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2002 lines
46 KiB
C++
2002 lines
46 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
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Doom 3 Source Code 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 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code 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 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 Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#ifndef __MATH_VECTOR_H__
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#define __MATH_VECTOR_H__
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/*
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===============================================================================
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Vector classes
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===============================================================================
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*/
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#define VECTOR_EPSILON 0.001f
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class idAngles;
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class idPolar3;
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class idMat3;
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//===============================================================
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//
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// idVec2 - 2D vector
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//
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//===============================================================
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class idVec2 {
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public:
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float x;
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float y;
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idVec2( void );
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explicit idVec2( const float x, const float y );
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void Set( const float x, const float y );
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void Zero( void );
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float operator[]( int index ) const;
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float & operator[]( int index );
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idVec2 operator-() const;
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float operator*( const idVec2 &a ) const;
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idVec2 operator*( const float a ) const;
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idVec2 operator/( const float a ) const;
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idVec2 operator+( const idVec2 &a ) const;
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idVec2 operator-( const idVec2 &a ) const;
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idVec2 & operator+=( const idVec2 &a );
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idVec2 & operator-=( const idVec2 &a );
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idVec2 & operator/=( const idVec2 &a );
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idVec2 & operator/=( const float a );
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idVec2 & operator*=( const float a );
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friend idVec2 operator*( const float a, const idVec2 b );
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bool Compare( const idVec2 &a ) const; // exact compare, no epsilon
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bool Compare( const idVec2 &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idVec2 &a ) const; // exact compare, no epsilon
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bool operator!=( const idVec2 &a ) const; // exact compare, no epsilon
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float Length( void ) const;
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float LengthFast( void ) const;
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float LengthSqr( void ) const;
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float Normalize( void ); // returns length
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float NormalizeFast( void ); // returns length
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idVec2 & Truncate( float length ); // cap length
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void Clamp( const idVec2 &min, const idVec2 &max );
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void Snap( void ); // snap to closest integer value
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void SnapInt( void ); // snap towards integer (floor)
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int GetDimension( void ) const;
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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const char * ToString( int precision = 2 ) const;
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void Lerp( const idVec2 &v1, const idVec2 &v2, const float l );
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};
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extern idVec2 vec2_origin;
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#define vec2_zero vec2_origin
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ID_INLINE idVec2::idVec2( void ) {
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}
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ID_INLINE idVec2::idVec2( const float x, const float y ) {
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this->x = x;
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this->y = y;
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}
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ID_INLINE void idVec2::Set( const float x, const float y ) {
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this->x = x;
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this->y = y;
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}
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ID_INLINE void idVec2::Zero( void ) {
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x = y = 0.0f;
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}
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ID_INLINE bool idVec2::Compare( const idVec2 &a ) const {
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return ( ( x == a.x ) && ( y == a.y ) );
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}
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ID_INLINE bool idVec2::Compare( const idVec2 &a, const float epsilon ) const {
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if ( idMath::Fabs( x - a.x ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( y - a.y ) > epsilon ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idVec2::operator==( const idVec2 &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idVec2::operator!=( const idVec2 &a ) const {
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return !Compare( a );
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}
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ID_INLINE float idVec2::operator[]( int index ) const {
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return ( &x )[ index ];
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}
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ID_INLINE float& idVec2::operator[]( int index ) {
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return ( &x )[ index ];
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}
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ID_INLINE float idVec2::Length( void ) const {
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return ( float )idMath::Sqrt( x * x + y * y );
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}
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ID_INLINE float idVec2::LengthFast( void ) const {
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float sqrLength;
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sqrLength = x * x + y * y;
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return sqrLength * idMath::RSqrt( sqrLength );
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}
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ID_INLINE float idVec2::LengthSqr( void ) const {
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return ( x * x + y * y );
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}
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ID_INLINE float idVec2::Normalize( void ) {
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float sqrLength, invLength;
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sqrLength = x * x + y * y;
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invLength = idMath::InvSqrt( sqrLength );
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x *= invLength;
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y *= invLength;
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return invLength * sqrLength;
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}
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ID_INLINE float idVec2::NormalizeFast( void ) {
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float lengthSqr, invLength;
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lengthSqr = x * x + y * y;
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invLength = idMath::RSqrt( lengthSqr );
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x *= invLength;
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y *= invLength;
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return invLength * lengthSqr;
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}
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ID_INLINE idVec2 &idVec2::Truncate( float length ) {
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float length2;
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float ilength;
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if ( !length ) {
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Zero();
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}
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else {
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length2 = LengthSqr();
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if ( length2 > length * length ) {
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ilength = length * idMath::InvSqrt( length2 );
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x *= ilength;
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y *= ilength;
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}
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}
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return *this;
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}
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ID_INLINE void idVec2::Clamp( const idVec2 &min, const idVec2 &max ) {
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if ( x < min.x ) {
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x = min.x;
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} else if ( x > max.x ) {
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x = max.x;
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}
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if ( y < min.y ) {
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y = min.y;
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} else if ( y > max.y ) {
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y = max.y;
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}
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}
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ID_INLINE void idVec2::Snap( void ) {
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x = floor( x + 0.5f );
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y = floor( y + 0.5f );
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}
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ID_INLINE void idVec2::SnapInt( void ) {
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x = float( int( x ) );
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y = float( int( y ) );
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}
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ID_INLINE idVec2 idVec2::operator-() const {
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return idVec2( -x, -y );
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}
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ID_INLINE idVec2 idVec2::operator-( const idVec2 &a ) const {
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return idVec2( x - a.x, y - a.y );
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}
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ID_INLINE float idVec2::operator*( const idVec2 &a ) const {
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return x * a.x + y * a.y;
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}
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ID_INLINE idVec2 idVec2::operator*( const float a ) const {
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return idVec2( x * a, y * a );
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}
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ID_INLINE idVec2 idVec2::operator/( const float a ) const {
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float inva = 1.0f / a;
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return idVec2( x * inva, y * inva );
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}
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ID_INLINE idVec2 operator*( const float a, const idVec2 b ) {
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return idVec2( b.x * a, b.y * a );
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}
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ID_INLINE idVec2 idVec2::operator+( const idVec2 &a ) const {
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return idVec2( x + a.x, y + a.y );
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}
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ID_INLINE idVec2 &idVec2::operator+=( const idVec2 &a ) {
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x += a.x;
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y += a.y;
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return *this;
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}
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ID_INLINE idVec2 &idVec2::operator/=( const idVec2 &a ) {
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x /= a.x;
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y /= a.y;
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return *this;
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}
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ID_INLINE idVec2 &idVec2::operator/=( const float a ) {
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float inva = 1.0f / a;
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x *= inva;
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y *= inva;
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return *this;
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}
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ID_INLINE idVec2 &idVec2::operator-=( const idVec2 &a ) {
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x -= a.x;
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y -= a.y;
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return *this;
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}
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ID_INLINE idVec2 &idVec2::operator*=( const float a ) {
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x *= a;
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y *= a;
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return *this;
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}
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ID_INLINE int idVec2::GetDimension( void ) const {
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return 2;
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}
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ID_INLINE const float *idVec2::ToFloatPtr( void ) const {
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return &x;
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}
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ID_INLINE float *idVec2::ToFloatPtr( void ) {
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return &x;
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}
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//===============================================================
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//
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// idVec3 - 3D vector
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//
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//===============================================================
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class idVec3 {
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public:
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float x;
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float y;
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float z;
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idVec3( void );
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explicit idVec3( const float x, const float y, const float z );
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void Set( const float x, const float y, const float z );
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void Zero( void );
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float operator[]( const int index ) const;
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float & operator[]( const int index );
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idVec3 operator-() const;
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idVec3 & operator=( const idVec3 &a ); // required because of a msvc 6 & 7 bug
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float operator*( const idVec3 &a ) const;
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idVec3 operator*( const float a ) const;
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idVec3 operator/( const float a ) const;
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idVec3 operator+( const idVec3 &a ) const;
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idVec3 operator-( const idVec3 &a ) const;
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idVec3 & operator+=( const idVec3 &a );
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idVec3 & operator-=( const idVec3 &a );
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idVec3 & operator/=( const idVec3 &a );
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idVec3 & operator/=( const float a );
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idVec3 & operator*=( const float a );
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friend idVec3 operator*( const float a, const idVec3 b );
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bool Compare( const idVec3 &a ) const; // exact compare, no epsilon
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bool Compare( const idVec3 &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idVec3 &a ) const; // exact compare, no epsilon
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bool operator!=( const idVec3 &a ) const; // exact compare, no epsilon
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bool FixDegenerateNormal( void ); // fix degenerate axial cases
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bool FixDenormals( void ); // change tiny numbers to zero
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idVec3 Cross( const idVec3 &a ) const;
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idVec3 & Cross( const idVec3 &a, const idVec3 &b );
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float Length( void ) const;
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float LengthSqr( void ) const;
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float LengthFast( void ) const;
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float Normalize( void ); // returns length
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float NormalizeFast( void ); // returns length
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idVec3 & Truncate( float length ); // cap length
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void Clamp( const idVec3 &min, const idVec3 &max );
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void Snap( void ); // snap to closest integer value
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void SnapInt( void ); // snap towards integer (floor)
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int GetDimension( void ) const;
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float ToYaw( void ) const;
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float ToPitch( void ) const;
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idAngles ToAngles( void ) const;
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idPolar3 ToPolar( void ) const;
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idMat3 ToMat3( void ) const; // vector should be normalized
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const idVec2 & ToVec2( void ) const;
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idVec2 & ToVec2( void );
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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const char * ToString( int precision = 2 ) const;
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void NormalVectors( idVec3 &left, idVec3 &down ) const; // vector should be normalized
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void OrthogonalBasis( idVec3 &left, idVec3 &up ) const;
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void ProjectOntoPlane( const idVec3 &normal, const float overBounce = 1.0f );
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bool ProjectAlongPlane( const idVec3 &normal, const float epsilon, const float overBounce = 1.0f );
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void ProjectSelfOntoSphere( const float radius );
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void Lerp( const idVec3 &v1, const idVec3 &v2, const float l );
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void SLerp( const idVec3 &v1, const idVec3 &v2, const float l );
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};
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extern idVec3 vec3_origin;
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#define vec3_zero vec3_origin
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ID_INLINE idVec3::idVec3( void ) {
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}
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ID_INLINE idVec3::idVec3( const float x, const float y, const float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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}
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ID_INLINE float idVec3::operator[]( const int index ) const {
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return ( &x )[ index ];
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}
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ID_INLINE float &idVec3::operator[]( const int index ) {
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return ( &x )[ index ];
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}
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ID_INLINE void idVec3::Set( const float x, const float y, const float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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}
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ID_INLINE void idVec3::Zero( void ) {
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x = y = z = 0.0f;
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}
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ID_INLINE idVec3 idVec3::operator-() const {
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return idVec3( -x, -y, -z );
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}
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ID_INLINE idVec3 &idVec3::operator=( const idVec3 &a ) {
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x = a.x;
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y = a.y;
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z = a.z;
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return *this;
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}
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ID_INLINE idVec3 idVec3::operator-( const idVec3 &a ) const {
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return idVec3( x - a.x, y - a.y, z - a.z );
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}
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ID_INLINE float idVec3::operator*( const idVec3 &a ) const {
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return x * a.x + y * a.y + z * a.z;
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}
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ID_INLINE idVec3 idVec3::operator*( const float a ) const {
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return idVec3( x * a, y * a, z * a );
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}
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ID_INLINE idVec3 idVec3::operator/( const float a ) const {
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float inva = 1.0f / a;
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return idVec3( x * inva, y * inva, z * inva );
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}
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ID_INLINE idVec3 operator*( const float a, const idVec3 b ) {
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return idVec3( b.x * a, b.y * a, b.z * a );
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}
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ID_INLINE idVec3 idVec3::operator+( const idVec3 &a ) const {
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return idVec3( x + a.x, y + a.y, z + a.z );
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}
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ID_INLINE idVec3 &idVec3::operator+=( const idVec3 &a ) {
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x += a.x;
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y += a.y;
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z += a.z;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator/=( const idVec3 &a ) {
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x /= a.x;
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y /= a.y;
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z /= a.z;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator/=( const float a ) {
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float inva = 1.0f / a;
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x *= inva;
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y *= inva;
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z *= inva;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator-=( const idVec3 &a ) {
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x -= a.x;
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y -= a.y;
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z -= a.z;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator*=( const float a ) {
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x *= a;
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y *= a;
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z *= a;
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return *this;
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}
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ID_INLINE bool idVec3::Compare( const idVec3 &a ) const {
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return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) );
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}
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ID_INLINE bool idVec3::Compare( const idVec3 &a, const float epsilon ) const {
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if ( idMath::Fabs( x - a.x ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( y - a.y ) > epsilon ) {
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return false;
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}
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if ( idMath::Fabs( z - a.z ) > epsilon ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idVec3::operator==( const idVec3 &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idVec3::operator!=( const idVec3 &a ) const {
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return !Compare( a );
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}
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ID_INLINE float idVec3::NormalizeFast( void ) {
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float sqrLength, invLength;
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sqrLength = x * x + y * y + z * z;
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invLength = idMath::RSqrt( sqrLength );
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x *= invLength;
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y *= invLength;
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z *= invLength;
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return invLength * sqrLength;
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}
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ID_INLINE bool idVec3::FixDegenerateNormal( void ) {
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if ( x == 0.0f ) {
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if ( y == 0.0f ) {
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if ( z > 0.0f ) {
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if ( z != 1.0f ) {
|
|
z = 1.0f;
|
|
return true;
|
|
}
|
|
} else {
|
|
if ( z != -1.0f ) {
|
|
z = -1.0f;
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
} else if ( z == 0.0f ) {
|
|
if ( y > 0.0f ) {
|
|
if ( y != 1.0f ) {
|
|
y = 1.0f;
|
|
return true;
|
|
}
|
|
} else {
|
|
if ( y != -1.0f ) {
|
|
y = -1.0f;
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
} else if ( y == 0.0f ) {
|
|
if ( z == 0.0f ) {
|
|
if ( x > 0.0f ) {
|
|
if ( x != 1.0f ) {
|
|
x = 1.0f;
|
|
return true;
|
|
}
|
|
} else {
|
|
if ( x != -1.0f ) {
|
|
x = -1.0f;
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
if ( idMath::Fabs( x ) == 1.0f ) {
|
|
if ( y != 0.0f || z != 0.0f ) {
|
|
y = z = 0.0f;
|
|
return true;
|
|
}
|
|
return false;
|
|
} else if ( idMath::Fabs( y ) == 1.0f ) {
|
|
if ( x != 0.0f || z != 0.0f ) {
|
|
x = z = 0.0f;
|
|
return true;
|
|
}
|
|
return false;
|
|
} else if ( idMath::Fabs( z ) == 1.0f ) {
|
|
if ( x != 0.0f || y != 0.0f ) {
|
|
x = y = 0.0f;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
ID_INLINE bool idVec3::FixDenormals( void ) {
|
|
bool denormal = false;
|
|
if ( fabs( x ) < 1e-30f ) {
|
|
x = 0.0f;
|
|
denormal = true;
|
|
}
|
|
if ( fabs( y ) < 1e-30f ) {
|
|
y = 0.0f;
|
|
denormal = true;
|
|
}
|
|
if ( fabs( z ) < 1e-30f ) {
|
|
z = 0.0f;
|
|
denormal = true;
|
|
}
|
|
return denormal;
|
|
}
|
|
|
|
ID_INLINE idVec3 idVec3::Cross( const idVec3 &a ) const {
|
|
return idVec3( y * a.z - z * a.y, z * a.x - x * a.z, x * a.y - y * a.x );
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVec3::Cross( const idVec3 &a, const idVec3 &b ) {
|
|
x = a.y * b.z - a.z * b.y;
|
|
y = a.z * b.x - a.x * b.z;
|
|
z = a.x * b.y - a.y * b.x;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE float idVec3::Length( void ) const {
|
|
return ( float )idMath::Sqrt( x * x + y * y + z * z );
|
|
}
|
|
|
|
ID_INLINE float idVec3::LengthSqr( void ) const {
|
|
return ( x * x + y * y + z * z );
|
|
}
|
|
|
|
ID_INLINE float idVec3::LengthFast( void ) const {
|
|
float sqrLength;
|
|
|
|
sqrLength = x * x + y * y + z * z;
|
|
return sqrLength * idMath::RSqrt( sqrLength );
|
|
}
|
|
|
|
ID_INLINE float idVec3::Normalize( void ) {
|
|
float sqrLength, invLength;
|
|
|
|
sqrLength = x * x + y * y + z * z;
|
|
invLength = idMath::InvSqrt( sqrLength );
|
|
x *= invLength;
|
|
y *= invLength;
|
|
z *= invLength;
|
|
return invLength * sqrLength;
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVec3::Truncate( float length ) {
|
|
float length2;
|
|
float ilength;
|
|
|
|
if ( !length ) {
|
|
Zero();
|
|
}
|
|
else {
|
|
length2 = LengthSqr();
|
|
if ( length2 > length * length ) {
|
|
ilength = length * idMath::InvSqrt( length2 );
|
|
x *= ilength;
|
|
y *= ilength;
|
|
z *= ilength;
|
|
}
|
|
}
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE void idVec3::Clamp( const idVec3 &min, const idVec3 &max ) {
|
|
if ( x < min.x ) {
|
|
x = min.x;
|
|
} else if ( x > max.x ) {
|
|
x = max.x;
|
|
}
|
|
if ( y < min.y ) {
|
|
y = min.y;
|
|
} else if ( y > max.y ) {
|
|
y = max.y;
|
|
}
|
|
if ( z < min.z ) {
|
|
z = min.z;
|
|
} else if ( z > max.z ) {
|
|
z = max.z;
|
|
}
|
|
}
|
|
|
|
ID_INLINE void idVec3::Snap( void ) {
|
|
x = floor( x + 0.5f );
|
|
y = floor( y + 0.5f );
|
|
z = floor( z + 0.5f );
|
|
}
|
|
|
|
ID_INLINE void idVec3::SnapInt( void ) {
|
|
x = float( int( x ) );
|
|
y = float( int( y ) );
|
|
z = float( int( z ) );
|
|
}
|
|
|
|
ID_INLINE int idVec3::GetDimension( void ) const {
|
|
return 3;
|
|
}
|
|
|
|
ID_INLINE const idVec2 &idVec3::ToVec2( void ) const {
|
|
return *reinterpret_cast<const idVec2 *>(this);
|
|
}
|
|
|
|
ID_INLINE idVec2 &idVec3::ToVec2( void ) {
|
|
return *reinterpret_cast<idVec2 *>(this);
|
|
}
|
|
|
|
ID_INLINE const float *idVec3::ToFloatPtr( void ) const {
|
|
return &x;
|
|
}
|
|
|
|
ID_INLINE float *idVec3::ToFloatPtr( void ) {
|
|
return &x;
|
|
}
|
|
|
|
ID_INLINE void idVec3::NormalVectors( idVec3 &left, idVec3 &down ) const {
|
|
float d;
|
|
|
|
d = x * x + y * y;
|
|
if ( !d ) {
|
|
left[0] = 1;
|
|
left[1] = 0;
|
|
left[2] = 0;
|
|
} else {
|
|
d = idMath::InvSqrt( d );
|
|
left[0] = -y * d;
|
|
left[1] = x * d;
|
|
left[2] = 0;
|
|
}
|
|
down = left.Cross( *this );
|
|
}
|
|
|
|
ID_INLINE void idVec3::OrthogonalBasis( idVec3 &left, idVec3 &up ) const {
|
|
float l, s;
|
|
|
|
if ( idMath::Fabs( z ) > 0.7f ) {
|
|
l = y * y + z * z;
|
|
s = idMath::InvSqrt( l );
|
|
up[0] = 0;
|
|
up[1] = z * s;
|
|
up[2] = -y * s;
|
|
left[0] = l * s;
|
|
left[1] = -x * up[2];
|
|
left[2] = x * up[1];
|
|
}
|
|
else {
|
|
l = x * x + y * y;
|
|
s = idMath::InvSqrt( l );
|
|
left[0] = -y * s;
|
|
left[1] = x * s;
|
|
left[2] = 0;
|
|
up[0] = -z * left[1];
|
|
up[1] = z * left[0];
|
|
up[2] = l * s;
|
|
}
|
|
}
|
|
|
|
ID_INLINE void idVec3::ProjectOntoPlane( const idVec3 &normal, const float overBounce ) {
|
|
float backoff;
|
|
|
|
backoff = *this * normal;
|
|
|
|
if ( overBounce != 1.0 ) {
|
|
if ( backoff < 0 ) {
|
|
backoff *= overBounce;
|
|
} else {
|
|
backoff /= overBounce;
|
|
}
|
|
}
|
|
|
|
*this -= backoff * normal;
|
|
}
|
|
|
|
ID_INLINE bool idVec3::ProjectAlongPlane( const idVec3 &normal, const float epsilon, const float overBounce ) {
|
|
idVec3 cross;
|
|
float len;
|
|
|
|
cross = this->Cross( normal ).Cross( (*this) );
|
|
// normalize so a fixed epsilon can be used
|
|
cross.Normalize();
|
|
len = normal * cross;
|
|
if ( idMath::Fabs( len ) < epsilon ) {
|
|
return false;
|
|
}
|
|
cross *= overBounce * ( normal * (*this) ) / len;
|
|
(*this) -= cross;
|
|
return true;
|
|
}
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idVec4 - 4D vector
|
|
//
|
|
//===============================================================
|
|
|
|
class idVec4 {
|
|
public:
|
|
float x;
|
|
float y;
|
|
float z;
|
|
float w;
|
|
|
|
idVec4( void );
|
|
explicit idVec4( const float x, const float y, const float z, const float w );
|
|
|
|
void Set( const float x, const float y, const float z, const float w );
|
|
void Zero( void );
|
|
|
|
float operator[]( const int index ) const;
|
|
float & operator[]( const int index );
|
|
idVec4 operator-() const;
|
|
float operator*( const idVec4 &a ) const;
|
|
idVec4 operator*( const float a ) const;
|
|
idVec4 operator/( const float a ) const;
|
|
idVec4 operator+( const idVec4 &a ) const;
|
|
idVec4 operator-( const idVec4 &a ) const;
|
|
idVec4 & operator+=( const idVec4 &a );
|
|
idVec4 & operator-=( const idVec4 &a );
|
|
idVec4 & operator/=( const idVec4 &a );
|
|
idVec4 & operator/=( const float a );
|
|
idVec4 & operator*=( const float a );
|
|
|
|
friend idVec4 operator*( const float a, const idVec4 b );
|
|
|
|
bool Compare( const idVec4 &a ) const; // exact compare, no epsilon
|
|
bool Compare( const idVec4 &a, const float epsilon ) const; // compare with epsilon
|
|
bool operator==( const idVec4 &a ) const; // exact compare, no epsilon
|
|
bool operator!=( const idVec4 &a ) const; // exact compare, no epsilon
|
|
|
|
float Length( void ) const;
|
|
float LengthSqr( void ) const;
|
|
float Normalize( void ); // returns length
|
|
float NormalizeFast( void ); // returns length
|
|
|
|
int GetDimension( void ) const;
|
|
|
|
const idVec2 & ToVec2( void ) const;
|
|
idVec2 & ToVec2( void );
|
|
const idVec3 & ToVec3( void ) const;
|
|
idVec3 & ToVec3( void );
|
|
const float * ToFloatPtr( void ) const;
|
|
float * ToFloatPtr( void );
|
|
const char * ToString( int precision = 2 ) const;
|
|
|
|
void Lerp( const idVec4 &v1, const idVec4 &v2, const float l );
|
|
};
|
|
|
|
extern idVec4 vec4_origin;
|
|
#define vec4_zero vec4_origin
|
|
|
|
ID_INLINE idVec4::idVec4( void ) {
|
|
}
|
|
|
|
ID_INLINE idVec4::idVec4( const float x, const float y, const float z, const float w ) {
|
|
this->x = x;
|
|
this->y = y;
|
|
this->z = z;
|
|
this->w = w;
|
|
}
|
|
|
|
ID_INLINE void idVec4::Set( const float x, const float y, const float z, const float w ) {
|
|
this->x = x;
|
|
this->y = y;
|
|
this->z = z;
|
|
this->w = w;
|
|
}
|
|
|
|
ID_INLINE void idVec4::Zero( void ) {
|
|
x = y = z = w = 0.0f;
|
|
}
|
|
|
|
ID_INLINE float idVec4::operator[]( int index ) const {
|
|
return ( &x )[ index ];
|
|
}
|
|
|
|
ID_INLINE float& idVec4::operator[]( int index ) {
|
|
return ( &x )[ index ];
|
|
}
|
|
|
|
ID_INLINE idVec4 idVec4::operator-() const {
|
|
return idVec4( -x, -y, -z, -w );
|
|
}
|
|
|
|
ID_INLINE idVec4 idVec4::operator-( const idVec4 &a ) const {
|
|
return idVec4( x - a.x, y - a.y, z - a.z, w - a.w );
|
|
}
|
|
|
|
ID_INLINE float idVec4::operator*( const idVec4 &a ) const {
|
|
return x * a.x + y * a.y + z * a.z + w * a.w;
|
|
}
|
|
|
|
ID_INLINE idVec4 idVec4::operator*( const float a ) const {
|
|
return idVec4( x * a, y * a, z * a, w * a );
|
|
}
|
|
|
|
ID_INLINE idVec4 idVec4::operator/( const float a ) const {
|
|
float inva = 1.0f / a;
|
|
return idVec4( x * inva, y * inva, z * inva, w * inva );
|
|
}
|
|
|
|
ID_INLINE idVec4 operator*( const float a, const idVec4 b ) {
|
|
return idVec4( b.x * a, b.y * a, b.z * a, b.w * a );
|
|
}
|
|
|
|
ID_INLINE idVec4 idVec4::operator+( const idVec4 &a ) const {
|
|
return idVec4( x + a.x, y + a.y, z + a.z, w + a.w );
|
|
}
|
|
|
|
ID_INLINE idVec4 &idVec4::operator+=( const idVec4 &a ) {
|
|
x += a.x;
|
|
y += a.y;
|
|
z += a.z;
|
|
w += a.w;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec4 &idVec4::operator/=( const idVec4 &a ) {
|
|
x /= a.x;
|
|
y /= a.y;
|
|
z /= a.z;
|
|
w /= a.w;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec4 &idVec4::operator/=( const float a ) {
|
|
float inva = 1.0f / a;
|
|
x *= inva;
|
|
y *= inva;
|
|
z *= inva;
|
|
w *= inva;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec4 &idVec4::operator-=( const idVec4 &a ) {
|
|
x -= a.x;
|
|
y -= a.y;
|
|
z -= a.z;
|
|
w -= a.w;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec4 &idVec4::operator*=( const float a ) {
|
|
x *= a;
|
|
y *= a;
|
|
z *= a;
|
|
w *= a;
|
|
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE bool idVec4::Compare( const idVec4 &a ) const {
|
|
return ( ( x == a.x ) && ( y == a.y ) && ( z == a.z ) && w == a.w );
|
|
}
|
|
|
|
ID_INLINE bool idVec4::Compare( const idVec4 &a, const float epsilon ) const {
|
|
if ( idMath::Fabs( x - a.x ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( y - a.y ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( z - a.z ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( w - a.w ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idVec4::operator==( const idVec4 &a ) const {
|
|
return Compare( a );
|
|
}
|
|
|
|
ID_INLINE bool idVec4::operator!=( const idVec4 &a ) const {
|
|
return !Compare( a );
|
|
}
|
|
|
|
ID_INLINE float idVec4::Length( void ) const {
|
|
return ( float )idMath::Sqrt( x * x + y * y + z * z + w * w );
|
|
}
|
|
|
|
ID_INLINE float idVec4::LengthSqr( void ) const {
|
|
return ( x * x + y * y + z * z + w * w );
|
|
}
|
|
|
|
ID_INLINE float idVec4::Normalize( void ) {
|
|
float sqrLength, invLength;
|
|
|
|
sqrLength = x * x + y * y + z * z + w * w;
|
|
invLength = idMath::InvSqrt( sqrLength );
|
|
x *= invLength;
|
|
y *= invLength;
|
|
z *= invLength;
|
|
w *= invLength;
|
|
return invLength * sqrLength;
|
|
}
|
|
|
|
ID_INLINE float idVec4::NormalizeFast( void ) {
|
|
float sqrLength, invLength;
|
|
|
|
sqrLength = x * x + y * y + z * z + w * w;
|
|
invLength = idMath::RSqrt( sqrLength );
|
|
x *= invLength;
|
|
y *= invLength;
|
|
z *= invLength;
|
|
w *= invLength;
|
|
return invLength * sqrLength;
|
|
}
|
|
|
|
ID_INLINE int idVec4::GetDimension( void ) const {
|
|
return 4;
|
|
}
|
|
|
|
ID_INLINE const idVec2 &idVec4::ToVec2( void ) const {
|
|
return *reinterpret_cast<const idVec2 *>(this);
|
|
}
|
|
|
|
ID_INLINE idVec2 &idVec4::ToVec2( void ) {
|
|
return *reinterpret_cast<idVec2 *>(this);
|
|
}
|
|
|
|
ID_INLINE const idVec3 &idVec4::ToVec3( void ) const {
|
|
return *reinterpret_cast<const idVec3 *>(this);
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVec4::ToVec3( void ) {
|
|
return *reinterpret_cast<idVec3 *>(this);
|
|
}
|
|
|
|
ID_INLINE const float *idVec4::ToFloatPtr( void ) const {
|
|
return &x;
|
|
}
|
|
|
|
ID_INLINE float *idVec4::ToFloatPtr( void ) {
|
|
return &x;
|
|
}
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idVec5 - 5D vector
|
|
//
|
|
//===============================================================
|
|
|
|
class idVec5 {
|
|
public:
|
|
float x;
|
|
float y;
|
|
float z;
|
|
float s;
|
|
float t;
|
|
|
|
idVec5( void );
|
|
explicit idVec5( const idVec3 &xyz, const idVec2 &st );
|
|
explicit idVec5( const float x, const float y, const float z, const float s, const float t );
|
|
|
|
float operator[]( int index ) const;
|
|
float & operator[]( int index );
|
|
idVec5 & operator=( const idVec3 &a );
|
|
|
|
int GetDimension( void ) const;
|
|
|
|
const idVec3 & ToVec3( void ) const;
|
|
idVec3 & ToVec3( void );
|
|
const float * ToFloatPtr( void ) const;
|
|
float * ToFloatPtr( void );
|
|
const char * ToString( int precision = 2 ) const;
|
|
|
|
void Lerp( const idVec5 &v1, const idVec5 &v2, const float l );
|
|
};
|
|
|
|
extern idVec5 vec5_origin;
|
|
#define vec5_zero vec5_origin
|
|
|
|
ID_INLINE idVec5::idVec5( void ) {
|
|
}
|
|
|
|
ID_INLINE idVec5::idVec5( const idVec3 &xyz, const idVec2 &st ) {
|
|
x = xyz.x;
|
|
y = xyz.y;
|
|
z = xyz.z;
|
|
s = st[0];
|
|
t = st[1];
|
|
}
|
|
|
|
ID_INLINE idVec5::idVec5( const float x, const float y, const float z, const float s, const float t ) {
|
|
this->x = x;
|
|
this->y = y;
|
|
this->z = z;
|
|
this->s = s;
|
|
this->t = t;
|
|
}
|
|
|
|
ID_INLINE float idVec5::operator[]( int index ) const {
|
|
return ( &x )[ index ];
|
|
}
|
|
|
|
ID_INLINE float& idVec5::operator[]( int index ) {
|
|
return ( &x )[ index ];
|
|
}
|
|
|
|
ID_INLINE idVec5 &idVec5::operator=( const idVec3 &a ) {
|
|
x = a.x;
|
|
y = a.y;
|
|
z = a.z;
|
|
s = t = 0;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE int idVec5::GetDimension( void ) const {
|
|
return 5;
|
|
}
|
|
|
|
ID_INLINE const idVec3 &idVec5::ToVec3( void ) const {
|
|
return *reinterpret_cast<const idVec3 *>(this);
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVec5::ToVec3( void ) {
|
|
return *reinterpret_cast<idVec3 *>(this);
|
|
}
|
|
|
|
ID_INLINE const float *idVec5::ToFloatPtr( void ) const {
|
|
return &x;
|
|
}
|
|
|
|
ID_INLINE float *idVec5::ToFloatPtr( void ) {
|
|
return &x;
|
|
}
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idVec6 - 6D vector
|
|
//
|
|
//===============================================================
|
|
|
|
class idVec6 {
|
|
public:
|
|
idVec6( void );
|
|
explicit idVec6( const float *a );
|
|
explicit idVec6( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
|
|
|
|
void Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
|
|
void Zero( void );
|
|
|
|
float operator[]( const int index ) const;
|
|
float & operator[]( const int index );
|
|
idVec6 operator-() const;
|
|
idVec6 operator*( const float a ) const;
|
|
idVec6 operator/( const float a ) const;
|
|
float operator*( const idVec6 &a ) const;
|
|
idVec6 operator-( const idVec6 &a ) const;
|
|
idVec6 operator+( const idVec6 &a ) const;
|
|
idVec6 & operator*=( const float a );
|
|
idVec6 & operator/=( const float a );
|
|
idVec6 & operator+=( const idVec6 &a );
|
|
idVec6 & operator-=( const idVec6 &a );
|
|
|
|
friend idVec6 operator*( const float a, const idVec6 b );
|
|
|
|
bool Compare( const idVec6 &a ) const; // exact compare, no epsilon
|
|
bool Compare( const idVec6 &a, const float epsilon ) const; // compare with epsilon
|
|
bool operator==( const idVec6 &a ) const; // exact compare, no epsilon
|
|
bool operator!=( const idVec6 &a ) const; // exact compare, no epsilon
|
|
|
|
float Length( void ) const;
|
|
float LengthSqr( void ) const;
|
|
float Normalize( void ); // returns length
|
|
float NormalizeFast( void ); // returns length
|
|
|
|
int GetDimension( void ) const;
|
|
|
|
const idVec3 & SubVec3( int index ) const;
|
|
idVec3 & SubVec3( int index );
|
|
const float * ToFloatPtr( void ) const;
|
|
float * ToFloatPtr( void );
|
|
const char * ToString( int precision = 2 ) const;
|
|
|
|
private:
|
|
float p[6];
|
|
};
|
|
|
|
extern idVec6 vec6_origin;
|
|
#define vec6_zero vec6_origin
|
|
extern idVec6 vec6_infinity;
|
|
|
|
ID_INLINE idVec6::idVec6( void ) {
|
|
}
|
|
|
|
ID_INLINE idVec6::idVec6( const float *a ) {
|
|
memcpy( p, a, 6 * sizeof( float ) );
|
|
}
|
|
|
|
ID_INLINE idVec6::idVec6( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
|
|
p[0] = a1;
|
|
p[1] = a2;
|
|
p[2] = a3;
|
|
p[3] = a4;
|
|
p[4] = a5;
|
|
p[5] = a6;
|
|
}
|
|
|
|
ID_INLINE idVec6 idVec6::operator-() const {
|
|
return idVec6( -p[0], -p[1], -p[2], -p[3], -p[4], -p[5] );
|
|
}
|
|
|
|
ID_INLINE float idVec6::operator[]( const int index ) const {
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE float &idVec6::operator[]( const int index ) {
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE idVec6 idVec6::operator*( const float a ) const {
|
|
return idVec6( p[0]*a, p[1]*a, p[2]*a, p[3]*a, p[4]*a, p[5]*a );
|
|
}
|
|
|
|
ID_INLINE float idVec6::operator*( const idVec6 &a ) const {
|
|
return p[0] * a[0] + p[1] * a[1] + p[2] * a[2] + p[3] * a[3] + p[4] * a[4] + p[5] * a[5];
|
|
}
|
|
|
|
ID_INLINE idVec6 idVec6::operator/( const float a ) const {
|
|
float inva;
|
|
|
|
assert( a != 0.0f );
|
|
inva = 1.0f / a;
|
|
return idVec6( p[0]*inva, p[1]*inva, p[2]*inva, p[3]*inva, p[4]*inva, p[5]*inva );
|
|
}
|
|
|
|
ID_INLINE idVec6 idVec6::operator+( const idVec6 &a ) const {
|
|
return idVec6( p[0] + a[0], p[1] + a[1], p[2] + a[2], p[3] + a[3], p[4] + a[4], p[5] + a[5] );
|
|
}
|
|
|
|
ID_INLINE idVec6 idVec6::operator-( const idVec6 &a ) const {
|
|
return idVec6( p[0] - a[0], p[1] - a[1], p[2] - a[2], p[3] - a[3], p[4] - a[4], p[5] - a[5] );
|
|
}
|
|
|
|
ID_INLINE idVec6 &idVec6::operator*=( const float a ) {
|
|
p[0] *= a;
|
|
p[1] *= a;
|
|
p[2] *= a;
|
|
p[3] *= a;
|
|
p[4] *= a;
|
|
p[5] *= a;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec6 &idVec6::operator/=( const float a ) {
|
|
float inva;
|
|
|
|
assert( a != 0.0f );
|
|
inva = 1.0f / a;
|
|
p[0] *= inva;
|
|
p[1] *= inva;
|
|
p[2] *= inva;
|
|
p[3] *= inva;
|
|
p[4] *= inva;
|
|
p[5] *= inva;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec6 &idVec6::operator+=( const idVec6 &a ) {
|
|
p[0] += a[0];
|
|
p[1] += a[1];
|
|
p[2] += a[2];
|
|
p[3] += a[3];
|
|
p[4] += a[4];
|
|
p[5] += a[5];
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec6 &idVec6::operator-=( const idVec6 &a ) {
|
|
p[0] -= a[0];
|
|
p[1] -= a[1];
|
|
p[2] -= a[2];
|
|
p[3] -= a[3];
|
|
p[4] -= a[4];
|
|
p[5] -= a[5];
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec6 operator*( const float a, const idVec6 b ) {
|
|
return b * a;
|
|
}
|
|
|
|
ID_INLINE bool idVec6::Compare( const idVec6 &a ) const {
|
|
return ( ( p[0] == a[0] ) && ( p[1] == a[1] ) && ( p[2] == a[2] ) &&
|
|
( p[3] == a[3] ) && ( p[4] == a[4] ) && ( p[5] == a[5] ) );
|
|
}
|
|
|
|
ID_INLINE bool idVec6::Compare( const idVec6 &a, const float epsilon ) const {
|
|
if ( idMath::Fabs( p[0] - a[0] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( p[1] - a[1] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( p[2] - a[2] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( p[3] - a[3] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( p[4] - a[4] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
if ( idMath::Fabs( p[5] - a[5] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idVec6::operator==( const idVec6 &a ) const {
|
|
return Compare( a );
|
|
}
|
|
|
|
ID_INLINE bool idVec6::operator!=( const idVec6 &a ) const {
|
|
return !Compare( a );
|
|
}
|
|
|
|
ID_INLINE void idVec6::Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 ) {
|
|
p[0] = a1;
|
|
p[1] = a2;
|
|
p[2] = a3;
|
|
p[3] = a4;
|
|
p[4] = a5;
|
|
p[5] = a6;
|
|
}
|
|
|
|
ID_INLINE void idVec6::Zero( void ) {
|
|
p[0] = p[1] = p[2] = p[3] = p[4] = p[5] = 0.0f;
|
|
}
|
|
|
|
ID_INLINE float idVec6::Length( void ) const {
|
|
return ( float )idMath::Sqrt( p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5] );
|
|
}
|
|
|
|
ID_INLINE float idVec6::LengthSqr( void ) const {
|
|
return ( p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5] );
|
|
}
|
|
|
|
ID_INLINE float idVec6::Normalize( void ) {
|
|
float sqrLength, invLength;
|
|
|
|
sqrLength = p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5];
|
|
invLength = idMath::InvSqrt( sqrLength );
|
|
p[0] *= invLength;
|
|
p[1] *= invLength;
|
|
p[2] *= invLength;
|
|
p[3] *= invLength;
|
|
p[4] *= invLength;
|
|
p[5] *= invLength;
|
|
return invLength * sqrLength;
|
|
}
|
|
|
|
ID_INLINE float idVec6::NormalizeFast( void ) {
|
|
float sqrLength, invLength;
|
|
|
|
sqrLength = p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3] + p[4] * p[4] + p[5] * p[5];
|
|
invLength = idMath::RSqrt( sqrLength );
|
|
p[0] *= invLength;
|
|
p[1] *= invLength;
|
|
p[2] *= invLength;
|
|
p[3] *= invLength;
|
|
p[4] *= invLength;
|
|
p[5] *= invLength;
|
|
return invLength * sqrLength;
|
|
}
|
|
|
|
ID_INLINE int idVec6::GetDimension( void ) const {
|
|
return 6;
|
|
}
|
|
|
|
ID_INLINE const idVec3 &idVec6::SubVec3( int index ) const {
|
|
return *reinterpret_cast<const idVec3 *>(p + index * 3);
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVec6::SubVec3( int index ) {
|
|
return *reinterpret_cast<idVec3 *>(p + index * 3);
|
|
}
|
|
|
|
ID_INLINE const float *idVec6::ToFloatPtr( void ) const {
|
|
return p;
|
|
}
|
|
|
|
ID_INLINE float *idVec6::ToFloatPtr( void ) {
|
|
return p;
|
|
}
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idVecX - arbitrary sized vector
|
|
//
|
|
// The vector lives on 16 byte aligned and 16 byte padded memory.
|
|
//
|
|
// NOTE: due to the temporary memory pool idVecX cannot be used by multiple threads
|
|
//
|
|
//===============================================================
|
|
|
|
#define VECX_MAX_TEMP 1024
|
|
#define VECX_QUAD( x ) ( ( ( ( x ) + 3 ) & ~3 ) * sizeof( float ) )
|
|
#define VECX_CLEAREND() int s = size; while( s < ( ( s + 3) & ~3 ) ) { p[s++] = 0.0f; }
|
|
#define VECX_ALLOCA( n ) ( (float *) _alloca16( VECX_QUAD( n ) ) )
|
|
#define VECX_SIMD
|
|
|
|
class idVecX {
|
|
friend class idMatX;
|
|
|
|
public:
|
|
idVecX( void );
|
|
explicit idVecX( int length );
|
|
explicit idVecX( int length, float *data );
|
|
~idVecX( void );
|
|
|
|
float operator[]( const int index ) const;
|
|
float & operator[]( const int index );
|
|
idVecX operator-() const;
|
|
idVecX & operator=( const idVecX &a );
|
|
idVecX operator*( const float a ) const;
|
|
idVecX operator/( const float a ) const;
|
|
float operator*( const idVecX &a ) const;
|
|
idVecX operator-( const idVecX &a ) const;
|
|
idVecX operator+( const idVecX &a ) const;
|
|
idVecX & operator*=( const float a );
|
|
idVecX & operator/=( const float a );
|
|
idVecX & operator+=( const idVecX &a );
|
|
idVecX & operator-=( const idVecX &a );
|
|
|
|
friend idVecX operator*( const float a, const idVecX b );
|
|
|
|
bool Compare( const idVecX &a ) const; // exact compare, no epsilon
|
|
bool Compare( const idVecX &a, const float epsilon ) const; // compare with epsilon
|
|
bool operator==( const idVecX &a ) const; // exact compare, no epsilon
|
|
bool operator!=( const idVecX &a ) const; // exact compare, no epsilon
|
|
|
|
void SetSize( int size );
|
|
void ChangeSize( int size, bool makeZero = false );
|
|
int GetSize( void ) const { return size; }
|
|
void SetData( int length, float *data );
|
|
void Zero( void );
|
|
void Zero( int length );
|
|
void Random( int seed, float l = 0.0f, float u = 1.0f );
|
|
void Random( int length, int seed, float l = 0.0f, float u = 1.0f );
|
|
void Negate( void );
|
|
void Clamp( float min, float max );
|
|
idVecX & SwapElements( int e1, int e2 );
|
|
|
|
float Length( void ) const;
|
|
float LengthSqr( void ) const;
|
|
idVecX Normalize( void ) const;
|
|
float NormalizeSelf( void );
|
|
|
|
int GetDimension( void ) const;
|
|
|
|
const idVec3 & SubVec3( int index ) const;
|
|
idVec3 & SubVec3( int index );
|
|
const idVec6 & SubVec6( int index ) const;
|
|
idVec6 & SubVec6( int index );
|
|
const float * ToFloatPtr( void ) const;
|
|
float * ToFloatPtr( void );
|
|
const char * ToString( int precision = 2 ) const;
|
|
|
|
private:
|
|
int size; // size of the vector
|
|
int alloced; // if -1 p points to data set with SetData
|
|
float * p; // memory the vector is stored
|
|
|
|
static float temp[VECX_MAX_TEMP+4]; // used to store intermediate results
|
|
static float * tempPtr; // pointer to 16 byte aligned temporary memory
|
|
static int tempIndex; // index into memory pool, wraps around
|
|
|
|
private:
|
|
void SetTempSize( int size );
|
|
};
|
|
|
|
|
|
ID_INLINE idVecX::idVecX( void ) {
|
|
size = alloced = 0;
|
|
p = NULL;
|
|
}
|
|
|
|
ID_INLINE idVecX::idVecX( int length ) {
|
|
size = alloced = 0;
|
|
p = NULL;
|
|
SetSize( length );
|
|
}
|
|
|
|
ID_INLINE idVecX::idVecX( int length, float *data ) {
|
|
size = alloced = 0;
|
|
p = NULL;
|
|
SetData( length, data );
|
|
}
|
|
|
|
ID_INLINE idVecX::~idVecX( void ) {
|
|
// if not temp memory
|
|
if ( p && ( p < idVecX::tempPtr || p >= idVecX::tempPtr + VECX_MAX_TEMP ) && alloced != -1 ) {
|
|
Mem_Free16( p );
|
|
}
|
|
}
|
|
|
|
ID_INLINE float idVecX::operator[]( const int index ) const {
|
|
assert( index >= 0 && index < size );
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE float &idVecX::operator[]( const int index ) {
|
|
assert( index >= 0 && index < size );
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::operator-() const {
|
|
int i;
|
|
idVecX m;
|
|
|
|
m.SetTempSize( size );
|
|
for ( i = 0; i < size; i++ ) {
|
|
m.p[i] = -p[i];
|
|
}
|
|
return m;
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::operator=( const idVecX &a ) {
|
|
SetSize( a.size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Copy16( p, a.p, a.size );
|
|
#else
|
|
memcpy( p, a.p, a.size * sizeof( float ) );
|
|
#endif
|
|
idVecX::tempIndex = 0;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::operator+( const idVecX &a ) const {
|
|
idVecX m;
|
|
|
|
assert( size == a.size );
|
|
m.SetTempSize( size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Add16( m.p, p, a.p, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
m.p[i] = p[i] + a.p[i];
|
|
}
|
|
#endif
|
|
return m;
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::operator-( const idVecX &a ) const {
|
|
idVecX m;
|
|
|
|
assert( size == a.size );
|
|
m.SetTempSize( size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Sub16( m.p, p, a.p, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
m.p[i] = p[i] - a.p[i];
|
|
}
|
|
#endif
|
|
return m;
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::operator+=( const idVecX &a ) {
|
|
assert( size == a.size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->AddAssign16( p, a.p, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] += a.p[i];
|
|
}
|
|
#endif
|
|
idVecX::tempIndex = 0;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::operator-=( const idVecX &a ) {
|
|
assert( size == a.size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->SubAssign16( p, a.p, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] -= a.p[i];
|
|
}
|
|
#endif
|
|
idVecX::tempIndex = 0;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::operator*( const float a ) const {
|
|
idVecX m;
|
|
|
|
m.SetTempSize( size );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Mul16( m.p, p, a, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
m.p[i] = p[i] * a;
|
|
}
|
|
#endif
|
|
return m;
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::operator*=( const float a ) {
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->MulAssign16( p, a, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] *= a;
|
|
}
|
|
#endif
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::operator/( const float a ) const {
|
|
assert( a != 0.0f );
|
|
return (*this) * ( 1.0f / a );
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::operator/=( const float a ) {
|
|
assert( a != 0.0f );
|
|
(*this) *= ( 1.0f / a );
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVecX operator*( const float a, const idVecX b ) {
|
|
return b * a;
|
|
}
|
|
|
|
ID_INLINE float idVecX::operator*( const idVecX &a ) const {
|
|
int i;
|
|
float sum = 0.0f;
|
|
|
|
assert( size == a.size );
|
|
for ( i = 0; i < size; i++ ) {
|
|
sum += p[i] * a.p[i];
|
|
}
|
|
return sum;
|
|
}
|
|
|
|
ID_INLINE bool idVecX::Compare( const idVecX &a ) const {
|
|
int i;
|
|
|
|
assert( size == a.size );
|
|
for ( i = 0; i < size; i++ ) {
|
|
if ( p[i] != a.p[i] ) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idVecX::Compare( const idVecX &a, const float epsilon ) const {
|
|
int i;
|
|
|
|
assert( size == a.size );
|
|
for ( i = 0; i < size; i++ ) {
|
|
if ( idMath::Fabs( p[i] - a.p[i] ) > epsilon ) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idVecX::operator==( const idVecX &a ) const {
|
|
return Compare( a );
|
|
}
|
|
|
|
ID_INLINE bool idVecX::operator!=( const idVecX &a ) const {
|
|
return !Compare( a );
|
|
}
|
|
|
|
ID_INLINE void idVecX::SetSize( int newSize ) {
|
|
int alloc = ( newSize + 3 ) & ~3;
|
|
if ( alloc > alloced && alloced != -1 ) {
|
|
if ( p ) {
|
|
Mem_Free16( p );
|
|
}
|
|
p = (float *) Mem_Alloc16( alloc * sizeof( float ) );
|
|
alloced = alloc;
|
|
}
|
|
size = newSize;
|
|
VECX_CLEAREND();
|
|
}
|
|
|
|
ID_INLINE void idVecX::ChangeSize( int newSize, bool makeZero ) {
|
|
int alloc = ( newSize + 3 ) & ~3;
|
|
if ( alloc > alloced && alloced != -1 ) {
|
|
float *oldVec = p;
|
|
p = (float *) Mem_Alloc16( alloc * sizeof( float ) );
|
|
alloced = alloc;
|
|
if ( oldVec ) {
|
|
for ( int i = 0; i < size; i++ ) {
|
|
p[i] = oldVec[i];
|
|
}
|
|
Mem_Free16( oldVec );
|
|
}
|
|
if ( makeZero ) {
|
|
// zero any new elements
|
|
for ( int i = size; i < newSize; i++ ) {
|
|
p[i] = 0.0f;
|
|
}
|
|
}
|
|
}
|
|
size = newSize;
|
|
VECX_CLEAREND();
|
|
}
|
|
|
|
ID_INLINE void idVecX::SetTempSize( int newSize ) {
|
|
|
|
size = newSize;
|
|
alloced = ( newSize + 3 ) & ~3;
|
|
assert( alloced < VECX_MAX_TEMP );
|
|
if ( idVecX::tempIndex + alloced > VECX_MAX_TEMP ) {
|
|
idVecX::tempIndex = 0;
|
|
}
|
|
p = idVecX::tempPtr + idVecX::tempIndex;
|
|
idVecX::tempIndex += alloced;
|
|
VECX_CLEAREND();
|
|
}
|
|
|
|
ID_INLINE void idVecX::SetData( int length, float *data ) {
|
|
if ( p && ( p < idVecX::tempPtr || p >= idVecX::tempPtr + VECX_MAX_TEMP ) && alloced != -1 ) {
|
|
Mem_Free16( p );
|
|
}
|
|
assert( ( ( (uintptr_t) data ) & 15 ) == 0 ); // data must be 16 byte aligned
|
|
p = data;
|
|
size = length;
|
|
alloced = -1;
|
|
VECX_CLEAREND();
|
|
}
|
|
|
|
ID_INLINE void idVecX::Zero( void ) {
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Zero16( p, size );
|
|
#else
|
|
memset( p, 0, size * sizeof( float ) );
|
|
#endif
|
|
}
|
|
|
|
ID_INLINE void idVecX::Zero( int length ) {
|
|
SetSize( length );
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Zero16( p, length );
|
|
#else
|
|
memset( p, 0, size * sizeof( float ) );
|
|
#endif
|
|
}
|
|
|
|
ID_INLINE void idVecX::Random( int seed, float l, float u ) {
|
|
int i;
|
|
float c;
|
|
idRandom rnd( seed );
|
|
|
|
c = u - l;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] = l + rnd.RandomFloat() * c;
|
|
}
|
|
}
|
|
|
|
ID_INLINE void idVecX::Random( int length, int seed, float l, float u ) {
|
|
int i;
|
|
float c;
|
|
idRandom rnd( seed );
|
|
|
|
SetSize( length );
|
|
c = u - l;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] = l + rnd.RandomFloat() * c;
|
|
}
|
|
}
|
|
|
|
ID_INLINE void idVecX::Negate( void ) {
|
|
#ifdef VECX_SIMD
|
|
SIMDProcessor->Negate16( p, size );
|
|
#else
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] = -p[i];
|
|
}
|
|
#endif
|
|
}
|
|
|
|
ID_INLINE void idVecX::Clamp( float min, float max ) {
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
if ( p[i] < min ) {
|
|
p[i] = min;
|
|
} else if ( p[i] > max ) {
|
|
p[i] = max;
|
|
}
|
|
}
|
|
}
|
|
|
|
ID_INLINE idVecX &idVecX::SwapElements( int e1, int e2 ) {
|
|
float tmp;
|
|
tmp = p[e1];
|
|
p[e1] = p[e2];
|
|
p[e2] = tmp;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE float idVecX::Length( void ) const {
|
|
int i;
|
|
float sum = 0.0f;
|
|
|
|
for ( i = 0; i < size; i++ ) {
|
|
sum += p[i] * p[i];
|
|
}
|
|
return idMath::Sqrt( sum );
|
|
}
|
|
|
|
ID_INLINE float idVecX::LengthSqr( void ) const {
|
|
int i;
|
|
float sum = 0.0f;
|
|
|
|
for ( i = 0; i < size; i++ ) {
|
|
sum += p[i] * p[i];
|
|
}
|
|
return sum;
|
|
}
|
|
|
|
ID_INLINE idVecX idVecX::Normalize( void ) const {
|
|
int i;
|
|
idVecX m;
|
|
float invSqrt, sum = 0.0f;
|
|
|
|
m.SetTempSize( size );
|
|
for ( i = 0; i < size; i++ ) {
|
|
sum += p[i] * p[i];
|
|
}
|
|
invSqrt = idMath::InvSqrt( sum );
|
|
for ( i = 0; i < size; i++ ) {
|
|
m.p[i] = p[i] * invSqrt;
|
|
}
|
|
return m;
|
|
}
|
|
|
|
ID_INLINE float idVecX::NormalizeSelf( void ) {
|
|
float invSqrt, sum = 0.0f;
|
|
int i;
|
|
for ( i = 0; i < size; i++ ) {
|
|
sum += p[i] * p[i];
|
|
}
|
|
invSqrt = idMath::InvSqrt( sum );
|
|
for ( i = 0; i < size; i++ ) {
|
|
p[i] *= invSqrt;
|
|
}
|
|
return invSqrt * sum;
|
|
}
|
|
|
|
ID_INLINE int idVecX::GetDimension( void ) const {
|
|
return size;
|
|
}
|
|
|
|
ID_INLINE idVec3 &idVecX::SubVec3( int index ) {
|
|
assert( index >= 0 && index * 3 + 3 <= size );
|
|
return *reinterpret_cast<idVec3 *>(p + index * 3);
|
|
}
|
|
|
|
ID_INLINE const idVec3 &idVecX::SubVec3( int index ) const {
|
|
assert( index >= 0 && index * 3 + 3 <= size );
|
|
return *reinterpret_cast<const idVec3 *>(p + index * 3);
|
|
}
|
|
|
|
ID_INLINE idVec6 &idVecX::SubVec6( int index ) {
|
|
assert( index >= 0 && index * 6 + 6 <= size );
|
|
return *reinterpret_cast<idVec6 *>(p + index * 6);
|
|
}
|
|
|
|
ID_INLINE const idVec6 &idVecX::SubVec6( int index ) const {
|
|
assert( index >= 0 && index * 6 + 6 <= size );
|
|
return *reinterpret_cast<const idVec6 *>(p + index * 6);
|
|
}
|
|
|
|
ID_INLINE const float *idVecX::ToFloatPtr( void ) const {
|
|
return p;
|
|
}
|
|
|
|
ID_INLINE float *idVecX::ToFloatPtr( void ) {
|
|
return p;
|
|
}
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idPolar3
|
|
//
|
|
//===============================================================
|
|
|
|
class idPolar3 {
|
|
public:
|
|
float radius, theta, phi;
|
|
|
|
idPolar3( void );
|
|
explicit idPolar3( const float radius, const float theta, const float phi );
|
|
|
|
void Set( const float radius, const float theta, const float phi );
|
|
|
|
float operator[]( const int index ) const;
|
|
float & operator[]( const int index );
|
|
idPolar3 operator-() const;
|
|
idPolar3 & operator=( const idPolar3 &a );
|
|
|
|
idVec3 ToVec3( void ) const;
|
|
};
|
|
|
|
ID_INLINE idPolar3::idPolar3( void ) {
|
|
}
|
|
|
|
ID_INLINE idPolar3::idPolar3( const float radius, const float theta, const float phi ) {
|
|
assert( radius > 0 );
|
|
this->radius = radius;
|
|
this->theta = theta;
|
|
this->phi = phi;
|
|
}
|
|
|
|
ID_INLINE void idPolar3::Set( const float radius, const float theta, const float phi ) {
|
|
assert( radius > 0 );
|
|
this->radius = radius;
|
|
this->theta = theta;
|
|
this->phi = phi;
|
|
}
|
|
|
|
ID_INLINE float idPolar3::operator[]( const int index ) const {
|
|
return ( &radius )[ index ];
|
|
}
|
|
|
|
ID_INLINE float &idPolar3::operator[]( const int index ) {
|
|
return ( &radius )[ index ];
|
|
}
|
|
|
|
ID_INLINE idPolar3 idPolar3::operator-() const {
|
|
return idPolar3( radius, -theta, -phi );
|
|
}
|
|
|
|
ID_INLINE idPolar3 &idPolar3::operator=( const idPolar3 &a ) {
|
|
radius = a.radius;
|
|
theta = a.theta;
|
|
phi = a.phi;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idVec3 idPolar3::ToVec3( void ) const {
|
|
float sp, cp, st, ct;
|
|
idMath::SinCos( phi, sp, cp );
|
|
idMath::SinCos( theta, st, ct );
|
|
return idVec3( cp * radius * ct, cp * radius * st, radius * sp );
|
|
}
|
|
|
|
|
|
/*
|
|
===============================================================================
|
|
|
|
Old 3D vector macros, should no longer be used.
|
|
|
|
===============================================================================
|
|
*/
|
|
|
|
#define DotProduct( a, b) ((a)[0]*(b)[0]+(a)[1]*(b)[1]+(a)[2]*(b)[2])
|
|
#define VectorSubtract( a, b, c ) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
|
|
#define VectorAdd( a, b, c ) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
|
|
#define VectorScale( v, s, o ) ((o)[0]=(v)[0]*(s),(o)[1]=(v)[1]*(s),(o)[2]=(v)[2]*(s))
|
|
#define VectorMA( v, s, b, o ) ((o)[0]=(v)[0]+(b)[0]*(s),(o)[1]=(v)[1]+(b)[1]*(s),(o)[2]=(v)[2]+(b)[2]*(s))
|
|
#define VectorCopy( a, b ) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
|
|
|
|
|
|
#endif /* !__MATH_VECTOR_H__ */
|