= scale;</div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> len;</div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> }</div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div> +<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> </div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <a class="code" href="struct_vec3.html">Vec3</a></div> +<div class="line"><a name="l00153"></a><span class="lineno"><a class="code" href="struct_vec3.html#a494390c0d3295ed2f48f9441dfcf4b62"> 153</a></span> <a class="code" href="struct_vec3.html#aebd448cbed356f0915c8217fa25f2ca7">Vec3::operator*</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)<span class="keyword"> const</span></div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="struct_vec3.html">Vec3</a> result;</div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div> +<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  result.<a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a> = (float) ((m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] * <a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] * <a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] * <a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  result.<a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a> = (float) ((m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] * <a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] * <a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] * <a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  result.<a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a> = (float) ((m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] * <a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] * <a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] * <a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div> +<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> }</div> +<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div> +<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div> +<div class="line"><a name="l00166"></a><span class="lineno"><a class="code" href="_geometry_8h.html#ab39783d01e187be03014895f5e7e118d"> 166</a></span> <span class="keywordtype">double</span> <a class="code" href="_geometry_8cpp.html#ad3944c476d46188249376f290a934d21">ClosestApproachTime</a>(<span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& loc1, <span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& vel1,</div> +<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& loc2, <span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& vel2)</div> +<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> {</div> +<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordtype">double</span> t = 0;</div> +<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div> +<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="struct_point.html">Point</a> D = loc1-loc2;</div> +<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="struct_point.html">Point</a> Dv = vel1-vel2;</div> +<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div> +<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (Dv.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> || Dv.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> || Dv.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>)</div> +<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  t = -1 * (Dv*D) / (Dv*Dv);</div> +<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div> +<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">return</span> t;</div> +<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> }</div> +<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div> +<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div> +<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">double</span></div> +<div class="line"><a name="l00183"></a><span class="lineno"><a class="code" href="struct_quaternion.html#a6d0a4e28e1dafbbcccaec26d76f34240"> 183</a></span> <a class="code" href="struct_quaternion.html#a6d0a4e28e1dafbbcccaec26d76f34240">Quaternion::Normalize</a>()</div> +<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> {</div> +<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordtype">double</span> scale = 1.0;</div> +<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">double</span> len = <a class="code" href="struct_quaternion.html#a52453b85cbb187fc6dce092c41ad7da8">length</a>();</div> +<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div> +<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> (len)</div> +<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  scale /= len;</div> +<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div> +<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="struct_quaternion.html#a65c93d8db6c57203447bd0594b608512">x</a> *= scale;</div> +<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="struct_quaternion.html#acfea23e3ba2b57356fe36b4d8f4c52f3">y</a> *= scale;</div> +<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="struct_quaternion.html#a90bbdb05526bddfbc3247dcc9a5cace4">z</a> *= scale;</div> +<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="struct_quaternion.html#aeded08fcb4e8d0866e612ed81cb44aa7">w</a> *= scale;</div> +<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div> +<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">return</span> len;</div> +<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> }</div> +<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div> +<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div> +<div class="line"><a name="l00201"></a><span class="lineno"><a class="code" href="struct_matrix.html#a2dba13c45127354c9f75ef576f49269b"> 201</a></span> <a class="code" href="struct_matrix.html#a2dba13c45127354c9f75ef576f49269b">Matrix::Matrix</a>()</div> +<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> {</div> +<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="struct_matrix.html#a1f6446e74e72d4bc6cccf46f3fbf7536">Identity</a>();</div> +<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> }</div> +<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div> +<div class="line"><a name="l00206"></a><span class="lineno"><a class="code" href="struct_matrix.html#a765f4dcb51b6829311cc3e7576388423"> 206</a></span> <a class="code" href="struct_matrix.html#a2dba13c45127354c9f75ef576f49269b">Matrix::Matrix</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)</div> +<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> {</div> +<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  CopyMemory(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>, m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>, <span class="keyword">sizeof</span>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>));</div> +<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> }</div> +<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div> +<div class="line"><a name="l00211"></a><span class="lineno"><a class="code" href="struct_matrix.html#a958eaf7feaae7182fffbcc766658e048"> 211</a></span> <a class="code" href="struct_matrix.html#a2dba13c45127354c9f75ef576f49269b">Matrix::Matrix</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vrt, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vup, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vpn)</div> +<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> {</div> +<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = vrt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div> +<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = vrt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div> +<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = vrt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div> +<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div> +<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = vup.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div> +<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = vup.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div> +<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = vup.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div> +<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div> +<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = vpn.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div> +<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = vpn.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div> +<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = vpn.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div> +<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> }</div> +<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div> +<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div> +<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <a class="code" href="struct_matrix.html">Matrix</a>&</div> +<div class="line"><a name="l00229"></a><span class="lineno"><a class="code" href="struct_matrix.html#aea5a06385f646eb4a63929fae6fa3e14"> 229</a></span> <a class="code" href="struct_matrix.html#aea5a06385f646eb4a63929fae6fa3e14">Matrix::operator =</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)</div> +<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> {</div> +<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  CopyMemory(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>, m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>, <span class="keyword">sizeof</span>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>));</div> +<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div> +<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> +<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> }</div> +<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> </div> +<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div> +<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <a class="code" href="struct_matrix.html">Matrix</a>&</div> +<div class="line"><a name="l00239"></a><span class="lineno"><a class="code" href="struct_matrix.html#aac6dd563f8c6f859f3d0760f406a1a58"> 239</a></span> <a class="code" href="struct_matrix.html#aac6dd563f8c6f859f3d0760f406a1a58">Matrix::operator*=</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)</div> +<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> {</div> +<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span> = *<span class="keyword">this</span> * m;</div> +<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> }</div> +<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div> +<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div> +<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00247"></a><span class="lineno"><a class="code" href="struct_matrix.html#a1f6446e74e72d4bc6cccf46f3fbf7536"> 247</a></span> <a class="code" href="struct_matrix.html#a1f6446e74e72d4bc6cccf46f3fbf7536">Matrix::Identity</a>()</div> +<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> {</div> +<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = 1;</div> +<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = 0;</div> +<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = 0;</div> +<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div> +<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = 0;</div> +<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = 1;</div> +<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = 0;</div> +<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div> +<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = 0;</div> +<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = 0;</div> +<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = 1;</div> +<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> }</div> +<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> </div> +<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div> +<div class="line"><a name="l00264"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#a34f65e1b830f57439fc987107c8c3040"> 264</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="_geometry_8cpp.html#a34f65e1b830f57439fc987107c8c3040">swap_elem</a>(<span class="keywordtype">double</span>& a, <span class="keywordtype">double</span>& b) { <span class="keywordtype">double</span> t=a; a=b; b=t; }</div> +<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div> +<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00267"></a><span class="lineno"><a class="code" href="struct_matrix.html#a350d12361c31ec650e667e8120da7274"> 267</a></span> <a class="code" href="struct_matrix.html#a350d12361c31ec650e667e8120da7274">Matrix::Transpose</a>()</div> +<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> {</div> +<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <a class="code" href="_geometry_8cpp.html#a34f65e1b830f57439fc987107c8c3040">swap_elem</a>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1], <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0]);</div> +<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <a class="code" href="_geometry_8cpp.html#a34f65e1b830f57439fc987107c8c3040">swap_elem</a>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2], <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0]);</div> +<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="_geometry_8cpp.html#a34f65e1b830f57439fc987107c8c3040">swap_elem</a>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2], <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1]);</div> +<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> }</div> +<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div> +<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div> +<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00277"></a><span class="lineno"><a class="code" href="struct_matrix.html#ad48d4d8078b7c69984fd7aaa4a61275b"> 277</a></span> <a class="code" href="struct_matrix.html#ad48d4d8078b7c69984fd7aaa4a61275b">Matrix::Rotate</a>(<span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw)</div> +<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> {</div> +<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordtype">double</span> e[3][3];</div> +<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  CopyMemory(e, <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>, <span class="keyword">sizeof</span>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>));</div> +<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div> +<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">double</span> sr = sin(roll);</div> +<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordtype">double</span> cr = cos(roll);</div> +<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">double</span> sp = sin(pitch);</div> +<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordtype">double</span> cp = cos(pitch);</div> +<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordtype">double</span> sy = sin(yaw);</div> +<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordtype">double</span> cy = cos(yaw);</div> +<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> </div> +<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordtype">double</span> a,b,c;</div> +<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div> +<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  a = cy*cr;</div> +<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  b = cy*sr;</div> +<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  c = -sy;</div> +<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div> +<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = a*e[0][0] + b*e[1][0] + c*e[2][0];</div> +<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = a*e[0][1] + b*e[1][1] + c*e[2][1];</div> +<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = a*e[0][2] + b*e[1][2] + c*e[2][2];</div> +<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> </div> +<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  a = cp*-sr + sp*sy*cr;</div> +<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  b = cp* cr + sp*sy*sr;</div> +<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  c = sp*cy;</div> +<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div> +<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = a*e[0][0] + b*e[1][0] + c*e[2][0];</div> +<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = a*e[0][1] + b*e[1][1] + c*e[2][1];</div> +<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = a*e[0][2] + b*e[1][2] + c*e[2][2];</div> +<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div> +<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  a = -sp*-sr + cp*sy*cr;</div> +<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  b = -sp* cr + cp*sy*sr;</div> +<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  c = cp*cy;</div> +<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div> +<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = a*e[0][0] + b*e[1][0] + c*e[2][0];</div> +<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = a*e[0][1] + b*e[1][1] + c*e[2][1];</div> +<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = a*e[0][2] + b*e[1][2] + c*e[2][2];</div> +<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> }</div> +<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div> +<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div> +<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00319"></a><span class="lineno"><a class="code" href="struct_matrix.html#a023352aa2c1386a7ba4448f3d43332b6"> 319</a></span> <a class="code" href="struct_matrix.html#a023352aa2c1386a7ba4448f3d43332b6">Matrix::Roll</a>(<span class="keywordtype">double</span> roll)</div> +<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> {</div> +<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordtype">double</span> s = sin(roll);</div> +<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordtype">double</span> c = cos(roll);</div> +<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div> +<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordtype">double</span> e00 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0];</div> +<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordtype">double</span> e01 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1];</div> +<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordtype">double</span> e02 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2];</div> +<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordtype">double</span> e10 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0];</div> +<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordtype">double</span> e11 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1];</div> +<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordtype">double</span> e12 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2];</div> +<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> </div> +<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = c*e00 + s*e10;</div> +<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = c*e01 + s*e11;</div> +<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = c*e02 + s*e12;</div> +<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div> +<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = -s*e00 + c*e10;</div> +<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = -s*e01 + c*e11;</div> +<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = -s*e02 + c*e12;</div> +<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> }</div> +<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> </div> +<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div> +<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00343"></a><span class="lineno"><a class="code" href="struct_matrix.html#a3e2bffe4b3d999875653a0ffeb9970b5"> 343</a></span> <a class="code" href="struct_matrix.html#a3e2bffe4b3d999875653a0ffeb9970b5">Matrix::Pitch</a>(<span class="keywordtype">double</span> pitch)</div> +<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> {</div> +<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordtype">double</span> s = sin(pitch);</div> +<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordtype">double</span> c = cos(pitch);</div> +<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> </div> +<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordtype">double</span> e10 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0];</div> +<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordtype">double</span> e11 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1];</div> +<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordtype">double</span> e12 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2];</div> +<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordtype">double</span> e20 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0];</div> +<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordtype">double</span> e21 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1];</div> +<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordtype">double</span> e22 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2];</div> +<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> </div> +<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = c*e10 + s*e20;</div> +<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = c*e11 + s*e21;</div> +<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = c*e12 + s*e22;</div> +<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> </div> +<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = -s*e10 + c*e20;</div> +<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = -s*e11 + c*e21;</div> +<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = -s*e12 + c*e22;</div> +<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> }</div> +<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div> +<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div> +<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00367"></a><span class="lineno"><a class="code" href="struct_matrix.html#ab46d7353f782f0a9a93d16ace7095145"> 367</a></span> <a class="code" href="struct_matrix.html#ab46d7353f782f0a9a93d16ace7095145">Matrix::Yaw</a>(<span class="keywordtype">double</span> yaw)</div> +<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> {</div> +<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordtype">double</span> s = sin(yaw);</div> +<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordtype">double</span> c = cos(yaw);</div> +<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div> +<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordtype">double</span> e00 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0];</div> +<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordtype">double</span> e01 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1];</div> +<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="keywordtype">double</span> e02 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2];</div> +<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordtype">double</span> e20 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0];</div> +<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordtype">double</span> e21 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1];</div> +<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordtype">double</span> e22 = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2];</div> +<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> </div> +<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = c*e00 - s*e20;</div> +<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = c*e01 - s*e21;</div> +<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = c*e02 - s*e22;</div> +<div class="line"><a name="l00382"></a><span class="lineno"> 382</span> </div> +<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = s*e00 + c*e20;</div> +<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = s*e01 + c*e21;</div> +<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = s*e02 + c*e22;</div> +<div class="line"><a name="l00386"></a><span class="lineno"> 386</span> }</div> +<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> </div> +<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div> +<div class="line"><a name="l00390"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4"> 390</a></span> <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4">sign</a>(<span class="keywordtype">double</span> d) { <span class="keywordflow">return</span> (d >= 0); }</div> +<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> </div> +<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00393"></a><span class="lineno"><a class="code" href="struct_matrix.html#abac777e8af319d45d091a5c187dba26f"> 393</a></span> <a class="code" href="struct_matrix.html#abac777e8af319d45d091a5c187dba26f">Matrix::ComputeEulerAngles</a>(<span class="keywordtype">double</span>& roll, <span class="keywordtype">double</span>& pitch, <span class="keywordtype">double</span>& yaw)<span class="keyword"> const</span></div> +<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">double</span> cy;</div> +<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> </div> +<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  yaw = asin(-<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2]);</div> +<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  cy = cos(yaw);</div> +<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  roll = asin(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] / cy);</div> +<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  pitch = asin(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] / cy);</div> +<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div> +<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordflow">if</span> (<a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4">sign</a>(cos(roll)*cy) != <a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4">sign</a>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0]))</div> +<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  roll = <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a> - roll;</div> +<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div> +<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keywordflow">if</span> (<a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4">sign</a>(cos(pitch)*cy) != <a class="code" href="_geometry_8cpp.html#a2364ce0deea8d89dc9bf5688e092daf4">sign</a>(<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2]))</div> +<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  pitch = <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a> - pitch; </div> +<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> }</div> +<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> </div> +<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00410"></a><span class="lineno"> 410</span> </div> +<div class="line"><a name="l00411"></a><span class="lineno"> 411</span> <a class="code" href="struct_matrix.html">Matrix</a></div> +<div class="line"><a name="l00412"></a><span class="lineno"><a class="code" href="struct_matrix.html#a435aaecd9331c9ee02bdb5bba59b20a7"> 412</a></span> <a class="code" href="struct_matrix.html#a435aaecd9331c9ee02bdb5bba59b20a7">Matrix::operator*</a>(<span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)<span class="keyword"> const</span></div> +<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <a class="code" href="struct_matrix.html">Matrix</a> r;</div> +<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div> +<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0];</div> +<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1];</div> +<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2];</div> +<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> </div> +<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0];</div> +<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1];</div> +<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2];</div> +<div class="line"><a name="l00423"></a><span class="lineno"> 423</span> </div> +<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0];</div> +<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1];</div> +<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  r.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] + <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2]*m.<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2];</div> +<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div> +<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="keywordflow">return</span> r;</div> +<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> }</div> +<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> </div> +<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> </div> +<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <a class="code" href="struct_point.html">Point</a></div> +<div class="line"><a name="l00434"></a><span class="lineno"><a class="code" href="struct_matrix.html#a90bb63266fe04b83209b51d6fccd7bda"> 434</a></span> <a class="code" href="struct_matrix.html#a435aaecd9331c9ee02bdb5bba59b20a7">Matrix::operator*</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& p)<span class="keyword"> const</span></div> +<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <a class="code" href="struct_point.html">Point</a> result;</div> +<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> </div> +<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  result.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] * p.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] * p.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] * p.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  result.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] * p.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] * p.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] * p.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  result.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] * p.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] * p.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] * p.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00441"></a><span class="lineno"> 441</span> </div> +<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> }</div> +<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> </div> +<div class="line"><a name="l00445"></a><span class="lineno"> 445</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> </div> +<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> <a class="code" href="struct_vec3.html">Vec3</a></div> +<div class="line"><a name="l00448"></a><span class="lineno"><a class="code" href="struct_matrix.html#a590573aa1238be4afa7e55e8f764b83b"> 448</a></span> <a class="code" href="struct_matrix.html#a435aaecd9331c9ee02bdb5bba59b20a7">Matrix::operator*</a>(<span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v)<span class="keyword"> const</span></div> +<div class="line"><a name="l00449"></a><span class="lineno"> 449</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <a class="code" href="struct_vec3.html">Vec3</a> result;</div> +<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> </div> +<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  result.<a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a> = (float) ((<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] * v.<a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] * v.<a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] * v.<a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  result.<a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a> = (float) ((<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][0] * v.<a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][1] * v.<a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[1][2] * v.<a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  result.<a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a> = (float) ((<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][0] * v.<a class="code" href="struct_vec3.html#a2814580e9b9372738c0a61197ea46b51">x</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][1] * v.<a class="code" href="struct_vec3.html#abc1d241232cb04aa98217a942402ae68">y</a>) + (<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[2][2] * v.<a class="code" href="struct_vec3.html#a64f3f00cd2dd9076999eeb2f05210388">z</a>));</div> +<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> </div> +<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00457"></a><span class="lineno"> 457</span> }</div> +<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> </div> +<div class="line"><a name="l00459"></a><span class="lineno"> 459</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00460"></a><span class="lineno"> 460</span> </div> +<div class="line"><a name="l00461"></a><span class="lineno"> 461</span> <span class="keywordtype">double</span> </div> +<div class="line"><a name="l00462"></a><span class="lineno"><a class="code" href="struct_matrix.html#aabd1efff70d937f836b4ed57ca59caef"> 462</a></span> <a class="code" href="struct_matrix.html#aabd1efff70d937f836b4ed57ca59caef">Matrix::Cofactor</a>(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)<span class="keyword"> const</span></div> +<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordtype">int</span> i1=0;</div> +<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordtype">int</span> i2=2;</div> +<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordtype">int</span> j1=0;</div> +<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordtype">int</span> j2=2;</div> +<div class="line"><a name="l00468"></a><span class="lineno"> 468</span> </div> +<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordflow">if</span> (i==0) i1=1; <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i==2) i2=1;</div> +<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">if</span> (j==0) j1=1; <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j==2) j2=1;</div> +<div class="line"><a name="l00471"></a><span class="lineno"> 471</span> </div> +<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordtype">double</span> factor = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[i1][j1]*<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[i2][j2] - <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[i1][j2]*<a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[i2][j1];</div> +<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> </div> +<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keywordflow">if</span> ((i+j) & 1)</div> +<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  factor *= -1;</div> +<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> </div> +<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="keywordflow">return</span> factor; </div> +<div class="line"><a name="l00478"></a><span class="lineno"> 478</span> }</div> +<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> </div> +<div class="line"><a name="l00480"></a><span class="lineno"> 480</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> </div> +<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> <span class="keywordtype">void</span> </div> +<div class="line"><a name="l00483"></a><span class="lineno"><a class="code" href="struct_matrix.html#a008d1a5f99a91b477945fd7336ed6b0d"> 483</a></span> <a class="code" href="struct_matrix.html#a008d1a5f99a91b477945fd7336ed6b0d">Matrix::Invert</a>()</div> +<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> {</div> +<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keywordtype">double</span> f[3][3];</div> +<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordtype">int</span> i, j;</div> +<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> </div> +<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keywordflow">for</span> (i = 0; i < 3; i++)</div> +<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <span class="keywordflow">for</span> (j = 0; j < 3; j++)</div> +<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  f[i][j] = <a class="code" href="struct_matrix.html#aabd1efff70d937f836b4ed57ca59caef">Cofactor</a>(j,i);</div> +<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> </div> +<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordtype">double</span> det = <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][0] * f[0][0] +</div> +<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][1] * f[1][0] +</div> +<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[0][2] * f[2][0];</div> +<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> </div> +<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">if</span> (det != 0) {</div> +<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="keywordtype">double</span> inv = 1/det;</div> +<div class="line"><a name="l00498"></a><span class="lineno"> 498</span> </div> +<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="keywordflow">for</span> (i = 0; i < 3; i++)</div> +<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="keywordflow">for</span> (j = 0; j < 3; j++)</div> +<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <a class="code" href="struct_matrix.html#a5cab8c696d9347b3884df0661ffde8d2">elem</a>[i][j] = f[i][j] * inv;</div> +<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  }</div> +<div class="line"><a name="l00503"></a><span class="lineno"> 503</span> }</div> +<div class="line"><a name="l00504"></a><span class="lineno"> 504</span> </div> +<div class="line"><a name="l00505"></a><span class="lineno"> 505</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00508"></a><span class="lineno"> 508</span> </div> +<div class="line"><a name="l00509"></a><span class="lineno"><a class="code" href="struct_plane.html#acac0d9c003e0ab10d07b146c3566a0c7"> 509</a></span> <a class="code" href="struct_plane.html#acac0d9c003e0ab10d07b146c3566a0c7">Plane::Plane</a>()</div> +<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> : distance(0.0f)</div> +<div class="line"><a name="l00511"></a><span class="lineno"> 511</span> { }</div> +<div class="line"><a name="l00512"></a><span class="lineno"> 512</span> </div> +<div class="line"><a name="l00513"></a><span class="lineno"><a class="code" href="struct_plane.html#a21dfd453dc60e14dc38a015457046dcd"> 513</a></span> <a class="code" href="struct_plane.html#acac0d9c003e0ab10d07b146c3566a0c7">Plane::Plane</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& p0, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& p1, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& p2)</div> +<div class="line"><a name="l00514"></a><span class="lineno"> 514</span> {</div> +<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <a class="code" href="struct_point.html">Point</a> d1 = p1 - p0;</div> +<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <a class="code" href="struct_point.html">Point</a> d2 = p2 - p0;</div> +<div class="line"><a name="l00517"></a><span class="lineno"> 517</span> </div> +<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> = (<a class="code" href="struct_vec3.html">Vec3</a>) d1.<a class="code" href="struct_point.html#ae600bcc9fe480e782a05fade3b78f8c0">cross</a>(d2);</div> +<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a>.<a class="code" href="struct_vec3.html#a269d13893a87a616b6709e5fc3d34d4f">Normalize</a>();</div> +<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div> +<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <a class="code" href="struct_plane.html#a6ad7fdbb1461aa0527eb1f6745e10962">distance</a> = (float) (<a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> * p0);</div> +<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> }</div> +<div class="line"><a name="l00523"></a><span class="lineno"> 523</span> </div> +<div class="line"><a name="l00524"></a><span class="lineno"><a class="code" href="struct_plane.html#aa8e0322387866b021b0a3c5fad2b4290"> 524</a></span> <a class="code" href="struct_plane.html#acac0d9c003e0ab10d07b146c3566a0c7">Plane::Plane</a>(<span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v0, <span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v1, <span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v2)</div> +<div class="line"><a name="l00525"></a><span class="lineno"> 525</span> {</div> +<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <a class="code" href="struct_vec3.html">Vec3</a> d1 = v1 - v0;</div> +<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  <a class="code" href="struct_vec3.html">Vec3</a> d2 = v2 - v0;</div> +<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> </div> +<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> = d1.<a class="code" href="struct_vec3.html#a85bfd45b956fdd79f7686b9d220576f5">cross</a>(d2);</div> +<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a>.<a class="code" href="struct_vec3.html#a269d13893a87a616b6709e5fc3d34d4f">Normalize</a>();</div> +<div class="line"><a name="l00531"></a><span class="lineno"> 531</span> </div> +<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <a class="code" href="struct_plane.html#a6ad7fdbb1461aa0527eb1f6745e10962">distance</a> = <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> * v0;</div> +<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> }</div> +<div class="line"><a name="l00534"></a><span class="lineno"> 534</span> </div> +<div class="line"><a name="l00535"></a><span class="lineno"><a class="code" href="struct_plane.html#abeb77007b8e213e99cd882b4c261dbaf"> 535</a></span> <span class="keywordtype">void</span> <a class="code" href="struct_plane.html#abeb77007b8e213e99cd882b4c261dbaf">Plane::Rotate</a>(<span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v0, <span class="keyword">const</span> <a class="code" href="struct_matrix.html">Matrix</a>& m)</div> +<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> {</div> +<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> = <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> * m;</div> +<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <a class="code" href="struct_plane.html#a6ad7fdbb1461aa0527eb1f6745e10962">distance</a> = <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> * v0;</div> +<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> }</div> +<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> </div> +<div class="line"><a name="l00541"></a><span class="lineno"><a class="code" href="struct_plane.html#a828846eec3cf928437813a352853c6cd"> 541</a></span> <span class="keywordtype">void</span> <a class="code" href="struct_plane.html#a828846eec3cf928437813a352853c6cd">Plane::Translate</a>(<span class="keyword">const</span> <a class="code" href="struct_vec3.html">Vec3</a>& v0)</div> +<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> {</div> +<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <a class="code" href="struct_plane.html#a6ad7fdbb1461aa0527eb1f6745e10962">distance</a> = <a class="code" href="struct_plane.html#a4fca1d30bfad2542c8e38aa32ff13655">normal</a> * v0;</div> +<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> }</div> +<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> </div> +<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> <span class="comment">// 3-D dot product.</span></div> +<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> </div> +<div class="line"><a name="l00549"></a><span class="lineno"><a class="code" href="_geometry_8h.html#af507df72c2927886430fa6c25be87b82"> 549</a></span> <span class="keywordtype">double</span> <a class="code" href="_geometry_8cpp.html#af507df72c2927886430fa6c25be87b82">DotProduct</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& a, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& b)</div> +<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> {</div> +<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  <span class="keywordflow">return</span> (a.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> * b.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) + (a.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> * b.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) + (a.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> * b.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> }</div> +<div class="line"><a name="l00553"></a><span class="lineno"> 553</span> </div> +<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00555"></a><span class="lineno"> 555</span> <span class="comment">// 3-D cross product.</span></div> +<div class="line"><a name="l00556"></a><span class="lineno"> 556</span> </div> +<div class="line"><a name="l00557"></a><span class="lineno"><a class="code" href="_geometry_8h.html#a7b32f095e9c893be8afb27d1310bfa1f"> 557</a></span> <span class="keywordtype">void</span> <a class="code" href="l3ds_8cpp.html#a3ac088301f55128c9217bb5a2c4dcc74">CrossProduct</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& a, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& b, <a class="code" href="struct_point.html">Point</a>& out)</div> +<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> {</div> +<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  out.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (a.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> * b.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>) - (a.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> * b.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>);</div> +<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  out.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (a.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> * b.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) - (a.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> * b.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div> +<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  out.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (a.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> * b.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) - (a.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> * b.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>);</div> +<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> }</div> +<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> </div> +<div class="line"><a name="l00564"></a><span class="lineno"> 564</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> <span class="comment">// Concatenate two 3x3 matrices.</span></div> +<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> </div> +<div class="line"><a name="l00567"></a><span class="lineno"><a class="code" href="_geometry_8h.html#aca1d3b40ee7c81df67a92b3fd102148c"> 567</a></span> <span class="keywordtype">void</span> <a class="code" href="_geometry_8cpp.html#aca1d3b40ee7c81df67a92b3fd102148c">MConcat</a>(<span class="keywordtype">double</span> in1[3][3], <span class="keywordtype">double</span> in2[3][3], <span class="keywordtype">double</span> out[3][3])</div> +<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> {</div> +<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <span class="keywordtype">int</span> i, j;</div> +<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> </div> +<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keywordflow">for</span> (i=0 ; i<3 ; i++) {</div> +<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  <span class="keywordflow">for</span> (j=0 ; j<3 ; j++) {</div> +<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  out[i][j] = in1[i][0] * in2[0][j] +</div> +<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  in1[i][1] * in2[1][j] +</div> +<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  in1[i][2] * in2[2][j];</div> +<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  }</div> +<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  }</div> +<div class="line"><a name="l00578"></a><span class="lineno"> 578</span> }</div> +<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> </div> +<div class="line"><a name="l00580"></a><span class="lineno"> 580</span> <span class="comment">/* GRAPHICS GEMS II ----------------------------------------------------</span></div> +<div class="line"><a name="l00581"></a><span class="lineno"> 581</span> <span class="comment">*</span></div> +<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> <span class="comment">* lines_intersect: AUTHOR: Mukesh Prasad</span></div> +<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> <span class="comment">*</span></div> +<div class="line"><a name="l00584"></a><span class="lineno"> 584</span> <span class="comment">* This function computes whether two line segments,</span></div> +<div class="line"><a name="l00585"></a><span class="lineno"> 585</span> <span class="comment">* respectively joining the input points (x1,y1) -- (x2,y2)</span></div> +<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> <span class="comment">* and the input points (x3,y3) -- (x4,y4) intersect.</span></div> +<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> <span class="comment">* If the lines intersect, the output variables x, y are</span></div> +<div class="line"><a name="l00588"></a><span class="lineno"> 588</span> <span class="comment">* set to coordinates of the point of intersection.</span></div> +<div class="line"><a name="l00589"></a><span class="lineno"> 589</span> <span class="comment">*</span></div> +<div class="line"><a name="l00590"></a><span class="lineno"> 590</span> <span class="comment">* All values are in integers. The returned value is rounded</span></div> +<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> <span class="comment">* to the nearest integer point.</span></div> +<div class="line"><a name="l00592"></a><span class="lineno"> 592</span> <span class="comment">*</span></div> +<div class="line"><a name="l00593"></a><span class="lineno"> 593</span> <span class="comment">* If non-integral grid points are relevant, the function</span></div> +<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> <span class="comment">* can easily be transformed by substituting floating point</span></div> +<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> <span class="comment">* calculations instead of integer calculations.</span></div> +<div class="line"><a name="l00596"></a><span class="lineno"> 596</span> <span class="comment">*</span></div> +<div class="line"><a name="l00597"></a><span class="lineno"> 597</span> <span class="comment">* Entry</span></div> +<div class="line"><a name="l00598"></a><span class="lineno"> 598</span> <span class="comment">* x1, y1, x2, y2 Coordinates of endpoints of one segment.</span></div> +<div class="line"><a name="l00599"></a><span class="lineno"> 599</span> <span class="comment">* x3, y3, x4, y4 Coordinates of endpoints of other segment.</span></div> +<div class="line"><a name="l00600"></a><span class="lineno"> 600</span> <span class="comment">*</span></div> +<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> <span class="comment">* Exit</span></div> +<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> <span class="comment">* x, y Coordinates of intersection point.</span></div> +<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="comment">*</span></div> +<div class="line"><a name="l00604"></a><span class="lineno"> 604</span> <span class="comment">* The value returned by the function is one of:</span></div> +<div class="line"><a name="l00605"></a><span class="lineno"> 605</span> <span class="comment">*</span></div> +<div class="line"><a name="l00606"></a><span class="lineno"> 606</span> <span class="comment">* DONT_INTERSECT 0</span></div> +<div class="line"><a name="l00607"></a><span class="lineno"> 607</span> <span class="comment">* DO_INTERSECT 1</span></div> +<div class="line"><a name="l00608"></a><span class="lineno"> 608</span> <span class="comment">* COLLINEAR 2</span></div> +<div class="line"><a name="l00609"></a><span class="lineno"> 609</span> <span class="comment">*</span></div> +<div class="line"><a name="l00610"></a><span class="lineno"> 610</span> <span class="comment">* Error conditions:</span></div> +<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> <span class="comment">*</span></div> +<div class="line"><a name="l00612"></a><span class="lineno"> 612</span> <span class="comment">* Depending upon the possible ranges, and particularly on 16-bit</span></div> +<div class="line"><a name="l00613"></a><span class="lineno"> 613</span> <span class="comment">* computers, care should be taken to protect from overflow.</span></div> +<div class="line"><a name="l00614"></a><span class="lineno"> 614</span> <span class="comment">*</span></div> +<div class="line"><a name="l00615"></a><span class="lineno"> 615</span> <span class="comment">* In the following code, 'long' values have been used for this</span></div> +<div class="line"><a name="l00616"></a><span class="lineno"> 616</span> <span class="comment">* purpose, instead of 'int'.</span></div> +<div class="line"><a name="l00617"></a><span class="lineno"> 617</span> <span class="comment">*</span></div> +<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> <span class="comment">*/</span></div> +<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> </div> +<div class="line"><a name="l00620"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#a91433603e317e9be7f539f9757940313"> 620</a></span> <span class="preprocessor">#define DONT_INTERSECT 0</span></div> +<div class="line"><a name="l00621"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#ac8ac7f0cba50c80aac521f0ac022e25d"> 621</a></span> <span class="preprocessor"></span><span class="preprocessor">#define DO_INTERSECT 1</span></div> +<div class="line"><a name="l00622"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#a105caa178db222564f6fab1433ae289b"> 622</a></span> <span class="preprocessor"></span><span class="preprocessor">#define COLLINEAR 2</span></div> +<div class="line"><a name="l00623"></a><span class="lineno"> 623</span> <span class="preprocessor"></span></div> +<div class="line"><a name="l00624"></a><span class="lineno"><a class="code" href="_geometry_8cpp.html#a1090fdf1744085b0ccd462602b6d5d81"> 624</a></span> <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="_geometry_8cpp.html#a1090fdf1744085b0ccd462602b6d5d81">SAME_SIGNS</a>(<span class="keywordtype">double</span> a, <span class="keywordtype">double</span> b)</div> +<div class="line"><a name="l00625"></a><span class="lineno"> 625</span> {</div> +<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  <span class="keywordflow">return</span> ((a>=0 && b>=0) || (a<0 && b<0));</div> +<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> }</div> +<div class="line"><a name="l00628"></a><span class="lineno"> 628</span> </div> +<div class="line"><a name="l00629"></a><span class="lineno"> 629</span> <span class="keywordtype">int</span></div> +<div class="line"><a name="l00630"></a><span class="lineno"><a class="code" href="_geometry_8h.html#abe89a66a9f9ef5d6a7c9feca1cfe13ed"> 630</a></span> <a class="code" href="_geometry_8cpp.html#a37f9f7b1d82170ce5136881a54b7d7d6">lines_intersect</a>(</div> +<div class="line"><a name="l00631"></a><span class="lineno"> 631</span> <span class="comment">/* 1st line segment */</span> <span class="keywordtype">double</span> x1, <span class="keywordtype">double</span> y1, <span class="keywordtype">double</span> x2, <span class="keywordtype">double</span> y2,</div> +<div class="line"><a name="l00632"></a><span class="lineno"> 632</span> <span class="comment">/* 2nd line segment */</span> <span class="keywordtype">double</span> x3, <span class="keywordtype">double</span> y3, <span class="keywordtype">double</span> x4, <span class="keywordtype">double</span> y4,</div> +<div class="line"><a name="l00633"></a><span class="lineno"> 633</span> <span class="comment">/* pt of intersect */</span> <span class="keywordtype">double</span>& ix, <span class="keywordtype">double</span>& iy)</div> +<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> {</div> +<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  <span class="keywordtype">double</span> a1, a2, b1, b2, c1, c2; <span class="comment">/* Coefficients of line eqns. */</span></div> +<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  <span class="keywordtype">double</span> r1, r2, r3, r4; <span class="comment">/* 'Sign' values */</span></div> +<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordtype">double</span> denom, offset, num; <span class="comment">/* Intermediate values */</span></div> +<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> </div> +<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  <span class="comment">/* Compute a1, b1, c1, where line joining points 1 and 2</span></div> +<div class="line"><a name="l00640"></a><span class="lineno"> 640</span> <span class="comment"> * is "a1 x + b1 y + c1 = 0". */</span></div> +<div class="line"><a name="l00641"></a><span class="lineno"> 641</span> </div> +<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  a1 = y2 - y1;</div> +<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  b1 = x1 - x2;</div> +<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  c1 = x2 * y1 - x1 * y2;</div> +<div class="line"><a name="l00645"></a><span class="lineno"> 645</span> </div> +<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  <span class="comment">/* Compute r3 and r4. */</span></div> +<div class="line"><a name="l00647"></a><span class="lineno"> 647</span> </div> +<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  r3 = a1 * x3 + b1 * y3 + c1;</div> +<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  r4 = a1 * x4 + b1 * y4 + c1;</div> +<div class="line"><a name="l00650"></a><span class="lineno"> 650</span> </div> +<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  <span class="comment">/* Check signs of r3 and r4. If both point 3 and point 4 lie on</span></div> +<div class="line"><a name="l00652"></a><span class="lineno"> 652</span> <span class="comment"> * same side of line 1, the line segments do not intersect. */</span></div> +<div class="line"><a name="l00653"></a><span class="lineno"> 653</span> </div> +<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordflow">if</span> ( r3 != 0 &&</div> +<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  r4 != 0 &&</div> +<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <a class="code" href="_geometry_8cpp.html#a1090fdf1744085b0ccd462602b6d5d81">SAME_SIGNS</a>( r3, r4 ))</div> +<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <span class="keywordflow">return</span> ( <a class="code" href="_geometry_8cpp.html#a91433603e317e9be7f539f9757940313">DONT_INTERSECT</a> );</div> +<div class="line"><a name="l00658"></a><span class="lineno"> 658</span> </div> +<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="comment">/* Compute a2, b2, c2 */</span></div> +<div class="line"><a name="l00660"></a><span class="lineno"> 660</span> </div> +<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  a2 = y4 - y3;</div> +<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  b2 = x3 - x4;</div> +<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  c2 = x4 * y3 - x3 * y4;</div> +<div class="line"><a name="l00664"></a><span class="lineno"> 664</span> </div> +<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="comment">/* Compute r1 and r2 */</span></div> +<div class="line"><a name="l00666"></a><span class="lineno"> 666</span> </div> +<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  r1 = a2 * x1 + b2 * y1 + c2;</div> +<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  r2 = a2 * x2 + b2 * y2 + c2;</div> +<div class="line"><a name="l00669"></a><span class="lineno"> 669</span> </div> +<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <span class="comment">/* Check signs of r1 and r2. If both point 1 and point 2 lie</span></div> +<div class="line"><a name="l00671"></a><span class="lineno"> 671</span> <span class="comment"> * on same side of second line segment, the line segments do</span></div> +<div class="line"><a name="l00672"></a><span class="lineno"> 672</span> <span class="comment"> * not intersect. */</span></div> +<div class="line"><a name="l00673"></a><span class="lineno"> 673</span> </div> +<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="keywordflow">if</span> ( r1 != 0 &&</div> +<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  r2 != 0 &&</div> +<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <a class="code" href="_geometry_8cpp.html#a1090fdf1744085b0ccd462602b6d5d81">SAME_SIGNS</a>( r1, r2 ))</div> +<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="keywordflow">return</span> ( <a class="code" href="_geometry_8cpp.html#a91433603e317e9be7f539f9757940313">DONT_INTERSECT</a> );</div> +<div class="line"><a name="l00678"></a><span class="lineno"> 678</span> </div> +<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  <span class="comment">/* Line segments intersect: compute intersection point. */</span></div> +<div class="line"><a name="l00680"></a><span class="lineno"> 680</span> </div> +<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  denom = a1 * b2 - a2 * b1;</div> +<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <span class="keywordflow">if</span> ( denom == 0 )</div> +<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  <span class="keywordflow">return</span> ( <a class="code" href="_geometry_8cpp.html#a91433603e317e9be7f539f9757940313">DONT_INTERSECT</a> );</div> +<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  offset = denom < 0 ? - denom / 2 : denom / 2;</div> +<div class="line"><a name="l00685"></a><span class="lineno"> 685</span> </div> +<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  <span class="comment">/* The denom/2 is to get rounding instead of truncating. It</span></div> +<div class="line"><a name="l00687"></a><span class="lineno"> 687</span> <span class="comment"> * is added or subtracted to the numerator, depending upon the</span></div> +<div class="line"><a name="l00688"></a><span class="lineno"> 688</span> <span class="comment"> * sign of the numerator. */</span></div> +<div class="line"><a name="l00689"></a><span class="lineno"> 689</span> </div> +<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  num = b1 * c2 - b2 * c1;</div> +<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  ix = ( num < 0 ? num - offset : num + offset ) / denom;</div> +<div class="line"><a name="l00692"></a><span class="lineno"> 692</span> </div> +<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  num = a2 * c1 - a1 * c2;</div> +<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  iy = ( num < 0 ? num - offset : num + offset ) / denom;</div> +<div class="line"><a name="l00695"></a><span class="lineno"> 695</span> </div> +<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  <span class="keywordflow">return</span> ( <a class="code" href="_geometry_8cpp.html#ac8ac7f0cba50c80aac521f0ac022e25d">DO_INTERSECT</a> );</div> +<div class="line"><a name="l00697"></a><span class="lineno"> 697</span> }</div> +<div class="line"><a name="l00698"></a><span class="lineno"> 698</span> </div> +</div><!-- fragment --></div><!-- contents --> +</div><!-- doc-content --> +<!-- start footer part --> +<div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> + <ul> + <li class="navelem"><a class="el" href="dir_d6625d0f3efd9eb70ff961583505095b.html">nGenEx</a></li><li class="navelem"><a class="el" href="_geometry_8cpp.html">Geometry.cpp</a></li> + <li class="footer">Generated on Thu May 31 2012 16:30:54 for Starshatter_Open by + <a href="http://www.doxygen.org/index.html"> + <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.1 </li> + </ul> +</div> +</body> +</html> |