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#include <cfloat>
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#include <cfloat>
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#include <GL/gl.h>
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#include "AABox.h"
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#include "AABox.h"
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using namespace std;
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using namespace std;
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using namespace CGLA;
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using namespace CGLA;
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namespace Geometry
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{
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bool AABox::intersect(const CGLA::Vec3f& p, const CGLA::Vec3f& dir) const
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bool AABox::intersect(const CGLA::Vec3f& p, const CGLA::Vec3f& dir) const
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{
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{
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	Vec3f t0,t1;
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	Vec3f t0,t1;
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	for(int i=0;i<3;++i)
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	for(int i=0;i<3;++i)
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		{
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		{
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			t0[i] = (pmin[i]-p[i])/dir[i];
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			t0[i] = (pmin[i]-p[i])/dir[i];
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			t1[i] = (pmax[i]-p[i])/dir[i];
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			t1[i] = (pmax[i]-p[i])/dir[i];
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		}
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		}
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	float tmin = max(min(t0[0],t1[0]),max(min(t0[1],t1[1]),min(t0[2],t1[2])));
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	float tmin = max(min(t0[0],t1[0]),max(min(t0[1],t1[1]),min(t0[2],t1[2])));
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	float tmax = min(max(t0[0],t1[0]),min(max(t0[1],t1[1]),max(t0[2],t1[2])));
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	float tmax = min(max(t0[0],t1[0]),min(max(t0[1],t1[1]),max(t0[2],t1[2])));
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	return ( (tmin + CGLA::TINY) <tmax);
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	return ( (tmin + CGLA::TINY) <tmax);
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}
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}
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void AABox::gl_draw() const
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{
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	glBegin(GL_QUADS);
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	Vec3f norm_neg[] = {Vec3f(0,0,-1), Vec3f(-1,0,0), Vec3f(0,-1,0)};
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	Vec3f norm_pos[] = {Vec3f(0,0, 1), Vec3f( 1,0,0), Vec3f(0, 1,0)};
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	for(int j=0;j<3;++j)
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		{
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			glNormal3fv(norm_neg[j].get());
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			Vec3f p = pmin;
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			glVertex3f(p[0], p[1], p[2]);
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			p[(j+1)%3] = pmax[(j+1)%3];
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			glVertex3f(p[0], p[1], p[2]);
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			p[j] = pmax[j];
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			glVertex3f(p[0], p[1], p[2]);
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			p[(j+1)%3] = pmin[(j+1)%3];
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			glVertex3f(p[0], p[1], p[2]);
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		}
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	glEnd();
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	glBegin(GL_QUADS);
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	for(int j=0;j<3;++j)
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		{
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			glNormal3fv(norm_pos[j].get());
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			Vec3f p = pmax;
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			glVertex3f(p[0], p[1], p[2]);
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			p[j] = pmin[j];
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			glVertex3f(p[0], p[1], p[2]);
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			p[(j+1)%3] = pmin[(j+1)%3];
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			glVertex3f(p[0], p[1], p[2]);
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			p[j] = pmax[j];
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			glVertex3f(p[0], p[1], p[2]);
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		}
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	glEnd();
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}
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void AABox::minmax_sq_dist(const CGLA::Vec3f& p,
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void AABox::minmax_sq_dist(const CGLA::Vec3f& p,
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													 float& dmin, float& dmax) const
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													 float& dmin, float& dmax) const
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{
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{
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	const Vec3f a = 0.5*pmax-0.5*pmin;
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	const Vec3f a = 0.5*pmax-0.5*pmin;
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	const Vec3f p0 = pmin + a;
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	const Vec3f p0 = pmin + a;
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 	Vec3f d = p-p0;
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 	Vec3f d = p-p0;
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 	Vec3f f(d);
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 	Vec3f f(d);
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	for(int i=0;i<3;++i)
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	for(int i=0;i<3;++i)
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		{
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		{
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 			if(f[i]>=0)
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 			if(f[i]>=0)
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 				f[i] = p[i]-pmin[i];
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 				f[i] = p[i]-pmin[i];
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 			else
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 			else
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 				f[i] = p[i]-pmax[i];
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 				f[i] = p[i]-pmax[i];
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			if(d[i]<-a[i])
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			if(d[i]<-a[i])
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				d[i] = p[i]-pmin[i];
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				d[i] = p[i]-pmin[i];
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			else if(d[i]>a[i])
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			else if(d[i]>a[i])
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				d[i] = p[i]-pmax[i];
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				d[i] = p[i]-pmax[i];
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			else
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			else
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				d[i] = 0;
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				d[i] = 0;
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		}
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		}
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	dmin = sqr_length(d);
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	dmin = sqr_length(d);
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//  	dmax = sqr_length(p-interior_point);
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//  	dmax = sqr_length(p-interior_point);
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	dmax = sqr_length(f);
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	dmax = sqr_length(f);
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	assert(dmin<=dmax);
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	assert(dmin<=dmax);
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}
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}
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 51 
 
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AABox AABox::box_triangle(const Triangle& t)
 52 
AABox AABox::box_triangle(const Triangle& t)
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{
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{
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	return AABox(t.get_pmin(), t.get_pmax(), t.get_centre());
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	return AABox(t.get_pmin(), t.get_pmax(), t.get_centre());
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}
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}
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AABox AABox::box_and_split(const std::vector<Triangle>& invec,
 58 
AABox AABox::box_and_split(const std::vector<Triangle>& invec,
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													 std::vector<Triangle>& lvec,
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													 std::vector<Triangle>& lvec,
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													 std::vector<Triangle>& rvec)
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													 std::vector<Triangle>& rvec)
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{
 61 
{
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	const int N = invec.size();
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	const int N = invec.size();
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	Vec3f tri_pmin(FLT_MAX), tri_pmax(-FLT_MAX);
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	Vec3f tri_pmin(FLT_MAX), tri_pmax(-FLT_MAX);
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	for(int i=0;i<N;++i)
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	for(int i=0;i<N;++i)
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		{
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		{
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			tri_pmin = v_min(invec[i].get_pmin(), tri_pmin);
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			tri_pmin = v_min(invec[i].get_pmin(), tri_pmin);
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			tri_pmax = v_max(invec[i].get_pmax(), tri_pmax);
 68 
			tri_pmax = v_max(invec[i].get_pmax(), tri_pmax);
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		}
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		}
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	Vec3f diff = tri_pmax - tri_pmin;
 70 
	Vec3f diff = tri_pmax - tri_pmin;
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 71 
 
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	// Find the point closest to the centre.
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	// Find the point closest to the centre.
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	Vec3f centre = tri_pmin + diff;
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	Vec3f centre = tri_pmin + diff;
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	Vec3f centre_close = invec[0].get_v0();
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	Vec3f centre_close = invec[0].get_v0();
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	float min_dist = FLT_MAX;
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	float min_dist = FLT_MAX;
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	for(int i=0;i<N;++i)
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	for(int i=0;i<N;++i)
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		{
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		{
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			Vec3f v0 = invec[i].get_v0();
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			Vec3f v0 = invec[i].get_v0();
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			Vec3f v1 = invec[i].get_v1();
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			Vec3f v1 = invec[i].get_v1();
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			Vec3f v2 = invec[i].get_v2();
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			Vec3f v2 = invec[i].get_v2();
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			float sl0 = sqr_length(centre-v0);
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			float sl0 = sqr_length(centre-v0);
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			if(sl0 < min_dist)
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			if(sl0 < min_dist)
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				{
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				{
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					min_dist = sl0;
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					min_dist = sl0;
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					centre_close = v0;
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					centre_close = v0;
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				}
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				}
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			float sl1 = sqr_length(centre-v1);
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			float sl1 = sqr_length(centre-v1);
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			if(sl1 < min_dist)
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			if(sl1 < min_dist)
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				{
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				{
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					min_dist = sl1;
 90 
					min_dist = sl1;
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					centre_close = v1;
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					centre_close = v1;
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				}
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				}
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			float sl2 = sqr_length(centre-v2);
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			float sl2 = sqr_length(centre-v2);
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			if(sl2 < min_dist)
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			if(sl2 < min_dist)
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				{
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				{
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					min_dist = sl2;
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					min_dist = sl2;
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					centre_close = v2;
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					centre_close = v2;
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				}
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				}
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		}
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		}
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	int k;
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	int k;
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	if(diff[0]>diff[1])
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	if(diff[0]>diff[1])
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		{
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		{
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			if(diff[0]>diff[2])
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			if(diff[0]>diff[2])
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				k = 0;
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				k = 0;
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			else
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			else
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				k = 2;
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				k = 2;
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		}
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		}
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	else
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	else
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		{
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		{
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			if(diff[1]>diff[2])
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			if(diff[1]>diff[2])
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				k = 1;
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				k = 1;
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			else
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			else
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				k = 2;
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				k = 2;
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		}
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		}
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 116 
 
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	float thresh = diff[k]/2.0f + tri_pmin[k];
 117 
	float thresh = diff[k]/2.0f + tri_pmin[k];
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 	for(int i=0;i<N;++i)
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 	for(int i=0;i<N;++i)
152 
		{
 120 
		{
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			if(invec[i].get_centre()[k] > thresh)
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			if(invec[i].get_centre()[k] > thresh)
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				rvec.push_back(invec[i]);
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				rvec.push_back(invec[i]);
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			else
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			else
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				lvec.push_back(invec[i]);
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				lvec.push_back(invec[i]);
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		}
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		}
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	if(lvec.empty() || rvec.empty())
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	if(lvec.empty() || rvec.empty())
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		{
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		{
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			lvec.clear();
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			lvec.clear();
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			lvec.insert(lvec.end(),
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			lvec.insert(lvec.end(),
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									invec.begin(),
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									invec.begin(),
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									invec.begin()+N/2);
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									invec.begin()+N/2);
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			rvec.clear();
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			rvec.clear();
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			rvec.insert(rvec.end(),
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			rvec.insert(rvec.end(),
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									invec.begin()+N/2,
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									invec.begin()+N/2,
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									invec.end());
 135 
									invec.end());
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		}
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		}
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	assert(!lvec.empty());
 137 
	assert(!lvec.empty());
170 
	assert(!rvec.empty());
 138 
	assert(!rvec.empty());
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	assert(lvec.size()+rvec.size() == invec.size());
 139 
	assert(lvec.size()+rvec.size() == invec.size());
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	return AABox(tri_pmin, tri_pmax, centre_close);
 140 
	return AABox(tri_pmin, tri_pmax, centre_close);
173 
}
 141 
}
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 142 
 
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 143 
}
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