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////////////////////////////////////////////////////////////////////
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// Ray.h
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//
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// Copyright 2007 cDc@seacave
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// Distributed under the Boost Software License, Version 1.0
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// (See http://www.boost.org/LICENSE_1_0.txt)
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#ifndef __SEACAVE_RAY_H__
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#define __SEACAVE_RAY_H__
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// I N C L U D E S /////////////////////////////////////////////////
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// D E F I N E S ///////////////////////////////////////////////////
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namespace SEACAVE {
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// S T R U C T S ///////////////////////////////////////////////////
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// Basic triangle class
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template <typename TYPE, int DIMS>
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class TTriangle
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
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typedef SEACAVE::TPlane<TYPE,DIMS> PLANE;
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enum { numScalar = (3*DIMS) };
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POINT a, b, c; // triangle vertices
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//---------------------------------------
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inline TTriangle() {}
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inline TTriangle(const POINT&, const POINT&, const POINT&);
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inline void Set(const POINT&, const POINT&, const POINT&);
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inline POINT GetCenter() const;
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inline AABB GetAABB() const;
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inline PLANE GetPlane() const;
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inline const POINT& operator [] (BYTE i) const { ASSERT(i<3); return (&a)[i]; }
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inline POINT& operator [] (BYTE i) { ASSERT(i<3); return (&a)[i]; }
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}; // class TTriangle
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/*----------------------------------------------------------------*/
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// Basic ray class
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template <typename TYPE, int DIMS>
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class TRay
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS+1,DIMS+1,Eigen::RowMajor> MATRIX;
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TTriangle<TYPE,DIMS> TRIANGLE;
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typedef SEACAVE::TSphere<TYPE,DIMS> SPHERE;
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typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
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typedef SEACAVE::TOBB<TYPE,DIMS> OBB;
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typedef SEACAVE::TPlane<TYPE,DIMS> PLANE;
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enum { numScalar = (2*DIMS) };
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VECTOR m_vDir; // ray direction (normalized)
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POINT m_pOrig; // ray origin
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//---------------------------------------
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inline TRay() {}
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inline TRay(const POINT& pOrig, const VECTOR& vDir);
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inline TRay(const POINT& pt0, const POINT& pt1, bool bPoints);
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inline void Set(const POINT& pOrig, const VECTOR& vDir);
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inline void SetFromPoints(const POINT& pt0, const POINT& pt1);
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inline TYPE SetFromPointsLen(const POINT& pt0, const POINT& pt1);
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inline void DeTransform(const MATRIX&); // move to matrix space
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template <bool bCull>
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bool Intersects(const TRIANGLE&, TYPE *t) const;
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template <bool bCull>
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bool Intersects(const TRIANGLE&, TYPE fL, TYPE *t) const;
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bool Intersects(const PLANE& plane, bool bCull,
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TYPE *t, POINT* pPtHit) const;
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inline TYPE IntersectsDist(const PLANE& plane) const;
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inline POINT Intersects(const PLANE& plane) const;
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bool Intersects(const PLANE& plane, bool bCull,
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TYPE fL, TYPE *t, POINT* pPtHit) const;
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bool Intersects(const SPHERE& sphere) const;
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bool Intersects(const SPHERE& sphere, TYPE& t) const;
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bool Intersects(const AABB& aabb) const;
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bool Intersects(const AABB& aabb, TYPE& t) const;
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bool Intersects(const AABB& aabb, TYPE fL, TYPE *t) const;
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bool Intersects(const OBB& obb) const;
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bool Intersects(const OBB& obb, TYPE &t) const;
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bool Intersects(const OBB& obb, TYPE fL, TYPE *t) const;
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bool Intersects(const TRay& ray, TYPE& s) const;
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bool Intersects(const TRay& ray, POINT& p) const;
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bool Intersects(const TRay& ray, TYPE& s1, TYPE& s2) const;
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bool IntersectsAprox(const TRay& ray, POINT& p) const;
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bool IntersectsAprox2(const TRay& ray, POINT& p) const;
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inline TYPE CosAngle(const TRay&) const;
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inline bool Coplanar(const TRay&) const;
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inline bool Parallel(const TRay&) const;
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inline TYPE Classify(const POINT&) const;
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inline POINT ProjectPoint(const POINT&) const;
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bool DistanceSq(const POINT&, TYPE&) const;
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bool Distance(const POINT&, TYPE&) const;
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TYPE DistanceSq(const POINT&) const;
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TYPE Distance(const POINT&) const;
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POINT GetPoint(TYPE) const;
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TRay operator * (const MATRIX&) const; // matrix multiplication
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inline TRay& operator *= (const MATRIX&); // matrix multiplication
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inline TYPE& operator [] (BYTE i) { ASSERT(i<6); return m_vDir.data()[i]; }
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inline TYPE operator [] (BYTE i) const { ASSERT(i<6); return m_vDir.data()[i]; }
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}; // class TRay
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/*----------------------------------------------------------------*/
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// Basic cylinder class
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template <typename TYPE, int DIMS>
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class TCylinder
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TRay<TYPE,DIMS> RAY;
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typedef SEACAVE::TSphere<TYPE,DIMS> SPHERE;
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enum { numScalar = (2*DIMS+2) };
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RAY ray; // central ray defining starting the point and direction
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TYPE radius; // cylinder radius
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TYPE minHeight; // cylinder heights satisfying:
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TYPE maxHeight; // std::numeric_limits<TYPE>::lowest() <= minHeight <= 0 < maxHeight <= std::numeric_limits<TYPE>::max()
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//---------------------------------------
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inline TCylinder() {}
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inline TCylinder(const RAY& _ray, TYPE _radius, TYPE _minHeight=TYPE(0), TYPE _maxHeight=std::numeric_limits<TYPE>::max())
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: ray(_ray), radius(_radius), minHeight(_minHeight), maxHeight(_maxHeight) { ASSERT(TYPE(0) >= minHeight && minHeight < maxHeight); }
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inline bool IsFinite() const { return maxHeight < std::numeric_limits<TYPE>::max() && minHeight > std::numeric_limits<TYPE>::lowest(); }
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inline TYPE GetLength() const { return maxHeight - minHeight; }
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bool Intersects(const SPHERE&) const;
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inline GCLASS Classify(const POINT&, TYPE& t) const;
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}; // class TCylinder
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/*----------------------------------------------------------------*/
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// Basic cone class
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template <typename TYPE, int DIMS>
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class TCone
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TRay<TYPE,DIMS> RAY;
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typedef SEACAVE::TSphere<TYPE,DIMS> SPHERE;
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enum { numScalar = (2*DIMS+3) };
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RAY ray; // ray origin is the cone vertex and ray direction is the cone axis direction
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TYPE angle; // cone angle, in radians, must be inside [0, pi/2]
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TYPE minHeight; // heights satisfying:
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TYPE maxHeight; // 0 <= minHeight < maxHeight <= std::numeric_limits<TYPE>::max()
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//---------------------------------------
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inline TCone() {}
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inline TCone(const RAY& _ray, TYPE _angle, TYPE _minHeight=TYPE(0), TYPE _maxHeight=std::numeric_limits<TYPE>::max())
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: ray(_ray), angle(_angle), minHeight(_minHeight), maxHeight(_maxHeight) { ASSERT(TYPE(0) <= minHeight && minHeight < maxHeight); }
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}; // class TCone
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// Structure used to compute the intersection between a cone and the given sphere/point
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template <typename TYPE, int DIMS>
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class TConeIntersect
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TCone<TYPE,DIMS> CONE;
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typedef SEACAVE::TSphere<TYPE,DIMS> SPHERE;
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const CONE& cone;
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// cache angle derivatives, to avoid calling trigonometric functions in geometric queries
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const TYPE cosAngle, sinAngle, sinAngleSq, cosAngleSq, invSinAngle;
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//---------------------------------------
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inline TConeIntersect(const CONE& _cone)
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: cone(_cone), cosAngle(COS(cone.angle)), sinAngle(SIN(cone.angle)),
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sinAngleSq(SQUARE(sinAngle)), cosAngleSq(SQUARE(cosAngle)),
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invSinAngle(TYPE(1)/sinAngle) {}
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bool operator()(const SPHERE&) const;
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GCLASS Classify(const POINT&, TYPE& t) const;
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}; // class TConeIntersect
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/*----------------------------------------------------------------*/
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#include "Ray.inl"
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/*----------------------------------------------------------------*/
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} // namespace SEACAVE
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#endif // __SEACAVE_RAY_H__
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