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417 lines
11 KiB
C++
417 lines
11 KiB
C++
//======== (C) Copyright 2002 Charles G. Cleveland All rights reserved. =========
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//
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// The copyright to the contents herein is the property of Charles G. Cleveland.
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// The contents may be used and/or copied only with the written permission of
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// Charles G. Cleveland, or in accordance with the terms and conditions stipulated in
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// the agreement/contract under which the contents have been supplied.
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//
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// Purpose:
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//
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// $Workfile: MathUtil.cpp $
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// $Date: 2002/07/25 16:59:03 $
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//
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//-------------------------------------------------------------------------------
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// $Log: MathUtil.cpp,v $
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// Revision 1.7 2002/07/25 16:59:03 flayra
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// -Linux changes
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//
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// Revision 1.6 2002/07/23 16:53:46 Flayra
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// - Added VectorDistance2D, added document headers
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//
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//===============================================================================
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#include <cmath>
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#include "stdio.h"
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#include "stdlib.h"
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#include "math.h"
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//#include "hud.h"
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//#include "cl_util.h"
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#include <string.h>
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#include "nowarnings.h"
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#include "util/MathUtil.h"
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#include "common/vec_op.h"
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#include "common/mathlib.h"
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#ifndef max
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#endif
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#ifndef min
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#endif
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// Ignore "double to float possible loss of data" warning
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#pragma warning (disable: 4244)
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double sqrt(double x);
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bool FindCollisionPointOnPlane(const float* inOrigin, const float* inRayVector, const float* inPlaneABCD, float* outPoint)
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{
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bool theSuccess = false;
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// Solve for parametric t
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float thePlaneA = inPlaneABCD[0];
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float thePlaneB = inPlaneABCD[1];
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float thePlaneC = inPlaneABCD[2];
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float thePlaneD = inPlaneABCD[3];
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float theDenom = (thePlaneA*inRayVector[0] + thePlaneB*inRayVector[1] + thePlaneC*inRayVector[2]);
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if(fabs(theDenom) > kFloatTolerance)
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{
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float theT = -(thePlaneA*inOrigin[0] + thePlaneB*inOrigin[1] + thePlaneC*inOrigin[2] + thePlaneD)/theDenom;
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// Now we have t, solve for the endpoint
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outPoint[0] = inOrigin[0] + theT*inRayVector[0];
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outPoint[1] = inOrigin[1] + theT*inRayVector[1];
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outPoint[2] = inOrigin[2] + theT*inRayVector[2];
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theSuccess = true;
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}
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// float theA = inPlaneABCD[0];
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// float theB = inPlaneABCD[1];
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// float theC = inPlaneABCD[2];
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// float theD = inPlaneABCD[3];
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//
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// float theDenom = (theA*inRayVector[0] + theB*inRayVector[1] + theC*inRayVector[2]);
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// if(fabs(theDenom) > kFloatTolerance)
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// {
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// float theT = -1*(theA*inOrigin[0] + theB*inOrigin[1] + theC*inOrigin[2] + theD)/theDenom;
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// outPoint[0] = inOrigin[0] + inRayVector[0]*theT;
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// outPoint[1] = inOrigin[1] + inRayVector[1]*theT;
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// outPoint[2] = inOrigin[2] + inRayVector[2]*theT;
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// theSuccess = true;
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// }
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return theSuccess;
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}
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bool IsVectorBetweenBoundingVectors(const float* inOrigin, const float* inRay, const float* inVecOne, const float* inVecTwo)
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{
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bool theSuccess = false;
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// The plane normal is opposite to our view
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float thePlaneABCD[4];
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thePlaneABCD[0] = 0;//inRay[0];
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thePlaneABCD[1] = 0;//inRay[1];
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thePlaneABCD[2] = 1;//inRay[2];
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thePlaneABCD[3] = 0;
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// Put plane far away by plugging in far away point (ax + by + cz + d = 0)
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// float theT = 5000;
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// float thePoint[3];
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// thePoint[0] = inOrigin[0] + theT*thePlaneABCD[0];
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// thePoint[1] = inOrigin[1] + theT*thePlaneABCD[1];
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// thePoint[2] = inOrigin[2] + theT*thePlaneABCD[2];
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//
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// // Find plane D using this point
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// thePlaneABCD[3] = -(thePlaneABCD[0]*thePoint[0] + thePlaneABCD[1]*thePoint[1] + thePlaneABCD[2]*thePoint[2]);
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// Solve for each vector hitting the plane
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float theVecPoint[3];
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float theVecOnePoint[3];
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float theVecTwoPoint[3];
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// If they all hit the plane
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if(FindCollisionPointOnPlane(inOrigin, inRay, thePlaneABCD, theVecPoint))
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{
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if(FindCollisionPointOnPlane(inOrigin, inVecOne, thePlaneABCD, theVecOnePoint))
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{
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if(FindCollisionPointOnPlane(inOrigin, inVecTwo, thePlaneABCD, theVecTwoPoint))
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{
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// Get the collision point for each solution
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float theMaxX = max(theVecOnePoint[0], theVecTwoPoint[0]);
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float theMaxY = max(theVecOnePoint[1], theVecTwoPoint[1]);
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float theMaxZ = max(theVecOnePoint[2], theVecTwoPoint[2]);
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float theMinX = min(theVecOnePoint[0], theVecTwoPoint[0]);
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float theMinY = min(theVecOnePoint[1], theVecTwoPoint[1]);
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float theMinZ = min(theVecOnePoint[2], theVecTwoPoint[2]);
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// If it is between them, the vector is between them
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float theVecX = theVecPoint[0];
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float theVecY = theVecPoint[1];
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float theVecZ = theVecPoint[2];
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if( (theVecX >= (theMinX - kFloatTolerance)) && (theVecX <= (theMaxX + kFloatTolerance)) &&
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(theVecY >= (theMinY - kFloatTolerance)) && (theVecY <= (theMaxY + kFloatTolerance)) &&
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(theVecZ >= (theMinZ - kFloatTolerance)) && (theVecZ <= (theMaxZ + kFloatTolerance)))
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{
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theSuccess = true;
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}
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}
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}
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}
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return theSuccess;
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}
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void AngleMatrix(const float* angles, float matrix[3][4])
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{
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float angle;
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float sr, sp, sy, cr, cp, cy;
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angle = angles[2] * (M_PI*2 / 360);
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[1] * (M_PI*2 / 360);
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[0] * (M_PI*2 / 360);
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sr = sin(angle);
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cr = cos(angle);
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// matrix = (Z * Y) * X
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matrix[0][0] = cp*cy;
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matrix[1][0] = cp*sy;
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matrix[2][0] = -sp;
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matrix[0][1] = sr*sp*cy+cr*-sy;
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matrix[1][1] = sr*sp*sy+cr*cy;
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matrix[2][1] = sr*cp;
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matrix[0][2] = (cr*sp*cy+-sr*-sy);
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matrix[1][2] = (cr*sp*sy+-sr*cy);
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matrix[2][2] = cr*cp;
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matrix[0][3] = 0.0;
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matrix[1][3] = 0.0;
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matrix[2][3] = 0.0;
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}
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float Length(const float *v)
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{
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int i;
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float length;
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length = 0;
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for (i=0 ; i< 3 ; i++)
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length += v[i]*v[i];
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length = sqrt (length); // FIXME
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return length;
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}
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void RotateFloatValuesByVector(float& ioX, float& ioY, float& ioZ, /*const float* inBaseVector,*/ const float* inVector)
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{
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// Get rotation vector
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//float theBaseRotationAngles[3];
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//VectorAngles((float*)inBaseVector, theBaseRotationAngles);
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// Get rotation vector
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float theRotationAngles[3];
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VectorAngles((float*)inVector, theRotationAngles);
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// Subtract out frame of reference
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//theRotationAngles[0] -= theBaseRotationAngles[0];
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//theRotationAngles[1] -= theBaseRotationAngles[1];
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//theRotationAngles[2] -= theBaseRotationAngles[2];
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// Rotate the first three parameters as a point
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float theSourceValues[3] = {ioX, ioY, ioZ};
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float theMatrix[3][4];
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AngleMatrix(theRotationAngles, theMatrix);
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float theRotatedValues[3];
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VectorRotate(theSourceValues, theMatrix, theRotatedValues);
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ioX = (int)theRotatedValues[0];
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ioY = (int)theRotatedValues[1];
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ioZ = (int)theRotatedValues[2];
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}
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float WrapFloat(float inValue, float inMin, float inMax)
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{
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const float theRange = inMax - inMin;
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if (inValue < inMin)
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{
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inValue += floor((inMax - inValue) / theRange) * theRange;
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}
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if (inValue >= inMax)
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{
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inValue -= floor(((inValue - inMin) / theRange)) * theRange;
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}
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return inValue;
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}
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void CreateOrthoNormalBasis(float inZAxis[3], float outXAxis[3], float outYAxis[3])
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{
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VectorNormalize(inZAxis);
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// check if in vector is z
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float theUp[3] = { 0, 0, 1 };
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if(fabs(DotProduct(theUp, inZAxis)) >= (1.0 - kFloatTolerance))
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{
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// Use y instead
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theUp[0] = 0;
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theUp[1] = 1;
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theUp[2] = 0;
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}
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CrossProduct(inZAxis, theUp, outXAxis);
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VectorNormalize(outXAxis);
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CrossProduct(outXAxis, inZAxis, outYAxis);
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VectorNormalize(outYAxis);
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}
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int RoundIntToNearestIncrementOf(int inValue, int inIncrement)
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{
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int theValue = inValue;
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if(inIncrement > 0)
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{
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theValue = ((inValue + inIncrement/2)/inIncrement)*inIncrement;
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}
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return theValue;
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}
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void TransformVector(const float v[3], const float xAxis[3], const float yAxis[3], const float zAxis[3], float result[3])
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{
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float temp[3];
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for (int i = 0; i < 3; ++i)
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{
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temp[i] = v[0] * xAxis[i] + v[1] * yAxis[i] + v[2] * zAxis[i];
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}
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for (int j = 0; j < 3; ++j)
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{
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result[j] = temp[j];
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}
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}
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void RotateValuesByVector(int32& ioX, int32& ioY, int32& ioZ, /*const float* inBaseVector,*/ const float* inVector)
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{
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float ioFloatX = ioX;
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float ioFloatY = ioY;
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float ioFloatZ = ioZ;
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RotateFloatValuesByVector(ioFloatX, ioFloatY, ioFloatZ, inVector);
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ioX = (int32)ioFloatX;
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ioY = (int32)ioFloatY;
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ioZ = (int32)ioFloatZ;
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}
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void VectorAngles( const float *forward, float *angles )
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{
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float tmp, yaw, pitch;
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if (forward[1] == 0 && forward[0] == 0)
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{
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yaw = 0;
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if (forward[2] > 0)
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pitch = 90;
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else
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pitch = 270;
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}
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else
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{
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yaw = (atan2(forward[1], forward[0]) * 180 / M_PI);
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if (yaw < 0)
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yaw += 360;
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tmp = sqrt (forward[0]*forward[0] + forward[1]*forward[1]);
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pitch = (atan2(forward[2], tmp) * 180 / M_PI);
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if (pitch < 0)
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pitch += 360;
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}
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angles[0] = pitch;
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angles[1] = yaw;
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angles[2] = 0;
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}
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void VectorInverse ( float *v )
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{
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v[0] = -v[0];
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v[1] = -v[1];
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v[2] = -v[2];
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}
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void VectorMA (const float *veca, float scale, const float *vecb, float *vecc)
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{
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vecc[0] = veca[0] + scale*vecb[0];
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vecc[1] = veca[1] + scale*vecb[1];
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vecc[2] = veca[2] + scale*vecb[2];
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}
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float VectorNormalize (float *v)
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{
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float length, ilength;
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length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
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length = sqrt (length); // FIXME
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if (length)
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{
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ilength = 1/length;
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v[0] *= ilength;
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v[1] *= ilength;
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v[2] *= ilength;
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}
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return length;
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}
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void VectorRotate (const float* in1, const float in2[3][4], float* out)
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{
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out[0] = DotProduct(in1, in2[0]);
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out[1] = DotProduct(in1, in2[1]);
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out[2] = DotProduct(in1, in2[2]);
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}
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void VectorScale (const float *in, float scale, float *out)
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{
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out[0] = in[0]*scale;
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out[1] = in[1]*scale;
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out[2] = in[2]*scale;
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}
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double VectorDistance(const float* in1, const float* in2)
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{
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float theXDiff = in1[0] - in2[0];
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float theYDiff = in1[1] - in2[1];
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float theZDiff = in1[2] - in2[2];
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return sqrt(theXDiff*theXDiff + theYDiff*theYDiff + theZDiff*theZDiff);
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}
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double VectorDistance2D(const float* in1, const float* in2)
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{
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float theXDiff = in1[0] - in2[0];
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float theYDiff = in1[1] - in2[1];
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return sqrt(theXDiff*theXDiff + theYDiff*theYDiff);
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}
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// Added by mmcguire.
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void VectorsToAngles(const float forward[3], const float right[3], const float up[3], float angles[3])
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{
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float y,r,p;
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float sy;
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if(abs(forward[2]) < 0.9999)
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{
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y = atan2(forward[1], forward[0]);
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sy = sin(y);
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if (abs(sy) < 0.1)
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{
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p = atan2(-forward[2], forward[0] / cos(y));
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}
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else
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{
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p = atan2(-forward[2], forward[1] / sy);
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}
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r = atan2(-right[2], up[2]);
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}
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else //gimbal lock; best we can do is assume roll = 0 and set pitch = pitch + actual roll
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{
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p = forward[2] > 0 ? -M_PI/2 : M_PI/2;
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y = atan2(right[0],-right[1]);
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r = 0;
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}
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angles[2] = r * (180 / M_PI); // Roll
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angles[0] = p * (180 / M_PI); // Pitch
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angles[1] = y * (180 / M_PI); // Yaw
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}
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