Initial Commit
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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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****************************************************************************/
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#ifndef __VCGLIB_QUADRIC
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#define __VCGLIB_QUADRIC
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#ifndef __VCGLIB_POINT3
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#include <vcg/Point3.h>
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#endif
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#ifndef __VCGLIB_PLANE3
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#include <vcg/Plane3.h>
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#endif
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namespace vcg {
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template<class T>
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class Quadric
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{
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public:
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T a[6]; // Matrice 3x3 simmetrica: a11 a12 a13 a22 a23 a33
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T b[3]; // Vettore r3
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T c; // Fattore scalare (se -1 quadrica nulla)
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inline Quadric() { c = -1; }
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bool IsValid() const { return c>=0; }
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void SetInvalid() { c = -1.0; }
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void ByPlane( const Plane3<T> & p ) // Init dato un piano
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{
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a[0] = p.n[0]*p.n[0]; // a11
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a[1] = p.n[1]*p.n[0]; // a12 (=a21)
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a[2] = p.n[2]*p.n[0]; // a13 (=a31)
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a[3] = p.n[1]*p.n[1]; // a22
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a[4] = p.n[2]*p.n[1]; // a23 (=a32)
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a[5] = p.n[2]*p.n[2]; // a33
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b[0] = (T)(-2.0)*p.d*p.n[0];
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b[1] = (T)(-2.0)*p.d*p.n[1];
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b[2] = (T)(-2.0)*p.d*p.n[2];
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c = p.d*p.d;
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}
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void Zero() // Azzera la quadrica
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{
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a[0] = 0;
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a[1] = 0;
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a[2] = 0;
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a[3] = 0;
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a[4] = 0;
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a[5] = 0;
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b[0] = 0;
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b[1] = 0;
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b[2] = 0;
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c = 0;
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}
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void operator = ( const Quadric & q ) // Assegna una quadrica
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{
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assert( IsValid() );
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assert( q.IsValid() );
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a[0] = q.a[0];
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a[1] = q.a[1];
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a[2] = q.a[2];
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a[3] = q.a[3];
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a[4] = q.a[4];
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a[5] = q.a[5];
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b[0] = q.b[0];
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b[1] = q.b[1];
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b[2] = q.b[2];
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c = q.c;
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}
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void operator += ( const Quadric & q ) // Somma una quadrica
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{
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assert( IsValid() );
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assert( q.IsValid() );
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a[0] += q.a[0];
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a[1] += q.a[1];
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a[2] += q.a[2];
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a[3] += q.a[3];
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a[4] += q.a[4];
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a[5] += q.a[5];
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b[0] += q.b[0];
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b[1] += q.b[1];
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b[2] += q.b[2];
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c += q.c;
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}
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T Apply( const Point3<T> & p ) const // Applica la quadrica al punto p
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{
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assert( IsValid() );
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// Versione Lenta
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/*
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Point3d t;
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t[0] = p[0]*a[0] + p[1]*a[1] + p[2]*a[2];
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t[1] = p[0]*a[1] + p[1]*a[3] + p[2]*a[4];
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t[2] = p[0]*a[2] + p[1]*a[4] + p[2]*a[5];
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double k = b[0]*p[0] + b[1]*p[1] + b[2]*p[2];
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double tp =t*p;
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return tp + k + c;
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*/
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/* Versione veloce */
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return p[0]*p[0]*a[0] + 2*p[0]*p[1]*a[1] + 2*p[0]*p[2]*a[2] + p[0]*b[0]
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+ p[1]*p[1]*a[3] + 2*p[1]*p[2]*a[4] + p[1]*b[1]
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+ p[2]*p[2]*a[5] + p[2]*b[2] + c;
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}
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/// Draft version. It should be done in a more correctly way by using LRU decomposition.
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bool Minimum(Point3<T> &x)
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{
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//T C[3][4];
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//C[0][0]=a[0]; C[0][1]=a[1]; C[0][2]=a[2];
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//C[1][0]=a[1]; C[1][1]=a[3]; C[1][2]=a[4];
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//C[2][0]=a[2]; C[2][1]=a[4]; C[2][2]=a[5];
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//C[0][3]=-b[0]/2;
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//C[1][3]=-b[1]/2;
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//C[2][3]=-b[2]/2;
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//return Gauss33(&(x[0]),C);
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Matrix33<T> mm;
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mm[0][0]=a[0]; mm[0][1]=a[1]; mm[0][2]=a[2];
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mm[1][0]=a[1]; mm[1][1]=a[3]; mm[1][2]=a[4];
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mm[2][0]=a[2]; mm[2][1]=a[4]; mm[2][2]=a[5];
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mm.Invert();
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x=mm*Point3<t>(-b[0]/2,-b[1]/2,-b[2]/2);
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return true;
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}
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// determina il punto di errore minimo vincolato nel segmento (a,b)
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bool Minimum(Point3<T> &x,Point3<T> &pa,Point3<T> &pb){
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T t1,t2, t4, t5, t8, t9,
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t11,t12,t14,t15,t17,t18,t25,t26,t30,t34,t35,
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t41,t42,t44,t45,t50,t52,t54,
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t56,t21,t23,t37,t64,lambda;
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t1 = a[4]*pb.z();
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t2 = t1*pa.y();
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t4 = a[1]*pb.y();
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t5 = t4*pa.x();
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t8 = a[1]*pa.y();
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t9 = t8*pa.x();
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t11 = a[4]*pa.z();
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t12 = t11*pa.y();
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t14 = pa.z()*pa.z();
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t15 = a[5]*t14;
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t17 = a[2]*pa.z();
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t18 = t17*pa.x();
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t21 = 2.0*t11*pb.y();
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t23 = a[5]*pb.z()*pa.z();
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t25 = a[2]*pb.z();
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t26 = t25*pa.x();
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t30 = a[0]*pb.x()*pa.x();
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t34 = 2.0*a[3]*pb.y()*pa.y();
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t35 = t17*pb.x();
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t37 = t8*pb.x();
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t41 = pa.x()*pa.x();
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t42 = a[0]*t41;
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t44 = pa.y()*pa.y();
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t45 = a[3]*t44;
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t50 = 2.0*t30+t34+2.0*t35+2.0*t37-(-b[2]/2)*pa.z()-(-b[0]/2)*pa.x()-2.0*t42-2.0*t45+(-b[1]/2)*pb.y()
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+(-b[0]/2)*pb.x()-(-b[1]/2)*pa.y();
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t52 = pb.y()*pb.y();
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t54 = pb.z()*pb.z();
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t56 = pb.x()*pb.x();
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t64 = t5+t37-t9+t30-t18+t35+t26-t25*pb.x()+t2-t1*pb.y()+t23;
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lambda = (2.0*t2+2.0*t5+(-b[2]/2)*pb.z()-4.0*t9-4.0*t12-2.0*t15-4.0*t18+t21+2.0*t23+
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2.0*t26+t50)/(-t45-a[3]*t52-a[5]*t54-a[0]*t56-t15-t42+t34-2.0*t12+t21-2.0*t4*pb.x()+
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2.0*t64)/2.0;
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if(lambda<0) lambda=0; else if(lambda>1) lambda = 1;
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x = pa*(1.0-lambda)+pb*lambda;
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return true;
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}
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void operator *= ( const T & w ) // Amplifica una quadirca
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{
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assert( IsValid() );
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a[0] *= w;
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a[1] *= w;
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a[2] *= w;
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a[3] *= w;
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a[4] *= w;
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a[5] *= w;
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b[0] *= w;
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b[1] *= w;
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b[2] *= w;
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c *= w;
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}
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};
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typedef Quadric<short> Quadrics;
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typedef Quadric<int> Quadrici;
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typedef Quadric<float> Quadricf;
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typedef Quadric<double> Quadricd;
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} // end namespace
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#endif
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