113 lines
5.8 KiB
C++
113 lines
5.8 KiB
C++
#ifndef FLOAT_MATH_H
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#define FLOAT_MATH_H
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namespace ConvexDecomposition
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{
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/*!
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**
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** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net
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**
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** Portions of this source has been released with the PhysXViewer application, as well as
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** Rocket, CreateDynamics, ODF, and as a number of sample code snippets.
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**
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** If you find this code useful or you are feeling particularily generous I would
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** ask that you please go to http://www.amillionpixels.us and make a donation
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** to Troy DeMolay.
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**
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** DeMolay is a youth group for young men between the ages of 12 and 21.
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** It teaches strong moral principles, as well as leadership skills and
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** public speaking. The donations page uses the 'pay for pixels' paradigm
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** where, in this case, a pixel is only a single penny. Donations can be
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** made for as small as $4 or as high as a $100 block. Each person who donates
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** will get a link to their own site as well as acknowledgement on the
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** donations blog located here http://www.amillionpixels.blogspot.com/
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**
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** If you wish to contact me you can use the following methods:
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**
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** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches)
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** Skype ID: jratcliff63367
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** Yahoo: jratcliff63367
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** AOL: jratcliff1961
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** email: jratcliff@infiniplex.net
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** Personal website: http://jratcliffscarab.blogspot.com
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** Coding Website: http://codesuppository.blogspot.com
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** FundRaising Blog: http://amillionpixels.blogspot.com
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** Fundraising site: http://www.amillionpixels.us
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** New Temple Site: http://newtemple.blogspot.com
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**
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**
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** The MIT license:
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**
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** Permission is hereby granted, free of charge, to any person obtaining a copy
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** of this software and associated documentation files (the "Software"), to deal
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** in the Software without restriction, including without limitation the rights
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** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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** copies of the Software, and to permit persons to whom the Software is furnished
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** to do so, subject to the following conditions:
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**
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** The above copyright notice and this permission notice shall be included in all
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** copies or substantial portions of the Software.
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** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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// a set of routines that let you do common 3d math
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// operations without any vector, matrix, or quaternion
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// classes or templates.
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//
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// a vector (or point) is a 'double *' to 3 doubleing point numbers.
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// a matrix is a 'double *' to an array of 16 doubleing point numbers representing a 4x4 transformation matrix compatible with D3D or OGL
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// a quaternion is a 'double *' to 4 doubles representing a quaternion x,y,z,w
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//
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//
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//
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// Please email bug fixes or improvements to John W. Ratcliff at mailto:jratcliff@infiniplex.net
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//
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// If you find this source code useful donate a couple of bucks to my kid's fund raising website at
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// www.amillionpixels.us
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//
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// More snippets at: www.codesuppository.com
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//
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const double FM_PI = 3.141592654f;
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const double FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f);
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const double FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI));
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void fm_identity(double *matrix); // set 4x4 matrix to identity.
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void fm_inverseRT(const double *matrix,const double *pos,double *t); // inverse rotate translate the point.
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void fm_transform(const double *matrix,const double *pos,double *t); // rotate and translate this point.
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void fm_rotate(const double *matrix,const double *pos,double *t); // only rotate the point by a 4x4 matrix, don't translate.
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void fm_eulerMatrix(double ax,double ay,double az,double *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
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void fm_getAABB(unsigned int vcount,const double *points,unsigned int pstride,double *bmin,double *bmax);
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void fm_eulerToQuat(double roll,double pitch,double yaw,double *quat); // convert euler angles to quaternion.
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void fm_quatToMatrix(const double *quat,double *matrix); // convert quaterinion rotation to matrix, translation set to zero.
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void fm_quatRotate(const double *quat,const double *v,double *r); // rotate a vector directly by a quaternion.
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void fm_getTranslation(const double *matrix,double *t);
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void fm_matrixToQuat(const double *matrix,double *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
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double fm_sphereVolume(double radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
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double fm_cylinderVolume(double radius,double h);
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double fm_capsuleVolume(double radius,double h);
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double fm_distance(const double *p1,const double *p2);
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double fm_distanceSquared(const double *p1,const double *p2);
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double fm_computePlane(const double *p1,const double *p2,const double *p3,double *n); // return D
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double fm_distToPlane(const double *plane,const double *pos); // computes the distance of this point from the plane.
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double fm_dot(const double *p1,const double *p2);
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void fm_cross(double *cross,const double *a,const double *b);
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void fm_computeNormalVector(double *n,const double *p1,const double *p2); // as P2-P1 normalized.
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bool fm_computeWindingOrder(const double *p1,const double *p2,const double *p3); // returns true if the triangle is clockwise.
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void fm_normalize(double *n); // normalize this vector
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}; // end of nsamepace
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#endif
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