210 lines
8.2 KiB
C++
210 lines
8.2 KiB
C++
/*
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* ICE / OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for 3D vectors.
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* \file IcePoint.cpp
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* \author Pierre Terdiman
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* \date April, 4, 2000
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* 3D point.
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*
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* The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3".
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* So the choice was between "Point" and "Vector3", the first one looked better (IMHO).
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*
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* Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3;
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* This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out:
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*
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* \code
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* Point P0,P1 = some 3D points;
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* Point Delta = P1 - P0;
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* \endcode
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*
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* This compiles fine, although you should have written:
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*
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* \code
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* Point P0,P1 = some 3D points;
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* Vector3 Delta = P1 - P0;
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* \endcode
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*
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* Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake
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* from the author or something you don't get.
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*
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* One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors.
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* But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work.
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*
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* Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store
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* your model's vertices and in most cases, you really want to use Points to save ram.
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*
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* \class Point
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* \author Pierre Terdiman
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* \version 1.0
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Precompiled Header
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#include "Stdafx.h"
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using namespace Opcode;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Creates a positive unit random vector.
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* \return Self-reference
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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Point& Point::PositiveUnitRandomVector()
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{
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x = UnitRandomFloat();
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y = UnitRandomFloat();
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z = UnitRandomFloat();
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Normalize();
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return *this;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Creates a unit random vector.
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* \return Self-reference
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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Point& Point::UnitRandomVector()
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{
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x = UnitRandomFloat() - 0.5f;
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y = UnitRandomFloat() - 0.5f;
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z = UnitRandomFloat() - 0.5f;
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Normalize();
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return *this;
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}
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// Cast operator
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// WARNING: not inlined
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Point::operator HPoint() const { return HPoint(x, y, z, 0.0f); }
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Point& Point::Refract(const Point& eye, const Point& n, float refractindex, Point& refracted)
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{
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// Point EyePt = eye position
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// Point p = current vertex
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// Point n = vertex normal
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// Point rv = refracted vector
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// Eye vector - doesn't need to be normalized
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Point Env;
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Env.x = eye.x - x;
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Env.y = eye.y - y;
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Env.z = eye.z - z;
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float NDotE = n|Env;
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float NDotN = n|n;
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NDotE /= refractindex;
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// Refracted vector
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refracted = n*NDotE - Env*NDotN;
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return *this;
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}
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Point& Point::ProjectToPlane(const Plane& p)
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{
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*this-= (p.d + (*this|p.n))*p.n;
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return *this;
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}
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void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const
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{
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projected = HPoint(x, y, z, 1.0f) * mat;
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projected.w = 1.0f / projected.w;
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projected.x*=projected.w;
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projected.y*=projected.w;
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projected.z*=projected.w;
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projected.x *= halfrenderwidth; projected.x += halfrenderwidth;
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projected.y *= -halfrenderheight; projected.y += halfrenderheight;
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}
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void Point::SetNotUsed()
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{
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// We use a particular integer pattern : 0xffffffff everywhere. This is a NAN.
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IR(x) = 0xffffffff;
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IR(y) = 0xffffffff;
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IR(z) = 0xffffffff;
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}
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BOOL Point::IsNotUsed() const
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{
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if(IR(x)!=0xffffffff) return FALSE;
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if(IR(y)!=0xffffffff) return FALSE;
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if(IR(z)!=0xffffffff) return FALSE;
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return TRUE;
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}
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Point& Point::Mult(const Matrix3x3& mat, const Point& a)
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{
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x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
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y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
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z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
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return *this;
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}
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Point& Point::Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2)
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{
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x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2];
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y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2];
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z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2];
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return *this;
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}
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Point& Point::Mac(const Matrix3x3& mat, const Point& a)
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{
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x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
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y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
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z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
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return *this;
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}
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Point& Point::TransMult(const Matrix3x3& mat, const Point& a)
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{
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x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0];
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y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1];
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z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2];
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return *this;
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}
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Point& Point::Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos)
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{
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x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x;
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y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y;
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z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z;
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return *this;
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}
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Point& Point::InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos)
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{
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float sx = r.x - linpos.x;
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float sy = r.y - linpos.y;
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float sz = r.z - linpos.z;
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x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0];
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y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1];
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z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2];
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return *this;
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}
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