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I am pretty sure the author was called Adam Douglas (not Douglas Adams). Although I may be wrong.

There was a hairy mammal type character that was on the good guys side.

Laser whips were in use throughout the book.

I also seem to remember some sort of terminator line (possibly of fire) approaching around the planet, this kept the main protagonists on the move ahead of it.

I also have memory of reading a 2nd book by the same author which focused on a ship crew crash landing in a large lake, floating on parts of the wreckage. Before then being attacked by something from within the water.

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