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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// intersect.h (Shape intersection functions)</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">//</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// The WorldForge Project</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2002 The WorldForge Project</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This program is free software; you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// the Free Software Foundation; either version 2 of the License, or</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// This program is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// GNU General Public License for more details.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// along with this program; if not, write to the Free Software</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">//</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// For information about WorldForge and its authors, please contact</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// the Worldforge Web Site at http://www.worldforge.org.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">//</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#ifndef WFMATH_INTERSECT_H</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define WFMATH_INTERSECT_H</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <wfmath/vector.h></span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <wfmath/point.h></span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include <wfmath/const.h></span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include <wfmath/intersect_decls.h></span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include <wfmath/axisbox.h></span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include <wfmath/ball.h></span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include <wfmath/segment.h></span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include <wfmath/rotbox.h></span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include <cmath></span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">namespace </span><a class="code" href="namespaceWFMath.html">WFMath</a> {</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment">// Get the reversed order intersect functions (is this safe? FIXME)</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment">// No it's not. In the case of an unknown intersection we end up in</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment">// a stack crash loop.</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">template</span><<span class="keyword">class</span> S1, <span class="keyword">class</span> S2></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> S1& s1, <span class="keyword">const</span> S2& s2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">return</span> Intersect(s2, s1, proper);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment">// Point<></span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Point<dim>& p1, <span class="keyword">const</span> Point<dim>& p2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">return</span> !proper && p1 == p2;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim, <span class="keyword">class</span> S></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> S& s, <span class="keyword">const</span> Point<dim>& p, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> Intersect(p, s, proper);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Point<dim>& p1, <span class="keyword">const</span> Point<dim>& p2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">return</span> !proper && p1 == p2;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> }</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment">// AxisBox<></span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> AxisBox<dim>& b, <span class="keyword">const</span> Point<dim>& p, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> {</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">if</span>(_Greater(b.m_low[i], p[i], proper) || _Less(b.m_high[i], p[i], proper))</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Point<dim>& p, <span class="keyword">const</span> AxisBox<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> {</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> !proper && p == b.m_low && p == b.m_high;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> AxisBox<dim>& b1, <span class="keyword">const</span> AxisBox<dim>& b2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i)</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">if</span>(_Greater(b1.m_low[i], b2.m_high[i], proper)</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  || _Less(b1.m_high[i], b2.m_low[i], proper))</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> AxisBox<dim>& outer, <span class="keyword">const</span> AxisBox<dim>& inner, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span>(_Less(inner.m_low[i], outer.m_low[i], proper)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  || _Greater(inner.m_high[i], outer.m_high[i], proper))</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment">// Ball<></span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Ball<dim>& b, <span class="keyword">const</span> Point<dim>& p, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> {</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span> _LessEq(SquaredDistance(b.m_center, p), b.m_radius * b.m_radius</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  * (1 + numeric_constants<CoordType>::epsilon()), proper);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Point<dim>& p, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">return</span> !proper && b.m_radius == 0 && p == b.m_center;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Ball<dim>& b, <span class="keyword">const</span> AxisBox<dim>& a, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> dist = 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i) {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> dist_i;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span>(b.m_center[i] < a.m_low[i])</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  dist_i = b.m_center[i] - a.m_low[i];</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(b.m_center[i] > a.m_high[i])</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  dist_i = b.m_center[i] - a.m_high[i];</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  dist+= dist_i * dist_i;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">return</span> _LessEq(dist, b.m_radius * b.m_radius, proper);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Ball<dim>& b, <span class="keyword">const</span> AxisBox<dim>& a, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> sqr_dist = 0;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i) {</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> furthest = FloatMax(std::fabs(b.m_center[i] - a.m_low[i]),</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  std::fabs(b.m_center[i] - a.m_high[i]));</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  sqr_dist += furthest * furthest;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">return</span> _LessEq(sqr_dist, b.m_radius * b.m_radius * (1 + numeric_constants<CoordType>::epsilon()), proper);</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> }</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> AxisBox<dim>& a, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">if</span>(_Less(b.m_center[i] - b.m_radius, a.lowerBound(i), proper)</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  || _Greater(b.m_center[i] + b.m_radius, a.upperBound(i), proper))</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Ball<dim>& b1, <span class="keyword">const</span> Ball<dim>& b2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> sqr_dist = SquaredDistance(b1.m_center, b2.m_center);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> rad_sum = b1.m_radius + b2.m_radius;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">return</span> _LessEq(sqr_dist, rad_sum * rad_sum, proper);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Ball<dim>& outer, <span class="keyword">const</span> Ball<dim>& inner, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> {</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> rad_diff = outer.m_radius - inner.m_radius;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">if</span>(_Less(rad_diff, 0, proper))</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> sqr_dist = SquaredDistance(outer.m_center, inner.m_center);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">return</span> _LessEq(sqr_dist, rad_diff * rad_diff, proper);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> }</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment">// Segment<></span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> Point<dim>& p, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">// This is only true if p lies on the line between m_p1 and m_p2</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  Vector<dim> v1 = s.m_p1 - p, v2 = s.m_p2 - p;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> proj = Dot(v1, v2);</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">if</span>(_Greater(proj, 0, proper)) <span class="comment">// p is on the same side of both ends, not between them</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="comment">// Check for colinearity</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">return</span> <a class="code" href="namespaceWFMath.html#a4add4b50f00b10c44cef3890f361311c">Equal</a>(proj * proj, v1.sqrMag() * v2.sqrMag());</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> }</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Point<dim>& p, <span class="keyword">const</span> Segment<dim>& s, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> {</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">return</span> !proper && p == s.m_p1 && p == s.m_p2;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> AxisBox<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> {</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="comment">// Use parametric coordinates on the line, where 0 is the location</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="comment">// of m_p1 and 1 is the location of m_p2</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">// Find the parametric coordinates of the portion of the line</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="comment">// which lies betweens b.lowerBound(i) and b.upperBound(i) for</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">// each i. Find the intersection of those segments and the</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// segment (0, 1), and check if it's nonzero.</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> min = 0, max = 1;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i) {</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> dist = s.m_p2[i] - s.m_p1[i];</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">if</span>(dist == 0) {</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">if</span>(_Less(s.m_p1[i], b.m_low[i], proper)</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  || _Greater(s.m_p1[i], b.m_high[i], proper))</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  }</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> low = (b.m_low[i] - s.m_p1[i]) / dist;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> high = (b.m_high[i] - s.m_p1[i]) / dist;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">if</span>(low > high) {</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> tmp = high;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  high = low;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  low = tmp;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">if</span>(low > min)</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  min = low;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">if</span>(high < max)</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  max = high;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  }</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  }</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">return</span> _LessEq(min, max, proper);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> }</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> AxisBox<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> {</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="comment">// This is only possible for zero width or zero height box,</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="comment">// in which case we check for containment of the endpoints.</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordtype">bool</span> got_difference = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i) {</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">if</span>(b.m_low[i] == b.m_high[i])</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keywordflow">if</span>(got_difference)</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">else</span> <span class="comment">// It's okay to be different on one axis</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  got_difference = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  }</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">return</span> Contains(s, b.m_low, proper) &&</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  (got_difference ? Contains(s, b.m_high, proper) : true);</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> }</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> AxisBox<dim>& b, <span class="keyword">const</span> Segment<dim>& s, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">return</span> Contains(b, s.m_p1, proper) && Contains(b, s.m_p2, proper);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> }</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> {</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  Vector<dim> line = s.m_p2 - s.m_p1, offset = b.m_center - s.m_p1;</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment">// First, see if the closest point on the line to the center of</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment">// the ball lies inside the segment</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> proj = Dot(line, offset);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="comment">// If the nearest point on the line is outside the segment,</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="comment">// intersection reduces to checking the nearest endpoint.</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">if</span>(proj <= 0)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">return</span> Intersect(b, s.m_p1, proper);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> lineSqrMag = line.sqrMag();</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">if</span> (proj >= lineSqrMag)</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">return</span> Intersect(b, s.m_p2, proper);</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  Vector<dim> perp_part = offset - line * (proj / lineSqrMag);</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">return</span> _LessEq(perp_part.sqrMag(), b.m_radius * b.m_radius, proper);</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> }</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Ball<dim>& b, <span class="keyword">const</span> Segment<dim>& s, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> {</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">return</span> Contains(b, s.m_p1, proper) && Contains(b, s.m_p2, proper);</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> }</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> </div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> {</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordflow">return</span> b.m_radius == 0 && Contains(s, b.m_center, proper);</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> }</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> Segment<dim>& s1, <span class="keyword">const</span> Segment<dim>& s2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> {</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="comment">// Check that the lines that contain the segments intersect, and then check</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">// that the intersection point lies within the segments</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  Vector<dim> v1 = s1.m_p2 - s1.m_p1, v2 = s2.m_p2 - s2.m_p1,</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  deltav = s2.m_p1 - s1.m_p1;</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> v1sqr = v1.sqrMag(), v2sqr = v2.sqrMag();</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> proj12 = Dot(v1, v2), proj1delta = Dot(v1, deltav),</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  proj2delta = Dot(v2, deltav);</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> </div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> denom = v1sqr * v2sqr - proj12 * proj12;</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordflow">if</span>(dim > 2 && !<a class="code" href="namespaceWFMath.html#a4add4b50f00b10c44cef3890f361311c">Equal</a>(v2sqr * proj1delta * proj1delta +</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  v1sqr * proj2delta * proj2delta,</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  2 * proj12 * proj1delta * proj2delta +</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  deltav.sqrMag() * denom))</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>; <span class="comment">// Skew lines; don't intersect</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordflow">if</span>(denom > 0) {</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="comment">// Find the location of the intersection point in parametric coordinates,</span></div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="comment">// where one end of the segment is at zero and the other at one</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> coord1 = (v2sqr * proj1delta - proj12 * proj2delta) / denom;</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">CoordType</a> coord2 = -(v1sqr * proj2delta - proj12 * proj1delta) / denom;</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">return</span> _LessEq(coord1, 0, proper) && _LessEq(coord1, 1, proper)</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  && _GreaterEq(coord2, 0, proper) && _GreaterEq(coord2, 1, proper);</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  }</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="comment">// Parallel segments, see if one contains an endpoint of the other</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">return</span> Contains(s1, s2.m_p1, proper) || Contains(s1, s2.m_p2, proper)</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  || Contains(s2, s1.m_p1, proper) || Contains(s2, s1.m_p2, proper)</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="comment">// Degenerate case (identical segments), nonzero length</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  || ((proper && s1.m_p1 != s1.m_p2)</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  && ((s1.m_p1 == s2.m_p1 && s1.m_p2 == s2.m_p2)</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  || (s1.m_p1 == s2.m_p2 && s1.m_p2 == s2.m_p1)));</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  }</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> }</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> </div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Segment<dim>& s1, <span class="keyword">const</span> Segment<dim>& s2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> {</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">return</span> Contains(s1, s2.m_p1, proper) && Contains(s1, s2.m_p2, proper);</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> }</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="comment">// RotBox<></span></div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> </div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> Point<dim>& p, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> {</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="comment">// Rotate the point into the internal coordinate system of the box</span></div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> </div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  Vector<dim> shift = <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(p - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i) {</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordflow">if</span>(r.m_size[i] < 0) {</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">if</span>(_Less(shift[i], r.m_size[i], proper) || _Greater(shift[i], 0, proper))</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  }</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">if</span>(_Greater(shift[i], r.m_size[i], proper) || _Less(shift[i], 0, proper))</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  }</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  }</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> </div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> }</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> </div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Point<dim>& p, <span class="keyword">const</span> RotBox<dim>& r, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> {</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keywordflow">if</span>(proper)</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < dim; ++i)</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">if</span>(r.m_size[i] != 0)</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> </div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">return</span> p == r.m_corner0;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> }</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> AxisBox<dim>& b, <span class="keywordtype">bool</span> proper);</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> AxisBox<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> {</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  RotMatrix<dim> m = r.m_orient.inverse();</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">return</span> Contains(AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size),</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  RotBox<dim>(Point<dim>(b.m_low).rotate(m, r.m_corner0),</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  b.m_high - b.m_low, m), proper);</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> }</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> </div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> AxisBox<dim>& b, <span class="keyword">const</span> RotBox<dim>& r, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> {</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">return</span> Contains(b, r.boundingBox(), proper);</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> }</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span> </div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span> {</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="keywordflow">return</span> Intersect(AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size),</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  Ball<dim>(r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(b.m_center - r.m_corner0,</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  r.m_orient), b.m_radius), proper);</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> }</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span> </div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> Ball<dim>& b, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> {</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="keywordflow">return</span> Contains(AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size),</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  Ball<dim>(r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(b.m_center - r.m_corner0,</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  r.m_orient), b.m_radius), proper);</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> }</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> </div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Ball<dim>& b, <span class="keyword">const</span> RotBox<dim>& r, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> {</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">return</span> Contains(Ball<dim>(r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(b.m_center - r.m_corner0,</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  r.m_orient), b.m_radius),</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size), proper);</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> }</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> </div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> Segment<dim>& s, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> {</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  Point<dim> p1 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p1 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  Point<dim> p2 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p2 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">return</span> Intersect(AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size),</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  Segment<dim>(p1, p2), proper);</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span> }</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> </div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> RotBox<dim>& r, <span class="keyword">const</span> Segment<dim>& s, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span> {</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  Point<dim> p1 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p1 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  Point<dim> p2 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p2 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="keywordflow">return</span> Contains(AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size),</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  Segment<dim>(p1, p2), proper);</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> }</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span> </div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> Segment<dim>& s, <span class="keyword">const</span> RotBox<dim>& r, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span> {</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  Point<dim> p1 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p1 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  Point<dim> p2 = r.m_corner0 + <a class="code" href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">ProdInv</a>(s.m_p2 - r.m_corner0, r.m_orient);</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span> </div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">return</span> Contains(Segment<dim>(p1, p2),</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  AxisBox<dim>(r.m_corner0, r.m_corner0 + r.m_size), proper);</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> }</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> </div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Intersect(<span class="keyword">const</span> RotBox<dim>& r1, <span class="keyword">const</span> RotBox<dim>& r2, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> {</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keywordflow">return</span> Intersect(RotBox<dim>(r1).rotatePoint(r2.m_orient.inverse(),</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  r2.m_corner0),</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  AxisBox<dim>(r2.m_corner0, r2.m_corner0 + r2.m_size), proper);</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> }</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> </div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span> <span class="keyword">template</span><<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> Contains(<span class="keyword">const</span> RotBox<dim>& outer, <span class="keyword">const</span> RotBox<dim>& inner, <span class="keywordtype">bool</span> proper)</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span> {</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordflow">return</span> Contains(AxisBox<dim>(outer.m_corner0, outer.m_corner0 + outer.m_size),</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  RotBox<dim>(inner).rotatePoint(outer.m_orient.inverse(),</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  outer.m_corner0), proper);</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> }</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span> </div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> <span class="comment">// Polygon<> intersection functions are in polygon_funcs.h, to avoid</span></div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span> <span class="comment">// unnecessary inclusion of <vector></span></div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span> </div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span> } <span class="comment">// namespace WFMath</span></div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> <span class="preprocessor">#endif // WFMATH_INTERSECT_H</span></div>
<div class="ttc" id="namespaceWFMath_html_a4add4b50f00b10c44cef3890f361311c"><div class="ttname"><a href="namespaceWFMath.html#a4add4b50f00b10c44cef3890f361311c">WFMath::Equal</a></div><div class="ttdeci">bool Equal(const C &c1, const C &c2, CoordType epsilon=numeric_constants< CoordType >::epsilon())</div><div class="ttdoc">Test for equality up to precision epsilon. </div><div class="ttdef"><b>Definition:</b> const.h:158</div></div>
<div class="ttc" id="namespaceWFMath_html"><div class="ttname"><a href="namespaceWFMath.html">WFMath</a></div><div class="ttdoc">Generic library namespace. </div><div class="ttdef"><b>Definition:</b> atlasconv.h:45</div></div>
<div class="ttc" id="namespaceWFMath_html_a81fd956241071755d20b985a8e647564"><div class="ttname"><a href="namespaceWFMath.html#a81fd956241071755d20b985a8e647564">WFMath::CoordType</a></div><div class="ttdeci">float CoordType</div><div class="ttdoc">Basic floating point type. </div><div class="ttdef"><b>Definition:</b> const.h:140</div></div>
<div class="ttc" id="namespaceWFMath_html_ac37d80d34e09f1f55f655aae7ea475a1"><div class="ttname"><a href="namespaceWFMath.html#ac37d80d34e09f1f55f655aae7ea475a1">WFMath::ProdInv</a></div><div class="ttdeci">RotMatrix< dim > ProdInv(const RotMatrix< dim > &m1, const RotMatrix< dim > &m2)</div><div class="ttdoc">returns m1 * m2^-1 </div><div class="ttdef"><b>Definition:</b> rotmatrix_funcs.h:111</div></div>
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