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409 lines
14 KiB
409 lines
14 KiB
/*==LICENSE==* |
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CyanWorlds.com Engine - MMOG client, server and tools |
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Copyright (C) 2011 Cyan Worlds, Inc. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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Additional permissions under GNU GPL version 3 section 7 |
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If you modify this Program, or any covered work, by linking or |
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combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK, |
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NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent |
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JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK |
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(or a modified version of those libraries), |
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containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA, |
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PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG |
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JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the |
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licensors of this Program grant you additional |
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permission to convey the resulting work. Corresponding Source for a |
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non-source form of such a combination shall include the source code for |
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the parts of OpenSSL and IJG JPEG Library used as well as that of the covered |
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work. |
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You can contact Cyan Worlds, Inc. by email legal@cyan.com |
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or by snail mail at: |
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Cyan Worlds, Inc. |
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14617 N Newport Hwy |
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Mead, WA 99021 |
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*==LICENSE==*/ |
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#ifndef hsGGeometry3Defined |
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#define hsGGeometry3Defined |
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#include "hsTypes.h" |
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struct hsVector3; |
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struct hsPoint3; |
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struct hsScalarTriple; |
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class hsStream; |
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/* |
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If value is already close to hsScalar1, then this is a good approx. of 1/sqrt(value) |
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*/ |
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static inline hsScalar hsInvSqrt(hsScalar value) |
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{ |
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hsScalar guess; |
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hsScalar threeOverTwo = hsScalar1 + hsScalarHalf; |
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value = hsScalarDiv2(value); |
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guess = threeOverTwo - value; // with initial guess = 1.0 |
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// repeat this line for better approx |
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guess = hsScalarMul(guess, threeOverTwo - hsScalarMul(hsScalarMul(value, guess), guess)); |
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guess = hsScalarMul(guess, threeOverTwo - hsScalarMul(hsScalarMul(value, guess), guess)); |
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return guess; |
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} |
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///////////////////////////////////////////////////////////////////////////////////////////// |
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struct hsScalarTriple |
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{ |
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//protected: |
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// hsScalarTriple() : fX(privateData[0]), fY(privateData[1]), fZ(privateData[2]) {} |
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// hsScalarTriple(hsScalar x, hsScalar y, hsScalar z) |
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// : fX(privateData[0]), fY(privateData[1]), fZ(privateData[2]) { fX = x, fY = y, fZ = z; } |
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// |
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// union { |
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// u_long128 privateTemp; |
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// hsScalar privateData[4]; |
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// }; |
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//public: |
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// |
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// int operator=(const hsScalarTriple& o) { privateTemp = o.privateTemp; } |
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// hsScalarTriple(const hsScalarTriple& o) : fX(privateData[0]), fY(privateData[1]), fZ(privateData[2]) |
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// { *this = o; } |
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// |
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// hsScalar& fX; |
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// hsScalar& fY; |
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// hsScalar& fZ; |
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protected: |
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hsScalarTriple() {} |
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hsScalarTriple(hsScalar x, hsScalar y, hsScalar z) : fX(x), fY(y), fZ(z) {} |
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public: |
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hsScalar fX, fY, fZ; |
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hsScalarTriple* Set(hsScalar x, hsScalar y, hsScalar z) { fX= x; fY = y; fZ = z; return this;} |
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hsScalarTriple* Set(const hsScalarTriple *p) { fX = p->fX; fY = p->fY; fZ = p->fZ; return this;} |
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hsScalar InnerProduct(const hsScalarTriple &p) const; |
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hsScalar InnerProduct(const hsScalarTriple *p) const; |
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// hsScalarTriple LERP(hsScalarTriple &other, hsScalar t); |
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#if HS_SCALAR_IS_FIXED |
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hsScalar Magnitude() const; |
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hsScalar MagnitudeSquared() const; |
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#else |
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hsScalar Magnitude() const { return hsSquareRoot(MagnitudeSquared()); } |
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hsScalar MagnitudeSquared() const { return (fX * fX + fY * fY + fZ * fZ); } |
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#endif |
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hsBool IsEmpty() const { return fX == 0 && fY == 0 && fZ == 0; } |
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hsScalar operator[](int i) const; |
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hsScalar& operator[](int i); |
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void Read(hsStream *stream); |
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void Write(hsStream *stream) const; |
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}; |
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/////////////////////////////////////////////////////////////////////////// |
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inline hsScalar& hsScalarTriple::operator[] (int i) |
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{ |
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hsAssert(i >=0 && i <3, "Bad index for hsScalarTriple::operator[]"); |
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return *(&fX + i); |
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} |
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inline hsScalar hsScalarTriple::operator[] (int i) const |
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{ |
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hsAssert(i >=0 && i <3, "Bad index for hsScalarTriple::operator[]"); |
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return *(&fX + i); |
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} |
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inline hsScalar hsScalarTriple::InnerProduct(const hsScalarTriple &p) const |
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{ |
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hsScalar tmp = fX*p.fX; |
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tmp += fY*p.fY; |
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tmp += fZ*p.fZ; |
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return tmp; |
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} |
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inline hsScalar hsScalarTriple::InnerProduct(const hsScalarTriple *p) const |
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{ |
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hsScalar tmp = fX*p->fX; |
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tmp += fY*p->fY; |
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tmp += fZ*p->fZ; |
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return tmp; |
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} |
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//inline hsScalarTriple hsScalarTriple::LERP(hsScalarTriple &other, hsScalar t) |
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//{ |
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// hsScalarTriple p = other - this; |
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// p = p / t; |
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// return this + p; |
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//} |
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///////////////////////////////////////////////////////////////////////////////////////////// |
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struct hsPoint3 : public hsScalarTriple { |
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hsPoint3() {}; |
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hsPoint3(hsScalar x, hsScalar y, hsScalar z) : hsScalarTriple(x,y,z) {} |
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explicit hsPoint3(const hsScalarTriple& p) : hsScalarTriple(p) {} |
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hsPoint3* Set(hsScalar x, hsScalar y, hsScalar z) { return (hsPoint3*)this->hsScalarTriple::Set(x,y,z);} |
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hsPoint3* Set(const hsScalarTriple* p) { return (hsPoint3*)this->hsScalarTriple::Set(p) ;} |
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friend inline hsPoint3 operator+(const hsPoint3& s, const hsPoint3& t); |
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friend inline hsPoint3 operator+(const hsPoint3& s, const hsVector3& t); |
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friend inline hsPoint3 operator-(const hsPoint3& s, const hsPoint3& t); |
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friend inline hsPoint3 operator-(const hsPoint3& s); |
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friend inline hsPoint3 operator*(const hsScalar& s, const hsPoint3& t); |
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friend inline hsPoint3 operator*(const hsPoint3& t, const hsScalar& s); |
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friend inline hsPoint3 operator/(const hsPoint3& t, const hsScalar& s); |
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hsBool operator==(const hsPoint3& ss) const |
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{ |
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return (ss.fX == fX && ss.fY == fY && ss.fZ == fZ); |
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} |
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hsBool operator!=(const hsPoint3& ss) const { return !(*this == ss); } |
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hsPoint3 &operator+=(const hsScalarTriple &s) { fX += s.fX; fY += s.fY; fZ += s.fZ; return *this; } |
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hsPoint3 &operator*=(const hsScalar s) { fX *= s; fY *= s; fZ *= s; return *this; } |
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}; |
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///////////////////////////////////////////////////////////////////////////////////////////// |
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struct hsVector3 : public hsScalarTriple { |
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hsVector3() {}; |
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hsVector3(hsScalar x, hsScalar y, hsScalar z) : hsScalarTriple(x,y,z) {} |
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explicit hsVector3(const hsScalarTriple& p) : hsScalarTriple(p) { } |
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hsVector3(const hsPoint3 *p1, const hsPoint3 *p2) { |
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fX = p1->fX - p2->fX, fY= p1->fY - p2->fY, fZ = p1->fZ - p2->fZ; } |
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hsVector3* Set(hsScalar x, hsScalar y, hsScalar z) { return (hsVector3*)hsScalarTriple::Set(x,y,z); } |
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hsVector3* Set(const hsScalarTriple* p) { return (hsVector3*)hsScalarTriple::Set(p) ;} |
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hsVector3* Set(const hsScalarTriple* p1, const hsScalarTriple* p2) { return Set(p1->fX-p2->fX,p1->fY-p2->fY,p1->fZ-p2->fZ);} |
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void Normalize() |
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{ |
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hsScalar length = this->Magnitude(); |
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// hsIfDebugMessage(length == 0, "Err: Normalizing hsVector3 of length 0", 0); |
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if (length == 0) |
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return; |
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hsScalar invMag = hsScalarInvert(length); |
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fX = hsScalarMul(fX, invMag); |
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fY = hsScalarMul(fY, invMag); |
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fZ = hsScalarMul(fZ, invMag); |
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} |
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inline void Renormalize() // if the vector is already close to unit length |
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{ |
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hsScalar mag2 = *this * *this; |
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hsIfDebugMessage(mag2 == 0, "Err: Renormalizing hsVector3 of length 0", 0); |
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if (mag2 == 0) |
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return; |
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hsScalar invMag = hsInvSqrt(mag2); |
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fX = hsScalarMul(fX, invMag); |
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fY = hsScalarMul(fY, invMag); |
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fZ = hsScalarMul(fZ, invMag); |
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} |
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// hsVector3 &Sub(const hsPoint3& s, const hsPoint3& t) |
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// { Set(s.fX - t.fX, s.fY - t.fY, s.fZ - t.fZ); |
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// return *this; }; |
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friend inline hsVector3 operator+(const hsVector3& s, const hsVector3& t); |
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friend inline hsVector3 operator-(const hsVector3& s, const hsVector3& t); |
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friend inline hsVector3 operator-(const hsVector3& s); |
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friend inline hsVector3 operator*(const hsScalar& s, const hsVector3& t); |
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friend inline hsVector3 operator*(const hsVector3& t, const hsScalar& s); |
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friend inline hsVector3 operator/(const hsVector3& t, const hsScalar& s); |
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friend inline hsScalar operator*(const hsVector3& t, const hsVector3& s); |
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friend hsVector3 operator%(const hsVector3& t, const hsVector3& s); |
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#if 0 // Havok reeks |
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friend hsBool32 operator==(const hsVector3& s, const hsVector3& t) |
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{ |
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return (s.fX == t.fX && s.fY == t.fY && s.fZ == t.fZ); |
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} |
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#else // Havok reeks |
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hsBool operator==(const hsVector3& ss) const |
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{ |
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return (ss.fX == fX && ss.fY == fY && ss.fZ == fZ); |
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} |
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#endif // Havok reeks |
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hsVector3 &operator+=(const hsScalarTriple &s) { fX += s.fX; fY += s.fY; fZ += s.fZ; return *this; } |
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hsVector3 &operator-=(const hsScalarTriple &s) { fX -= s.fX; fY -= s.fY; fZ -= s.fZ; return *this; } |
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hsVector3 &operator*=(const hsScalar s) { fX *= s; fY *= s; fZ *= s; return *this; } |
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hsVector3 &operator/=(const hsScalar s) { fX /= s; fY /= s; fZ /= s; return *this; } |
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}; |
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struct hsPoint4 { |
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hsScalar fX, fY, fZ, fW; |
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hsPoint4() {} |
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hsPoint4(hsScalar x, hsScalar y, hsScalar z, hsScalar w) : fX(x), fY(y), fZ(z), fW(w) {} |
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hsScalar& operator[](int i); |
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hsScalar operator[](int i) const; |
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hsPoint4& operator=(const hsPoint3&p) { Set(p.fX, p.fY, p.fZ, hsScalar1); return *this; } |
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hsPoint4* Set(hsScalar x, hsScalar y, hsScalar z, hsScalar w) |
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{ fX = x; fY = y; fZ = z; fW = w; return this; } |
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}; |
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inline hsVector3 operator+(const hsVector3& s, const hsVector3& t) |
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{ |
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hsVector3 result; |
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return *result.Set(s.fX + t.fX, s.fY + t.fY, s.fZ + t.fZ); |
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} |
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inline hsVector3 operator-(const hsVector3& s, const hsVector3& t) |
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{ |
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hsVector3 result; |
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return *result.Set(s.fX - t.fX, s.fY - t.fY, s.fZ - t.fZ); |
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} |
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// unary minus |
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inline hsVector3 operator-(const hsVector3& s) |
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{ |
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hsVector3 result; |
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return *result.Set(-s.fX, -s.fY, -s.fZ); |
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} |
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inline hsVector3 operator*(const hsVector3& s, const hsScalar& t) |
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{ |
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hsVector3 result; |
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return *result.Set(hsScalarMul(s.fX, t), hsScalarMul(s.fY, t), hsScalarMul(s.fZ, t)); |
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} |
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inline hsVector3 operator/(const hsVector3& s, const hsScalar& t) |
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{ |
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hsVector3 result; |
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return *result.Set(hsScalarDiv(s.fX, t), hsScalarDiv(s.fY, t), hsScalarDiv(s.fZ, t)); |
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} |
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inline hsVector3 operator*(const hsScalar& t, const hsVector3& s) |
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{ |
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hsVector3 result; |
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return *result.Set(hsScalarMul(s.fX, t), hsScalarMul(s.fY, t), hsScalarMul(s.fZ, t)); |
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} |
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inline hsScalar operator*(const hsVector3& t, const hsVector3& s) |
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{ |
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return hsScalarMul(t.fX, s.fX) + hsScalarMul(t.fY, s.fY) + hsScalarMul(t.fZ, s.fZ); |
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} |
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//////////////////////////////////////////////////////////////////////////// |
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inline hsPoint3 operator+(const hsPoint3& s, const hsPoint3& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(s.fX + t.fX, s.fY + t.fY, s.fZ + t.fZ); |
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} |
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inline hsPoint3 operator+(const hsPoint3& s, const hsVector3& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(s.fX + t.fX, s.fY + t.fY, s.fZ + t.fZ); |
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} |
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inline hsPoint3 operator-(const hsPoint3& s, const hsPoint3& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(s.fX - t.fX, s.fY - t.fY, s.fZ - t.fZ); |
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} |
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// unary - |
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inline hsPoint3 operator-(const hsPoint3& s) |
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{ |
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hsPoint3 result; |
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return *result.Set(-s.fX, -s.fY, -s.fZ); |
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} |
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inline hsPoint3 operator-(const hsPoint3& s, const hsVector3& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(s.fX - t.fX, s.fY - t.fY, s.fZ - t.fZ); |
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} |
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inline hsPoint3 operator*(const hsPoint3& s, const hsScalar& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(hsScalarMul(s.fX, t), hsScalarMul(s.fY, t), hsScalarMul(s.fZ, t)); |
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} |
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inline hsPoint3 operator/(const hsPoint3& s, const hsScalar& t) |
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{ |
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hsPoint3 result; |
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return *result.Set(hsScalarDiv(s.fX, t), hsScalarDiv(s.fY, t), hsScalarDiv(s.fZ, t)); |
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} |
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inline hsPoint3 operator*(const hsScalar& t, const hsPoint3& s) |
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{ |
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hsPoint3 result; |
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return *result.Set(hsScalarMul(s.fX, t), hsScalarMul(s.fY, t), hsScalarMul(s.fZ, t)); |
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} |
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inline hsScalar hsPoint4::operator[] (int i) const |
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{ |
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hsAssert(i >=0 && i <4, "Bad index for hsPoint4::operator[]"); |
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return *(&fX + i); |
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} |
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inline hsScalar& hsPoint4::operator[] (int i) |
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{ |
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hsAssert(i >=0 && i <4, "Bad index for hsPoint4::operator[]"); |
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return *(&fX + i); |
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} |
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typedef hsPoint3 hsGUv; |
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struct hsPointNorm { |
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hsPoint3 fPos; |
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hsVector3 fNorm; |
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void Read(hsStream* s) { fPos.Read(s); fNorm.Read(s); } |
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void Write(hsStream* s) const { fPos.Write(s); fNorm.Write(s); } |
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}; |
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struct hsPlane3 { |
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hsVector3 fN; |
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hsScalar fD; |
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hsPlane3() { } |
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hsPlane3(const hsVector3* nrml, hsScalar d) |
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{ fN = *nrml; fD=d; } |
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hsPlane3(const hsPoint3* pt, const hsVector3* nrml) |
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{ fN = *nrml; fD = -pt->InnerProduct(nrml); } |
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// create plane from a triangle (assumes clockwise winding of vertices) |
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hsPlane3(const hsPoint3* pt1, const hsPoint3* pt2, const hsPoint3* pt3); |
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hsVector3 GetNormal() const { return fN; } |
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void Read(hsStream *stream); |
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void Write(hsStream *stream) const; |
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}; |
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#endif
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