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// * This file is part of the COLOBOT source code
// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
// *
// * This program 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 3 of the License, or
// * (at your option) any later version.
// *
// * This program 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 this program. If not, see http://www.gnu.org/licenses/.
//-----------------------------------------------------------------------------
// File: D3DMath.h
//
// Desc: Math functions and shortcuts for Direct3D programming.
//
// Copyright (c) 1997-1999 Microsoft Corporation. All rights reserved
//-----------------------------------------------------------------------------
#pragma once
#include <ddraw.h>
#include <d3d.h>
//-----------------------------------------------------------------------------
// Useful Math constants
//-----------------------------------------------------------------------------
const FLOAT g_PI = 3.14159265358979323846f; // Pi
const FLOAT g_2_PI = 6.28318530717958623200f; // 2 * Pi
const FLOAT g_PI_DIV_2 = 1.57079632679489655800f; // Pi / 2
const FLOAT g_PI_DIV_4 = 0.78539816339744827900f; // Pi / 4
const FLOAT g_INV_PI = 0.31830988618379069122f; // 1 / Pi
const FLOAT g_DEGTORAD = 0.01745329251994329547f; // Degrees to Radians
const FLOAT g_RADTODEG = 57.29577951308232286465f; // Radians to Degrees
const FLOAT g_HUGE = 1.0e+38f; // Huge number for FLOAT
const FLOAT g_EPSILON = 1.0e-5f; // Tolerance for FLOATs
//-----------------------------------------------------------------------------
// Fuzzy compares (within tolerance)
//-----------------------------------------------------------------------------
inline bool D3DMath_IsZero( FLOAT a, FLOAT fTol = g_EPSILON )
{ return ( a <= 0.0f ) ? ( a >= -fTol ) : ( a <= fTol ); }
//-----------------------------------------------------------------------------
// Matrix functions
//-----------------------------------------------------------------------------
VOID D3DMath_MatrixMultiply( D3DMATRIX& q, D3DMATRIX& a, D3DMATRIX& b );
HRESULT D3DMath_MatrixInvert( D3DMATRIX& q, D3DMATRIX& a );
//-----------------------------------------------------------------------------
// Vector functions
//-----------------------------------------------------------------------------
HRESULT D3DMath_VectorMatrixMultiply( D3DVECTOR& vDest, D3DVECTOR& vSrc,
D3DMATRIX& mat);
HRESULT D3DMath_VertexMatrixMultiply( D3DVERTEX& vDest, D3DVERTEX& vSrc,
D3DMATRIX& mat );
//-----------------------------------------------------------------------------
// Quaternion functions
//-----------------------------------------------------------------------------
VOID D3DMath_QuaternionFromRotation( FLOAT& x, FLOAT& y, FLOAT& z, FLOAT& w,
D3DVECTOR& v, FLOAT fTheta );
VOID D3DMath_RotationFromQuaternion( D3DVECTOR& v, FLOAT& fTheta,
FLOAT x, FLOAT y, FLOAT z, FLOAT w );
VOID D3DMath_QuaternionFromAngles( FLOAT& x, FLOAT& y, FLOAT& z, FLOAT& w,
FLOAT fYaw, FLOAT fPitch, FLOAT fRoll );
VOID D3DMath_MatrixFromQuaternion( D3DMATRIX& mat, FLOAT x, FLOAT y, FLOAT z,
FLOAT w );
VOID D3DMath_QuaternionFromMatrix( FLOAT &x, FLOAT &y, FLOAT &z, FLOAT &w,
D3DMATRIX& mat );
VOID D3DMath_QuaternionMultiply( FLOAT& Qx, FLOAT& Qy, FLOAT& Qz, FLOAT& Qw,
FLOAT Ax, FLOAT Ay, FLOAT Az, FLOAT Aw,
FLOAT Bx, FLOAT By, FLOAT Bz, FLOAT Bw );
VOID D3DMath_QuaternionSlerp( FLOAT& Qx, FLOAT& Qy, FLOAT& Qz, FLOAT& Qw,
FLOAT Ax, FLOAT Ay, FLOAT Az, FLOAT Aw,
FLOAT Bx, FLOAT By, FLOAT Bz, FLOAT Bw,
FLOAT fAlpha );
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