2 Copyright (C) 1999-2007 id Software, Inc. and contributors.
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3 For a list of contributors, see the accompanying CONTRIBUTORS file.
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5 This file is part of GtkRadiant.
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7 GtkRadiant is free software; you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License as published by
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9 the Free Software Foundation; either version 2 of the License, or
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10 (at your option) any later version.
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12 GtkRadiant is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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17 You should have received a copy of the GNU General Public License
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18 along with GtkRadiant; if not, write to the Free Software
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19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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28 #include "bytebool.h"
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35 typedef float vec_t;
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36 typedef vec_t vec3_t[3];
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37 typedef vec_t vec5_t[5];
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38 typedef vec_t vec4_t[4];
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40 #define SIDE_FRONT 0
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43 #define SIDE_CROSS -2
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45 // plane types are used to speed some tests
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46 // 0-2 are axial planes
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50 #define PLANE_NON_AXIAL 3
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52 #define Q_PI 3.14159265358979323846f
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54 extern vec3_t vec3_origin;
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56 #define EQUAL_EPSILON 0.001
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59 #define VEC_MAX 3.402823466e+38F
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62 qboolean VectorCompare (vec3_t v1, vec3_t v2);
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64 #define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2])
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65 #define VectorSubtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
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66 #define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
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67 #define VectorIncrement(a,b) ((b)[0]+=(a)[0],(b)[1]+=(a)[1],(b)[2]+=(a)[2])
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68 #define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
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69 #define VectorSet(v, a, b, c) ((v)[0]=(a),(v)[1]=(b),(v)[2]=(c))
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70 #define VectorScale(a,b,c) ((c)[0]=(b)*(a)[0],(c)[1]=(b)*(a)[1],(c)[2]=(b)*(a)[2])
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71 #define VectorMid(a,b,c) ((c)[0]=((a)[0]+(b)[0])*0.5f,(c)[1]=((a)[1]+(b)[1])*0.5f,(c)[2]=((a)[2]+(b)[2])*0.5f)
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72 #define VectorNegative(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2])
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73 #define CrossProduct(a,b,c) ((c)[0]=(a)[1]*(b)[2]-(a)[2]*(b)[1],(c)[1]=(a)[2]*(b)[0]-(a)[0]*(b)[2],(c)[2]=(a)[0]*(b)[1]-(a)[1]*(b)[0])
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74 #define VectorClear(x) ((x)[0]=(x)[1]=(x)[2]=0)
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76 #define Q_rint(in) ((vec_t)floor(in+0.5))
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78 vec_t VectorLength(vec3_t v);
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80 void VectorMA( const vec3_t va, vec_t scale, const vec3_t vb, vec3_t vc );
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82 void _CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross);
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83 vec_t VectorNormalize (const vec3_t in, vec3_t out);
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84 vec_t ColorNormalize( const vec3_t in, vec3_t out );
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85 void VectorInverse (vec3_t v);
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86 void VectorPolar(vec3_t v, float radius, float theta, float phi);
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88 // default snapping, to 1
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89 void VectorSnap(vec3_t v);
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92 void VectorISnap(vec3_t point, int snap);
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94 // Gef: added snap to float for sub-integer grid sizes
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95 // TTimo: we still use the int version of VectorSnap when possible
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96 // to avoid potential rounding issues
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97 // TTimo: renaming to VectorFSnap for C implementation
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98 void VectorFSnap(vec3_t point, float snap);
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100 // NOTE: added these from Ritual's Q3Radiant
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101 void ClearBounds (vec3_t mins, vec3_t maxs);
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102 void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs);
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104 void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
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105 void VectorToAngles( vec3_t vec, vec3_t angles );
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107 #define ZERO_EPSILON 1.0E-6
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108 #define RAD2DEGMULT 57.29577951308232f
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109 #define DEG2RADMULT 0.01745329251994329f
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110 #define RAD2DEG( a ) ( (a) * RAD2DEGMULT )
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111 #define DEG2RAD( a ) ( (a) * DEG2RADMULT )
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113 void VectorRotate (vec3_t vIn, vec3_t vRotation, vec3_t out);
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114 void VectorRotateOrigin (vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out);
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116 // some function merged from tools mathlib code
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118 qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c );
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119 void NormalToLatLong( const vec3_t normal, byte bytes[2] );
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120 int PlaneTypeForNormal (vec3_t normal);
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121 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
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124 // code imported from geomlib
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128 FIXME test calls such as intersect tests should be named test_
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131 typedef vec_t m3x3_t[9];
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133 m4x4 looks like this..
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139 translation (12 13 14)
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142 typedef vec_t m4x4_t[16];
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144 #define M4X4_INDEX(m,row,col) (m[(col<<2)+row])
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146 typedef enum { TRANSLATE, SCALE, ROTATE } transformtype; // legacy, used only in pmesh.cpp
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148 typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t;
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151 /*! create m4x4 as identity matrix */
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152 void m4x4_identity(m4x4_t matrix);
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153 /*! create m4x4 as a translation matrix, for a translation vec3 */
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154 void m4x4_translation_for_vec3(m4x4_t matrix, const vec3_t translation);
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155 /*! create m4x4 as a rotation matrix, for an euler angles (degrees) vec3 */
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156 void m4x4_rotation_for_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
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157 /*! create m4x4 as a scaling matrix, for a scale vec3 */
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158 void m4x4_scale_for_vec3(m4x4_t matrix, const vec3_t scale);
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159 /*! create m4x4 as a rotation matrix, for a quaternion vec4 */
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160 void m4x4_rotation_for_quat(m4x4_t matrix, const vec4_t rotation);
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161 /*! create m4x4 as a rotation matrix, for an axis vec3 and an angle (radians) */
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162 void m4x4_rotation_for_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle);
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164 // a valid m4x4 to be modified is always first argument
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165 /*! translate m4x4 by a translation vec3 */
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166 void m4x4_translate_by_vec3(m4x4_t matrix, const vec3_t translation);
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167 /*! rotate m4x4 by a euler (degrees) vec3 */
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168 void m4x4_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
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169 /*! scale m4x4 by a scaling vec3 */
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170 void m4x4_scale_by_vec3(m4x4_t matrix, const vec3_t scale);
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171 /*! rotate m4x4 by a quaternion vec4 */
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172 void m4x4_rotate_by_quat(m4x4_t matrix, const vec4_t rotation);
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173 /*! rotate m4x4 by an axis vec3 and an angle (radians) */
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174 void m4x4_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle);
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175 /*! transform m4x4 by translation/euler/scaling vec3 (transform = translation.euler.scale) */
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176 void m4x4_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale);
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177 /*! rotate m4x4 around a pivot point by euler(degrees) vec3 */
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178 void m4x4_pivoted_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint);
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179 /*! scale m4x4 around a pivot point by scaling vec3 */
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180 void m4x4_pivoted_scale_by_vec3(m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint);
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181 /*! transform m4x4 around a pivot point by translation/euler/scaling vec3 */
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182 void m4x4_pivoted_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint);
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183 /*! rotate m4x4 around a pivot point by quaternion vec4 */
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184 void m4x4_pivoted_rotate_by_quat(m4x4_t matrix, const vec4_t rotation, const vec3_t pivotpoint);
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185 /*! rotate m4x4 around a pivot point by axis vec3 and angle (radians) */
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186 void m4x4_pivoted_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle, const vec3_t pivotpoint);
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187 /*! post-multiply m4x4 by another m4x4 */
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188 void m4x4_multiply_by_m4x4(m4x4_t matrix, const m4x4_t other);
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189 /*! pre-multiply m4x4 by another m4x4 */
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190 void m4x4_premultiply_by_m4x4(m4x4_t matrix, const m4x4_t other);
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192 /*! multiply a point (x,y,z,1) by matrix */
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193 void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
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194 /*! multiply a normal (x,y,z,0) by matrix */
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195 void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
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196 /*! multiply a vec4 (x,y,z,w) by matrix */
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197 void m4x4_transform_vec4(const m4x4_t matrix, vec4_t vector);
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199 /*! multiply a point (x,y,z,1) by matrix */
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200 void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
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201 /*! multiply a normal (x,y,z,0) by matrix */
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202 void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
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204 /*! transpose a m4x4 */
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205 void m4x4_transpose(m4x4_t matrix);
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206 /*! invert an orthogonal 4x3 subset of a 4x4 matrix */
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207 void m4x4_orthogonal_invert(m4x4_t matrix);
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208 /*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */
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209 int m4x4_invert(m4x4_t matrix);
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212 \todo object/ray intersection functions should maybe return a point rather than a distance?
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216 aabb_t - "axis-aligned" bounding box...
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217 origin: centre of bounding box...
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218 extents: +/- extents of box from origin...
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219 radius: cached length of extents vector...
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221 typedef struct aabb_s
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229 bbox_t - oriented bounding box...
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230 aabb: axis-aligned bounding box...
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231 axes: orientation axes...
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233 typedef struct bbox_s
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240 ray_t - origin point and direction unit-vector
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242 typedef struct ray_s
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249 /*! Generate AABB from min/max. */
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250 void aabb_construct_for_vec3(aabb_t *aabb, const vec3_t min, const vec3_t max);
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251 /*! Update bounding-sphere radius. */
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252 void aabb_update_radius(aabb_t *aabb);
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253 /*! Initialise AABB to negative size. */
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254 void aabb_clear(aabb_t *aabb);
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256 /*! Extend AABB to include point. */
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257 void aabb_extend_by_point(aabb_t *aabb, const vec3_t point);
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258 /*! Extend AABB to include aabb_src. */
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259 void aabb_extend_by_aabb(aabb_t *aabb, const aabb_t *aabb_src);
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260 /*! Extend AABB by +/- extension vector. */
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261 void aabb_extend_by_vec3(aabb_t *aabb, vec3_t extension);
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263 /*! Return 2 if point is inside, else 1 if point is on surface, else 0. */
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264 int aabb_intersect_point(const aabb_t *aabb, const vec3_t point);
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265 /*! Return 2 if aabb_src intersects, else 1 if aabb_src touches exactly, else 0. */
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266 int aabb_intersect_aabb(const aabb_t *aabb, const aabb_t *aabb_src);
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267 /*! Return 2 if aabb is behind plane, else 1 if aabb intersects plane, else 0. */
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268 int aabb_intersect_plane(const aabb_t *aabb, const float *plane);
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269 /*! Return 1 if aabb intersects ray, else 0... dist = closest intersection. */
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270 int aabb_intersect_ray(const aabb_t *aabb, const ray_t *ray, vec_t *dist);
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271 /*! Return 1 if aabb intersects ray, else 0. Faster, but does not provide point of intersection */
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272 int aabb_test_ray(const aabb_t* aabb, const ray_t* ray);
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274 /*! Generate AABB from oriented bounding box. */
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275 void aabb_for_bbox(aabb_t *aabb, const bbox_t *bbox);
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276 /*! Generate AABB from 2-dimensions of min/max, specified by axis. */
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277 void aabb_for_area(aabb_t *aabb, vec3_t area_tl, vec3_t area_br, int axis);
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278 /*! Generate AABB to contain src * transform. NOTE: transform must be orthogonal */
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279 void aabb_for_transformed_aabb(aabb_t* dst, const aabb_t* src, const m4x4_t transform);
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282 /*! Generate oriented bounding box from AABB and transformation matrix. */
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283 /*!\todo Remove need to specify euler/scale. */
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284 void bbox_for_oriented_aabb(bbox_t *bbox, const aabb_t *aabb,
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285 const m4x4_t matrix, const vec3_t euler, const vec3_t scale);
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286 /*! Return 2 is bbox is behind plane, else return 1 if bbox intersects plane, else return 0. */
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287 int bbox_intersect_plane(const bbox_t *bbox, const vec_t* plane);
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290 /*! Generate a ray from an origin point and a direction unit-vector */
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291 void ray_construct_for_vec3(ray_t *ray, const vec3_t origin, const vec3_t direction);
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293 /*! Transform a ray */
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294 void ray_transform(ray_t *ray, const m4x4_t matrix);
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296 /*! return true if point intersects cone formed by ray, divergence and epsilon */
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297 vec_t ray_intersect_point(const ray_t *ray, const vec3_t point, vec_t epsilon, vec_t divergence);
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298 /*! return true if triangle intersects ray... dist = dist from intersection point to ray-origin */
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299 vec_t ray_intersect_triangle(const ray_t *ray, qboolean bCullBack, const vec3_t vert0, const vec3_t vert1, const vec3_t vert2);
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305 #endif /* __MATHLIB__ */
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