#pragma lib "libgeometry.a"#pragma src "/sys/src/libgeometry" #define DEG 0.01745329251994330	/* π/180 */ typedef struct Point2 Point2;typedef struct Point3 Point3;typedef double Matrix[3][3];typedef double Matrix3[4][4];typedef struct Quaternion Quaternion;typedef struct RFrame RFrame;typedef struct RFrame3 RFrame3; struct Point2 {	double x, y, w;}; struct Point3 {	double x, y, z, w;}; struct Quaternion {	double r, i, j, k;}; struct RFrame {	Point2 p;	Point2 bx, by;}; struct RFrame3 {	Point3 p;	Point3 bx, by, bz;}; extern Point2	ZP2;extern Point3	ZP3; /* utils */double flerp(double, double, double);double fberp(double, double, double, Point3);double fclamp(double, double, double); /* Point2 */Point2 Pt2(double, double, double);Point2 Vec2(double, double);Point2 addpt2(Point2, Point2);Point2 subpt2(Point2, Point2);Point2 mulpt2(Point2, double);Point2 divpt2(Point2, double);Point2 lerp2(Point2, Point2, double);Point2 berp2(Point2, Point2, Point2, Point3);double dotvec2(Point2, Point2);double vec2len(Point2);Point2 normvec2(Point2);Point2 centroid(Point2*, ulong);Point3 barycoords(Point2, Point2, Point2, Point2);int edgeptcmp(Point2, Point2, Point2);int ptinpoly(Point2, Point2*, ulong); /* Point3 */Point3 Pt3(double, double, double, double);Point3 Vec3(double, double, double);Point3 addpt3(Point3, Point3);Point3 subpt3(Point3, Point3);Point3 mulpt3(Point3, double);Point3 divpt3(Point3, double);Point3 lerp3(Point3, Point3, double);Point3 berp3(Point3, Point3, Point3, Point3);double dotvec3(Point3, Point3);Point3 crossvec3(Point3, Point3);double vec3len(Point3);Point3 normvec3(Point3);Point3 centroid3(Point3*, ulong);int lineXsphere(Point3*, Point3, Point3, Point3, double, int);int ptincylinder(Point3, Point3, Point3, double);int ptincone(Point3, Point3, Point3, double); /* Matrix */void identity(Matrix);void addm(Matrix, Matrix);void subm(Matrix, Matrix);void mulm(Matrix, Matrix);void smulm(Matrix, double);void transposem(Matrix);double detm(Matrix);double tracem(Matrix);double minorm(Matrix, int, int);double cofactorm(Matrix, int, int);void adjm(Matrix);void invm(Matrix);Point2 xform(Point2, Matrix); /* Matrix3 */void identity3(Matrix3);void addm3(Matrix3, Matrix3);void subm3(Matrix3, Matrix3);void mulm3(Matrix3, Matrix3);void smulm3(Matrix3, double);void transposem3(Matrix3);double detm3(Matrix3);double tracem3(Matrix3);double minorm3(Matrix3, int, int);double cofactorm3(Matrix3, int, int);void adjm3(Matrix3);void invm3(Matrix3);Point3 xform3(Point3, Matrix3); /* Quaternion */Quaternion Quat(double, double, double, double);Quaternion Quatvec(double, Point3);Quaternion addq(Quaternion, Quaternion);Quaternion subq(Quaternion, Quaternion);Quaternion mulq(Quaternion, Quaternion);Quaternion smulq(Quaternion, double);Quaternion sdivq(Quaternion, double);double dotq(Quaternion, Quaternion);Quaternion invq(Quaternion);double qlen(Quaternion);Quaternion normq(Quaternion);Quaternion slerp(Quaternion, Quaternion, double);Quaternion qsandwich(Quaternion, Quaternion);Point3 qsandwichpt3(Quaternion, Point3);Point3 qrotate(Point3, Point3, double); /* RFrame */void rframematrix(Matrix, RFrame);void rframematrix3(Matrix3, RFrame3);Point2 rframexform(Point2, RFrame);Point3 rframexform3(Point3, RFrame3);Point2 invrframexform(Point2, RFrame);Point3 invrframexform3(Point3, RFrame3); /* Fmt */#pragma varargck type "v" Point2#pragma varargck type "V" Point3int vfmt(Fmt*);int Vfmt(Fmt*);void GEOMfmtinstall(void);