806 lines
30 KiB
C
806 lines
30 KiB
C
/*
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Copyright (C) 1996-1997 Id Software, Inc.
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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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.
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See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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// mathlib.c -- math primitives
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#include "quakedef.h"
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#include <math.h>
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vec3_t vec3_origin = {0,0,0};
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float ixtable[4096];
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/*-----------------------------------------------------------------*/
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float m_bytenormals[NUMVERTEXNORMALS][3] =
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{
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{-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188},
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{-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017},
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{-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000},
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{0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718},
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{0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651},
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{0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651},
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{0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188},
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{0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567},
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{-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191},
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{-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856},
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{-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325},
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{-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863},
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{-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621},
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{-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000},
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{0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863},
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{0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460},
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{0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242},
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{-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863},
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{0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017},
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{0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460},
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{0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000},
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{0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621},
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{0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785},
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{0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325},
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{0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567},
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{0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000},
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{1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866},
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{0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000},
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{0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866},
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{0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567},
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{0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856},
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{0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866},
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{0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567},
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{0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731},
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{0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856},
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{0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718},
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{0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785},
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{0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191},
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{0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718},
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{-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651},
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{-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188},
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{-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056},
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{0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423},
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{0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188},
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{-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056},
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{0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718},
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{0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651},
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{0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188},
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{0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863},
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{0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785},
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{0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325},
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{0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242},
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{0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460},
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{0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242},
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{0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460},
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{0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621},
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{0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863},
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{-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460},
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{-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621},
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{-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000},
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{-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863},
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{-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856},
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{-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325},
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{-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188},
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{-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017},
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{-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785},
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{-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188},
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{0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017},
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{0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651},
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{0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191},
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{0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000},
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{-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000},
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{-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000},
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{-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856},
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{-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000},
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{-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866},
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{-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567},
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{-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731},
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{-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191},
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{-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785},
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{-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325},
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};
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#if 0
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unsigned char NormalToByte(const vec3_t n)
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{
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int i, best;
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float bestdistance, distance;
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best = 0;
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bestdistance = DotProduct (n, m_bytenormals[0]);
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for (i = 1;i < NUMVERTEXNORMALS;i++)
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{
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distance = DotProduct (n, m_bytenormals[i]);
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if (distance > bestdistance)
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{
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bestdistance = distance;
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best = i;
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}
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}
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return best;
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}
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// note: uses byte partly to force unsigned for the validity check
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void ByteToNormal(unsigned char num, vec3_t n)
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{
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if (num < NUMVERTEXNORMALS)
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VectorCopy(m_bytenormals[num], n);
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else
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VectorClear(n); // FIXME: complain?
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}
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// assumes "src" is normalized
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void PerpendicularVector( vec3_t dst, const vec3_t src )
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{
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// LordHavoc: optimized to death and beyond
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int pos;
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float minelem;
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if (src[0])
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{
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dst[0] = 0;
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if (src[1])
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{
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dst[1] = 0;
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if (src[2])
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{
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dst[2] = 0;
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pos = 0;
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minelem = fabs(src[0]);
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if (fabs(src[1]) < minelem)
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{
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pos = 1;
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minelem = fabs(src[1]);
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}
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if (fabs(src[2]) < minelem)
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pos = 2;
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dst[pos] = 1;
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dst[0] -= src[pos] * src[0];
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dst[1] -= src[pos] * src[1];
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dst[2] -= src[pos] * src[2];
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// normalize the result
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VectorNormalize(dst);
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}
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else
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dst[2] = 1;
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}
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else
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{
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dst[1] = 1;
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dst[2] = 0;
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}
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}
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else
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{
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dst[0] = 1;
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dst[1] = 0;
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dst[2] = 0;
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}
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}
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#endif
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// LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
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void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
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{
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// NOTE: this is consistent to AngleVectors applied to AnglesFromVectors
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if (forward[0] == 0 && forward[1] == 0)
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{
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if(forward[2] > 0)
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{
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VectorSet(right, 0, -1, 0);
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VectorSet(up, -1, 0, 0);
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}
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else
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{
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VectorSet(right, 0, -1, 0);
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VectorSet(up, 1, 0, 0);
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}
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}
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else
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{
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right[0] = forward[1];
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right[1] = -forward[0];
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right[2] = 0;
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VectorNormalize(right);
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up[0] = (-forward[2]*forward[0]);
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up[1] = (-forward[2]*forward[1]);
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up[2] = (forward[0]*forward[0] + forward[1]*forward[1]);
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VectorNormalize(up);
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}
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}
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void VectorVectorsDouble(const double *forward, double *right, double *up)
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{
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if (forward[0] == 0 && forward[1] == 0)
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{
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if(forward[2] > 0)
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{
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VectorSet(right, 0, -1, 0);
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VectorSet(up, -1, 0, 0);
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}
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else
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{
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VectorSet(right, 0, -1, 0);
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VectorSet(up, 1, 0, 0);
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}
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}
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else
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{
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right[0] = forward[1];
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right[1] = -forward[0];
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right[2] = 0;
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VectorNormalize(right);
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up[0] = (-forward[2]*forward[0]);
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up[1] = (-forward[2]*forward[1]);
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up[2] = (forward[0]*forward[0] + forward[1]*forward[1]);
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VectorNormalize(up);
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}
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}
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void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
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{
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float t0, t1;
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float angle, c, s;
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vec3_t vr, vu, vf;
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angle = DEG2RAD(degrees);
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c = cos(angle);
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s = sin(angle);
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VectorCopy(dir, vf);
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VectorVectors(vf, vr, vu);
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t0 = vr[0] * c + vu[0] * -s;
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t1 = vr[0] * s + vu[0] * c;
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dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
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+ (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
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+ (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
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t0 = vr[1] * c + vu[1] * -s;
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t1 = vr[1] * s + vu[1] * c;
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dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
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+ (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
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+ (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
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t0 = vr[2] * c + vu[2] * -s;
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t1 = vr[2] * s + vu[2] * c;
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dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
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+ (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
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+ (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
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}
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/*-----------------------------------------------------------------*/
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// returns the smallest integer greater than or equal to "value", or 0 if "value" is too big
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unsigned int CeilPowerOf2(unsigned int value)
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{
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unsigned int ceilvalue;
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if (value > (1U << (sizeof(int) * 8 - 1)))
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return 0;
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ceilvalue = 1;
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while (ceilvalue < value)
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ceilvalue <<= 1;
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return ceilvalue;
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}
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/*-----------------------------------------------------------------*/
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void PlaneClassify(mplane_t *p)
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{
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// for optimized plane comparisons
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if (p->normal[0] == 1)
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p->type = 0;
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else if (p->normal[1] == 1)
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p->type = 1;
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else if (p->normal[2] == 1)
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p->type = 2;
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else
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p->type = 3;
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// for BoxOnPlaneSide
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p->signbits = 0;
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if (p->normal[0] < 0) // 1
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p->signbits |= 1;
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if (p->normal[1] < 0) // 2
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p->signbits |= 2;
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if (p->normal[2] < 0) // 4
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p->signbits |= 4;
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}
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int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
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{
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if (p->type < 3)
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return ((emaxs[p->type] >= p->dist) | ((emins[p->type] < p->dist) << 1));
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switch(p->signbits)
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{
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default:
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case 0: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
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case 1: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
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case 2: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
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case 3: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
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case 4: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
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case 5: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
|
|
case 6: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
|
|
case 7: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
|
|
}
|
|
}
|
|
|
|
#if 0
|
|
int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist)
|
|
{
|
|
switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
|
|
{
|
|
default:
|
|
case 0: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
|
|
case 1: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
|
|
case 2: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
|
|
case 3: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
|
|
case 4: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
|
|
case 5: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
|
|
case 6: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
|
|
case 7: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar)
|
|
{
|
|
if (p->type < 3)
|
|
{
|
|
outnear[0] = outnear[1] = outnear[2] = outfar[0] = outfar[1] = outfar[2] = 0;
|
|
outnear[p->type] = emins[p->type];
|
|
outfar[p->type] = emaxs[p->type];
|
|
return;
|
|
}
|
|
switch(p->signbits)
|
|
{
|
|
default:
|
|
case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
|
|
case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
|
|
case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
|
|
case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
|
|
case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
|
|
case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
|
|
case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
|
|
case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
|
|
}
|
|
}
|
|
|
|
void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar)
|
|
{
|
|
switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
|
|
{
|
|
default:
|
|
case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
|
|
case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
|
|
case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
|
|
case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
|
|
case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
|
|
case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
|
|
case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
|
|
case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
|
|
}
|
|
}
|
|
|
|
void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist)
|
|
{
|
|
if (p->type < 3)
|
|
{
|
|
*outneardist = emins[p->type] - p->dist;
|
|
*outfardist = emaxs[p->type] - p->dist;
|
|
return;
|
|
}
|
|
switch(p->signbits)
|
|
{
|
|
default:
|
|
case 0: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
|
|
case 1: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
|
|
case 2: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
|
|
case 3: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
|
|
case 4: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
|
|
case 5: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
|
|
case 6: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
|
|
case 7: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
|
|
}
|
|
}
|
|
|
|
void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outneardist, vec_t *outfardist)
|
|
{
|
|
switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
|
|
{
|
|
default:
|
|
case 0: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
|
|
case 1: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
|
|
case 2: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
|
|
case 3: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
|
|
case 4: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
|
|
case 5: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
|
|
case 6: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
|
|
case 7: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
|
|
}
|
|
}
|
|
|
|
void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
|
|
{
|
|
double angle, sr, sp, sy, cr, cp, cy;
|
|
|
|
angle = angles[YAW] * (M_PI*2 / 360);
|
|
sy = sin(angle);
|
|
cy = cos(angle);
|
|
angle = angles[PITCH] * (M_PI*2 / 360);
|
|
sp = sin(angle);
|
|
cp = cos(angle);
|
|
if (forward)
|
|
{
|
|
forward[0] = cp*cy;
|
|
forward[1] = cp*sy;
|
|
forward[2] = -sp;
|
|
}
|
|
if (right || up)
|
|
{
|
|
if (angles[ROLL])
|
|
{
|
|
angle = angles[ROLL] * (M_PI*2 / 360);
|
|
sr = sin(angle);
|
|
cr = cos(angle);
|
|
if (right)
|
|
{
|
|
right[0] = -1*(sr*sp*cy+cr*-sy);
|
|
right[1] = -1*(sr*sp*sy+cr*cy);
|
|
right[2] = -1*(sr*cp);
|
|
}
|
|
if (up)
|
|
{
|
|
up[0] = (cr*sp*cy+-sr*-sy);
|
|
up[1] = (cr*sp*sy+-sr*cy);
|
|
up[2] = cr*cp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (right)
|
|
{
|
|
right[0] = sy;
|
|
right[1] = -cy;
|
|
right[2] = 0;
|
|
}
|
|
if (up)
|
|
{
|
|
up[0] = (sp*cy);
|
|
up[1] = (sp*sy);
|
|
up[2] = cp;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
|
|
{
|
|
double angle, sr, sp, sy, cr, cp, cy;
|
|
|
|
angle = angles[YAW] * (M_PI*2 / 360);
|
|
sy = sin(angle);
|
|
cy = cos(angle);
|
|
angle = angles[PITCH] * (M_PI*2 / 360);
|
|
sp = sin(angle);
|
|
cp = cos(angle);
|
|
if (forward)
|
|
{
|
|
forward[0] = cp*cy;
|
|
forward[1] = cp*sy;
|
|
forward[2] = -sp;
|
|
}
|
|
if (left || up)
|
|
{
|
|
if (angles[ROLL])
|
|
{
|
|
angle = angles[ROLL] * (M_PI*2 / 360);
|
|
sr = sin(angle);
|
|
cr = cos(angle);
|
|
if (left)
|
|
{
|
|
left[0] = sr*sp*cy+cr*-sy;
|
|
left[1] = sr*sp*sy+cr*cy;
|
|
left[2] = sr*cp;
|
|
}
|
|
if (up)
|
|
{
|
|
up[0] = cr*sp*cy+-sr*-sy;
|
|
up[1] = cr*sp*sy+-sr*cy;
|
|
up[2] = cr*cp;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (left)
|
|
{
|
|
left[0] = -sy;
|
|
left[1] = cy;
|
|
left[2] = 0;
|
|
}
|
|
if (up)
|
|
{
|
|
up[0] = sp*cy;
|
|
up[1] = sp*sy;
|
|
up[2] = cp;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// LordHavoc: calculates pitch/yaw/roll angles from forward and up vectors
|
|
void AnglesFromVectors (vec3_t angles, const vec3_t forward, const vec3_t up, qboolean flippitch)
|
|
{
|
|
if (forward[0] == 0 && forward[1] == 0)
|
|
{
|
|
if(forward[2] > 0)
|
|
{
|
|
angles[PITCH] = -M_PI * 0.5;
|
|
angles[YAW] = up ? atan2(-up[1], -up[0]) : 0;
|
|
}
|
|
else
|
|
{
|
|
angles[PITCH] = M_PI * 0.5;
|
|
angles[YAW] = up ? atan2(up[1], up[0]) : 0;
|
|
}
|
|
angles[ROLL] = 0;
|
|
}
|
|
else
|
|
{
|
|
angles[YAW] = atan2(forward[1], forward[0]);
|
|
angles[PITCH] = -atan2(forward[2], sqrt(forward[0]*forward[0] + forward[1]*forward[1]));
|
|
// note: we know that angles[PITCH] is in ]-pi/2..pi/2[ due to atan2(anything, positive)
|
|
if (up)
|
|
{
|
|
vec_t cp = cos(angles[PITCH]), sp = sin(angles[PITCH]);
|
|
// note: we know cp > 0, due to the range angles[pitch] is in
|
|
vec_t cy = cos(angles[YAW]), sy = sin(angles[YAW]);
|
|
vec3_t tleft, tup;
|
|
tleft[0] = -sy;
|
|
tleft[1] = cy;
|
|
tleft[2] = 0;
|
|
tup[0] = sp*cy;
|
|
tup[1] = sp*sy;
|
|
tup[2] = cp;
|
|
angles[ROLL] = -atan2(DotProduct(up, tleft), DotProduct(up, tup));
|
|
// for up == '0 0 1', this is
|
|
// angles[ROLL] = -atan2(0, cp);
|
|
// which is 0
|
|
}
|
|
else
|
|
angles[ROLL] = 0;
|
|
|
|
// so no up vector is equivalent to '1 0 0'!
|
|
}
|
|
|
|
// now convert radians to degrees, and make all values positive
|
|
VectorScale(angles, 180.0 / M_PI, angles);
|
|
if (flippitch)
|
|
angles[PITCH] *= -1;
|
|
if (angles[PITCH] < 0) angles[PITCH] += 360;
|
|
if (angles[YAW] < 0) angles[YAW] += 360;
|
|
if (angles[ROLL] < 0) angles[ROLL] += 360;
|
|
|
|
#if 0
|
|
{
|
|
// debugging code
|
|
vec3_t tforward, tleft, tup, nforward, nup;
|
|
VectorCopy(forward, nforward);
|
|
VectorNormalize(nforward);
|
|
if (up)
|
|
{
|
|
VectorCopy(up, nup);
|
|
VectorNormalize(nup);
|
|
AngleVectors(angles, tforward, tleft, tup);
|
|
if (VectorDistance(tforward, nforward) > 0.01 || VectorDistance(tup, nup) > 0.01)
|
|
{
|
|
Con_Printf("vectoangles('%f %f %f', '%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], nup[0], nup[1], nup[2], angles[0], angles[1], angles[2]);
|
|
Con_Printf("^3But that is '%f %f %f', '%f %f %f'\n", tforward[0], tforward[1], tforward[2], tup[0], tup[1], tup[2]);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
AngleVectors(angles, tforward, tleft, tup);
|
|
if (VectorDistance(tforward, nforward) > 0.01)
|
|
{
|
|
Con_Printf("vectoangles('%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], angles[0], angles[1], angles[2]);
|
|
Con_Printf("^3But that is '%f %f %f'\n", tforward[0], tforward[1], tforward[2]);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
|
|
#if 0
|
|
void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
|
|
{
|
|
double angle, sr, sp, sy, cr, cp, cy;
|
|
|
|
angle = angles[YAW] * (M_PI*2 / 360);
|
|
sy = sin(angle);
|
|
cy = cos(angle);
|
|
angle = angles[PITCH] * (M_PI*2 / 360);
|
|
sp = sin(angle);
|
|
cp = cos(angle);
|
|
angle = angles[ROLL] * (M_PI*2 / 360);
|
|
sr = sin(angle);
|
|
cr = cos(angle);
|
|
matrix[0][0] = cp*cy;
|
|
matrix[0][1] = sr*sp*cy+cr*-sy;
|
|
matrix[0][2] = cr*sp*cy+-sr*-sy;
|
|
matrix[0][3] = translate[0];
|
|
matrix[1][0] = cp*sy;
|
|
matrix[1][1] = sr*sp*sy+cr*cy;
|
|
matrix[1][2] = cr*sp*sy+-sr*cy;
|
|
matrix[1][3] = translate[1];
|
|
matrix[2][0] = -sp;
|
|
matrix[2][1] = sr*cp;
|
|
matrix[2][2] = cr*cp;
|
|
matrix[2][3] = translate[2];
|
|
}
|
|
#endif
|
|
|
|
|
|
// LordHavoc: renamed this to Length, and made the normal one a #define
|
|
float VectorNormalizeLength (vec3_t v)
|
|
{
|
|
float length, ilength;
|
|
|
|
length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
|
|
length = sqrt (length);
|
|
|
|
if (length)
|
|
{
|
|
ilength = 1/length;
|
|
v[0] *= ilength;
|
|
v[1] *= ilength;
|
|
v[2] *= ilength;
|
|
}
|
|
|
|
return length;
|
|
|
|
}
|
|
|
|
|
|
/*
|
|
================
|
|
R_ConcatRotations
|
|
================
|
|
*/
|
|
void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3])
|
|
{
|
|
out[0*3+0] = in1[0*3+0] * in2[0*3+0] + in1[0*3+1] * in2[1*3+0] + in1[0*3+2] * in2[2*3+0];
|
|
out[0*3+1] = in1[0*3+0] * in2[0*3+1] + in1[0*3+1] * in2[1*3+1] + in1[0*3+2] * in2[2*3+1];
|
|
out[0*3+2] = in1[0*3+0] * in2[0*3+2] + in1[0*3+1] * in2[1*3+2] + in1[0*3+2] * in2[2*3+2];
|
|
out[1*3+0] = in1[1*3+0] * in2[0*3+0] + in1[1*3+1] * in2[1*3+0] + in1[1*3+2] * in2[2*3+0];
|
|
out[1*3+1] = in1[1*3+0] * in2[0*3+1] + in1[1*3+1] * in2[1*3+1] + in1[1*3+2] * in2[2*3+1];
|
|
out[1*3+2] = in1[1*3+0] * in2[0*3+2] + in1[1*3+1] * in2[1*3+2] + in1[1*3+2] * in2[2*3+2];
|
|
out[2*3+0] = in1[2*3+0] * in2[0*3+0] + in1[2*3+1] * in2[1*3+0] + in1[2*3+2] * in2[2*3+0];
|
|
out[2*3+1] = in1[2*3+0] * in2[0*3+1] + in1[2*3+1] * in2[1*3+1] + in1[2*3+2] * in2[2*3+1];
|
|
out[2*3+2] = in1[2*3+0] * in2[0*3+2] + in1[2*3+1] * in2[1*3+2] + in1[2*3+2] * in2[2*3+2];
|
|
}
|
|
|
|
|
|
/*
|
|
================
|
|
R_ConcatTransforms
|
|
================
|
|
*/
|
|
void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4])
|
|
{
|
|
out[0*4+0] = in1[0*4+0] * in2[0*4+0] + in1[0*4+1] * in2[1*4+0] + in1[0*4+2] * in2[2*4+0];
|
|
out[0*4+1] = in1[0*4+0] * in2[0*4+1] + in1[0*4+1] * in2[1*4+1] + in1[0*4+2] * in2[2*4+1];
|
|
out[0*4+2] = in1[0*4+0] * in2[0*4+2] + in1[0*4+1] * in2[1*4+2] + in1[0*4+2] * in2[2*4+2];
|
|
out[0*4+3] = in1[0*4+0] * in2[0*4+3] + in1[0*4+1] * in2[1*4+3] + in1[0*4+2] * in2[2*4+3] + in1[0*4+3];
|
|
out[1*4+0] = in1[1*4+0] * in2[0*4+0] + in1[1*4+1] * in2[1*4+0] + in1[1*4+2] * in2[2*4+0];
|
|
out[1*4+1] = in1[1*4+0] * in2[0*4+1] + in1[1*4+1] * in2[1*4+1] + in1[1*4+2] * in2[2*4+1];
|
|
out[1*4+2] = in1[1*4+0] * in2[0*4+2] + in1[1*4+1] * in2[1*4+2] + in1[1*4+2] * in2[2*4+2];
|
|
out[1*4+3] = in1[1*4+0] * in2[0*4+3] + in1[1*4+1] * in2[1*4+3] + in1[1*4+2] * in2[2*4+3] + in1[1*4+3];
|
|
out[2*4+0] = in1[2*4+0] * in2[0*4+0] + in1[2*4+1] * in2[1*4+0] + in1[2*4+2] * in2[2*4+0];
|
|
out[2*4+1] = in1[2*4+0] * in2[0*4+1] + in1[2*4+1] * in2[1*4+1] + in1[2*4+2] * in2[2*4+1];
|
|
out[2*4+2] = in1[2*4+0] * in2[0*4+2] + in1[2*4+1] * in2[1*4+2] + in1[2*4+2] * in2[2*4+2];
|
|
out[2*4+3] = in1[2*4+0] * in2[0*4+3] + in1[2*4+1] * in2[1*4+3] + in1[2*4+2] * in2[2*4+3] + in1[2*4+3];
|
|
}
|
|
|
|
float RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
|
|
{
|
|
vec3_t m1, m2;
|
|
VectorMultiply(mins, mins, m1);
|
|
VectorMultiply(maxs, maxs, m2);
|
|
return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
|
|
}
|
|
|
|
float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin)
|
|
{
|
|
vec3_t m1, m2;
|
|
VectorSubtract(mins, origin, m1);VectorMultiply(m1, m1, m1);
|
|
VectorSubtract(maxs, origin, m2);VectorMultiply(m2, m2, m2);
|
|
return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
|
|
}
|
|
|
|
void Mathlib_Init(void)
|
|
{
|
|
int a;
|
|
|
|
// LordHavoc: setup 1.0f / N table for quick recipricols of integers
|
|
ixtable[0] = 0;
|
|
for (a = 1;a < 4096;a++)
|
|
ixtable[a] = 1.0f / a;
|
|
}
|
|
|
|
#include "matrixlib.h"
|
|
|
|
void Matrix4x4_Print(const matrix4x4_t *in)
|
|
{
|
|
Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
|
|
, in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
|
|
, in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
|
|
, in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
|
|
, in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
|
|
}
|
|
|
|
int Math_atov(const char *s, prvm_vec3_t out)
|
|
{
|
|
int i;
|
|
VectorClear(out);
|
|
if (*s == '\'')
|
|
s++;
|
|
for (i = 0;i < 3;i++)
|
|
{
|
|
while (*s == ' ' || *s == '\t')
|
|
s++;
|
|
out[i] = atof (s);
|
|
if (out[i] == 0 && *s != '-' && *s != '+' && (*s < '0' || *s > '9'))
|
|
break; // not a number
|
|
while (*s && *s != ' ' && *s !='\t' && *s != '\'')
|
|
s++;
|
|
if (*s == '\'')
|
|
break;
|
|
}
|
|
return i;
|
|
}
|
|
|
|
void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f)
|
|
{
|
|
int i;
|
|
VectorCopy(point3f, mins);
|
|
VectorCopy(point3f, maxs);
|
|
for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3)
|
|
{
|
|
mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]);
|
|
mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]);
|
|
mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]);
|
|
}
|
|
}
|
|
|
|
// LordHavoc: this has to be done right or you get severe precision breakdown
|
|
int LoopingFrameNumberFromDouble(double t, int loopframes)
|
|
{
|
|
if (loopframes)
|
|
return (int)(t - floor(t/loopframes)*loopframes);
|
|
else
|
|
return (int)t;
|
|
}
|
|
|