--- /dev/null
+/*
+Copyright (C) 2003, 2010 - Wolfire Games
+Copyright (C) 2010-2016 - Lugaru contributors (see AUTHORS file)
+
+This file is part of Lugaru.
+
+Lugaru is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+Lugaru is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Lugaru. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef _QUATERNIONS_HPP_
+#define _QUATERNIONS_HPP_
+
+#include "Graphic/gamegl.hpp"
+
+#include <math.h>
+
+class XYZ
+{
+public:
+ float x;
+ float y;
+ float z;
+ XYZ() : x(0.0f), y(0.0f), z(0.0f) {}
+ inline XYZ operator+(XYZ add);
+ inline XYZ operator-(XYZ add);
+ inline XYZ operator*(float add);
+ inline XYZ operator*(XYZ add);
+ inline XYZ operator/(float add);
+ inline void operator+=(XYZ add);
+ inline void operator-=(XYZ add);
+ inline void operator*=(float add);
+ inline void operator*=(XYZ add);
+ inline void operator/=(float add);
+ inline void operator=(float add);
+ inline bool operator==(XYZ add);
+};
+
+inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V);
+inline void CrossProduct(XYZ P, XYZ Q, XYZ *V);
+inline void Normalise(XYZ *vectory);
+inline float normaldotproduct(XYZ point1, XYZ point2);
+inline float fast_sqrt (register float arg);
+bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3);
+bool LineFacet(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
+float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
+float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ n, XYZ *p);
+float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *n, XYZ *p);
+float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *p);
+inline void ReflectVector(XYZ *vel, const XYZ *n);
+inline void ReflectVector(XYZ *vel, const XYZ &n);
+inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang);
+inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang);
+inline float findDistance(XYZ *point1, XYZ *point2);
+inline float findLength(XYZ *point1);
+inline float findLengthfast(XYZ *point1);
+inline float distsq(XYZ *point1, XYZ *point2);
+inline float distsq(XYZ point1, XYZ point2);
+inline float distsqflat(XYZ *point1, XYZ *point2);
+inline float dotproduct(const XYZ *point1, const XYZ *point2);
+bool sphere_line_intersection (
+ float x1, float y1 , float z1,
+ float x2, float y2 , float z2,
+ float x3, float y3 , float z3, float r );
+bool sphere_line_intersection (
+ XYZ *p1, XYZ *p2, XYZ *p3, float *r );
+inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection );
+
+
+inline void Normalise(XYZ *vectory)
+{
+ static float d;
+ d = fast_sqrt(vectory->x * vectory->x + vectory->y * vectory->y + vectory->z * vectory->z);
+ if (d == 0) {
+ return;
+ }
+ vectory->x /= d;
+ vectory->y /= d;
+ vectory->z /= d;
+}
+
+inline XYZ XYZ::operator+(XYZ add)
+{
+ static XYZ ne;
+ ne = add;
+ ne.x += x;
+ ne.y += y;
+ ne.z += z;
+ return ne;
+}
+
+inline XYZ XYZ::operator-(XYZ add)
+{
+ static XYZ ne;
+ ne = add;
+ ne.x = x - ne.x;
+ ne.y = y - ne.y;
+ ne.z = z - ne.z;
+ return ne;
+}
+
+inline XYZ XYZ::operator*(float add)
+{
+ static XYZ ne;
+ ne.x = x * add;
+ ne.y = y * add;
+ ne.z = z * add;
+ return ne;
+}
+
+inline XYZ XYZ::operator*(XYZ add)
+{
+ static XYZ ne;
+ ne.x = x * add.x;
+ ne.y = y * add.y;
+ ne.z = z * add.z;
+ return ne;
+}
+
+inline XYZ XYZ::operator/(float add)
+{
+ static XYZ ne;
+ ne.x = x / add;
+ ne.y = y / add;
+ ne.z = z / add;
+ return ne;
+}
+
+inline void XYZ::operator+=(XYZ add)
+{
+ x += add.x;
+ y += add.y;
+ z += add.z;
+}
+
+inline void XYZ::operator-=(XYZ add)
+{
+ x = x - add.x;
+ y = y - add.y;
+ z = z - add.z;
+}
+
+inline void XYZ::operator*=(float add)
+{
+ x = x * add;
+ y = y * add;
+ z = z * add;
+}
+
+inline void XYZ::operator*=(XYZ add)
+{
+ x = x * add.x;
+ y = y * add.y;
+ z = z * add.z;
+}
+
+inline void XYZ::operator/=(float add)
+{
+ x = x / add;
+ y = y / add;
+ z = z / add;
+}
+
+inline void XYZ::operator=(float add)
+{
+ x = add;
+ y = add;
+ z = add;
+}
+
+inline bool XYZ::operator==(XYZ add)
+{
+ if (x == add.x && y == add.y && z == add.z)
+ return 1;
+ return 0;
+}
+
+inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V)
+{
+ V->x = P->y * Q->z - P->z * Q->y;
+ V->y = P->z * Q->x - P->x * Q->z;
+ V->z = P->x * Q->y - P->y * Q->x;
+}
+
+inline void CrossProduct(XYZ P, XYZ Q, XYZ *V)
+{
+ V->x = P.y * Q.z - P.z * Q.y;
+ V->y = P.z * Q.x - P.x * Q.z;
+ V->z = P.x * Q.y - P.y * Q.x;
+}
+
+inline float fast_sqrt (register float arg)
+{
+ return sqrtf(arg);
+}
+
+inline float normaldotproduct(XYZ point1, XYZ point2)
+{
+ static GLfloat returnvalue;
+ Normalise(&point1);
+ Normalise(&point2);
+ returnvalue = (point1.x * point2.x + point1.y * point2.y + point1.z * point2.z);
+ return returnvalue;
+}
+
+inline void ReflectVector(XYZ *vel, const XYZ *n)
+{
+ ReflectVector(vel, *n);
+}
+
+inline void ReflectVector(XYZ *vel, const XYZ &n)
+{
+ static XYZ vn;
+ static XYZ vt;
+ static float dotprod;
+
+ dotprod = dotproduct(&n, vel);
+ vn.x = n.x * dotprod;
+ vn.y = n.y * dotprod;
+ vn.z = n.z * dotprod;
+
+ vt.x = vel->x - vn.x;
+ vt.y = vel->y - vn.y;
+ vt.z = vel->z - vn.z;
+
+ vel->x = vt.x - vn.x;
+ vel->y = vt.y - vn.y;
+ vel->z = vt.z - vn.z;
+}
+
+inline float dotproduct(const XYZ *point1, const XYZ *point2)
+{
+ static GLfloat returnvalue;
+ returnvalue = (point1->x * point2->x + point1->y * point2->y + point1->z * point2->z);
+ return returnvalue;
+}
+
+inline float findDistance(XYZ *point1, XYZ *point2)
+{
+ return(fast_sqrt((point1->x - point2->x) * (point1->x - point2->x) + (point1->y - point2->y) * (point1->y - point2->y) + (point1->z - point2->z) * (point1->z - point2->z)));
+}
+
+inline float findLength(XYZ *point1)
+{
+ return(fast_sqrt((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z)));
+}
+
+
+inline float findLengthfast(XYZ *point1)
+{
+ return((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z));
+}
+
+inline float distsq(XYZ *point1, XYZ *point2)
+{
+ return((point1->x - point2->x) * (point1->x - point2->x) + (point1->y - point2->y) * (point1->y - point2->y) + (point1->z - point2->z) * (point1->z - point2->z));
+}
+
+inline float distsq(XYZ point1, XYZ point2)
+{
+ return((point1.x - point2.x) * (point1.x - point2.x) + (point1.y - point2.y) * (point1.y - point2.y) + (point1.z - point2.z) * (point1.z - point2.z));
+}
+
+inline float distsqflat(XYZ *point1, XYZ *point2)
+{
+ return((point1->x - point2->x) * (point1->x - point2->x) + (point1->z - point2->z) * (point1->z - point2->z));
+}
+
+inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang)
+{
+ static XYZ newpoint;
+ if (xang) {
+ xang *= 6.283185f;
+ xang /= 360;
+ }
+ if (yang) {
+ yang *= 6.283185f;
+ yang /= 360;
+ }
+ if (zang) {
+ zang *= 6.283185f;
+ zang /= 360;
+ }
+
+
+ if (yang) {
+ newpoint.z = thePoint.z * cosf(yang) - thePoint.x * sinf(yang);
+ newpoint.x = thePoint.z * sinf(yang) + thePoint.x * cosf(yang);
+ thePoint.z = newpoint.z;
+ thePoint.x = newpoint.x;
+ }
+
+ if (zang) {
+ newpoint.x = thePoint.x * cosf(zang) - thePoint.y * sinf(zang);
+ newpoint.y = thePoint.y * cosf(zang) + thePoint.x * sinf(zang);
+ thePoint.x = newpoint.x;
+ thePoint.y = newpoint.y;
+ }
+
+ if (xang) {
+ newpoint.y = thePoint.y * cosf(xang) - thePoint.z * sinf(xang);
+ newpoint.z = thePoint.y * sinf(xang) + thePoint.z * cosf(xang);
+ thePoint.z = newpoint.z;
+ thePoint.y = newpoint.y;
+ }
+
+ return thePoint;
+}
+
+inline float square( float f )
+{
+ return (f * f) ;
+}
+
+inline bool sphere_line_intersection (
+ float x1, float y1 , float z1,
+ float x2, float y2 , float z2,
+ float x3, float y3 , float z3, float r )
+{
+
+ // x1,y1,z1 P1 coordinates (point of line)
+ // x2,y2,z2 P2 coordinates (point of line)
+ // x3,y3,z3, r P3 coordinates and radius (sphere)
+ // x,y,z intersection coordinates
+ //
+ // This function returns a pointer array which first index indicates
+ // the number of intersection point, followed by coordinate pairs.
+
+ //~ static float x , y , z;
+ static float a, b, c, /*mu,*/ i ;
+
+ if (x1 > x3 + r && x2 > x3 + r) return(0);
+ if (x1 < x3 - r && x2 < x3 - r) return(0);
+ if (y1 > y3 + r && y2 > y3 + r) return(0);
+ if (y1 < y3 - r && y2 < y3 - r) return(0);
+ if (z1 > z3 + r && z2 > z3 + r) return(0);
+ if (z1 < z3 - r && z2 < z3 - r) return(0);
+ a = square(x2 - x1) + square(y2 - y1) + square(z2 - z1);
+ b = 2 * ( (x2 - x1) * (x1 - x3)
+ + (y2 - y1) * (y1 - y3)
+ + (z2 - z1) * (z1 - z3) ) ;
+ c = square(x3) + square(y3) +
+ square(z3) + square(x1) +
+ square(y1) + square(z1) -
+ 2 * ( x3 * x1 + y3 * y1 + z3 * z1 ) - square(r) ;
+ i = b * b - 4 * a * c ;
+
+ if ( i < 0.0 ) {
+ // no intersection
+ return(0);
+ }
+ return(1);
+}
+
+inline bool sphere_line_intersection (
+ XYZ *p1, XYZ *p2, XYZ *p3, float *r )
+{
+
+ // x1,p1->y,p1->z P1 coordinates (point of line)
+ // p2->x,p2->y,p2->z P2 coordinates (point of line)
+ // p3->x,p3->y,p3->z, r P3 coordinates and radius (sphere)
+ // x,y,z intersection coordinates
+ //
+ // This function returns a pointer array which first index indicates
+ // the number of intersection point, followed by coordinate pairs.
+
+ //~ static float x , y , z;
+ static float a, b, c, /*mu,*/ i ;
+
+ if (p1->x > p3->x + *r && p2->x > p3->x + *r) return(0);
+ if (p1->x < p3->x - *r && p2->x < p3->x - *r) return(0);
+ if (p1->y > p3->y + *r && p2->y > p3->y + *r) return(0);
+ if (p1->y < p3->y - *r && p2->y < p3->y - *r) return(0);
+ if (p1->z > p3->z + *r && p2->z > p3->z + *r) return(0);
+ if (p1->z < p3->z - *r && p2->z < p3->z - *r) return(0);
+ a = square(p2->x - p1->x) + square(p2->y - p1->y) + square(p2->z - p1->z);
+ b = 2 * ( (p2->x - p1->x) * (p1->x - p3->x)
+ + (p2->y - p1->y) * (p1->y - p3->y)
+ + (p2->z - p1->z) * (p1->z - p3->z) ) ;
+ c = square(p3->x) + square(p3->y) +
+ square(p3->z) + square(p1->x) +
+ square(p1->y) + square(p1->z) -
+ 2 * ( p3->x * p1->x + p3->y * p1->y + p3->z * p1->z ) - square(*r) ;
+ i = b * b - 4 * a * c ;
+
+ if ( i < 0.0 ) {
+ // no intersection
+ return(0);
+ }
+ return(1);
+}
+
+inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang)
+{
+ static XYZ newpoint;
+ static XYZ oldpoint;
+
+ oldpoint = thePoint;
+
+ if (yang != 0) {
+ newpoint.z = oldpoint.z * cosf(yang) - oldpoint.x * sinf(yang);
+ newpoint.x = oldpoint.z * sinf(yang) + oldpoint.x * cosf(yang);
+ oldpoint.z = newpoint.z;
+ oldpoint.x = newpoint.x;
+ }
+
+ if (zang != 0) {
+ newpoint.x = oldpoint.x * cosf(zang) - oldpoint.y * sinf(zang);
+ newpoint.y = oldpoint.y * cosf(zang) + oldpoint.x * sinf(zang);
+ oldpoint.x = newpoint.x;
+ oldpoint.y = newpoint.y;
+ }
+
+ if (xang != 0) {
+ newpoint.y = oldpoint.y * cosf(xang) - oldpoint.z * sinf(xang);
+ newpoint.z = oldpoint.y * sinf(xang) + oldpoint.z * cosf(xang);
+ oldpoint.z = newpoint.z;
+ oldpoint.y = newpoint.y;
+ }
+
+ return oldpoint;
+
+}
+
+inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection )
+{
+ float LineMag;
+ float U;
+
+ LineMag = findDistance( LineEnd, LineStart );
+
+ U = ( ( ( Point->x - LineStart->x ) * ( LineEnd->x - LineStart->x ) ) +
+ ( ( Point->y - LineStart->y ) * ( LineEnd->y - LineStart->y ) ) +
+ ( ( Point->z - LineStart->z ) * ( LineEnd->z - LineStart->z ) ) ) /
+ ( LineMag * LineMag );
+
+ if ( U < 0.0f || U > 1.0f )
+ return 0; // closest point does not fall within the line segment
+
+ Intersection->x = LineStart->x + U * ( LineEnd->x - LineStart->x );
+ Intersection->y = LineStart->y + U * ( LineEnd->y - LineStart->y );
+ Intersection->z = LineStart->z + U * ( LineEnd->z - LineStart->z );
+
+ *Distance = findDistance( Point, Intersection );
+
+ return 1;
+}
+
+#endif
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