mirror of https://github.com/TTimo/GtkRadiant.git
423 lines
16 KiB
C
423 lines
16 KiB
C
/*
|
|
Copyright (C) 1999-2006 Id Software, Inc. and contributors.
|
|
For a list of contributors, see the accompanying CONTRIBUTORS file.
|
|
|
|
This file is part of GtkRadiant.
|
|
|
|
GtkRadiant is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
GtkRadiant is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with GtkRadiant; if not, write to the Free Software
|
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*/
|
|
|
|
#ifndef __MATHLIB__
|
|
#define __MATHLIB__
|
|
|
|
// mathlib.h
|
|
#include <math.h>
|
|
|
|
#ifdef __cplusplus
|
|
|
|
// start declarations of functions defined in C library.
|
|
extern "C"
|
|
{
|
|
|
|
#endif
|
|
|
|
#include "bytebool.h"
|
|
|
|
typedef float vec_t;
|
|
typedef vec_t vec3_t[3];
|
|
typedef vec_t vec5_t[5];
|
|
typedef vec_t vec4_t[4];
|
|
|
|
#define SIDE_FRONT 0
|
|
#define SIDE_ON 2
|
|
#define SIDE_BACK 1
|
|
#define SIDE_CROSS -2
|
|
|
|
// plane types are used to speed some tests
|
|
// 0-2 are axial planes
|
|
#define PLANE_X 0
|
|
#define PLANE_Y 1
|
|
#define PLANE_Z 2
|
|
#define PLANE_NON_AXIAL 3
|
|
|
|
#define Q_PI 3.14159265358979323846f
|
|
|
|
extern const vec3_t vec3_origin;
|
|
|
|
extern const vec3_t g_vec3_axis_x;
|
|
extern const vec3_t g_vec3_axis_y;
|
|
extern const vec3_t g_vec3_axis_z;
|
|
|
|
#define EQUAL_EPSILON 0.001
|
|
|
|
#define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[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 VectorIncrement(a,b) ((b)[0]+=(a)[0],(b)[1]+=(a)[1],(b)[2]+=(a)[2])
|
|
#define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
|
|
#define VectorSet(v, a, b, c) ((v)[0]=(a),(v)[1]=(b),(v)[2]=(c))
|
|
#define VectorScale(a,b,c) ((c)[0]=(b)*(a)[0],(c)[1]=(b)*(a)[1],(c)[2]=(b)*(a)[2])
|
|
#define VectorMid(a,b,c) ((c)[0]=((a)[0]+(b)[0])*0.5f,(c)[1]=((a)[1]+(b)[1])*0.5f,(c)[2]=((a)[2]+(b)[2])*0.5f)
|
|
#define VectorNegate(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2])
|
|
#define CrossProduct(a,b,c) ((c)[0]=(a)[1]*(b)[2]-(a)[2]*(b)[1],(c)[1]=(a)[2]*(b)[0]-(a)[0]*(b)[2],(c)[2]=(a)[0]*(b)[1]-(a)[1]*(b)[0])
|
|
#define VectorClear(x) ((x)[0]=(x)[1]=(x)[2]=0)
|
|
|
|
#define FLOAT_SNAP(f,snap) ( (float)( floor( (f) / (snap) + 0.5 ) * (snap) ) )
|
|
#define FLOAT_TO_INTEGER(f) ( (float)( floor( (f) + 0.5 ) ) )
|
|
|
|
#define Q_rint(in) ((vec_t)floor(in+0.5))
|
|
|
|
qboolean VectorCompare (const vec3_t v1, const vec3_t v2);
|
|
|
|
vec_t VectorLength(const vec3_t v);
|
|
|
|
void VectorMA( const vec3_t va, vec_t scale, const vec3_t vb, vec3_t vc );
|
|
|
|
void _CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross);
|
|
vec_t VectorNormalize (const vec3_t in, vec3_t out);
|
|
vec_t ColorNormalize( const vec3_t in, vec3_t out );
|
|
void VectorInverse (vec3_t v);
|
|
void VectorPolar(vec3_t v, float radius, float theta, float phi);
|
|
|
|
// default snapping, to 1
|
|
void VectorSnap(vec3_t v);
|
|
|
|
// integer snapping
|
|
void VectorISnap(vec3_t point, int snap);
|
|
|
|
// Gef: added snap to float for sub-integer grid sizes
|
|
// TTimo: we still use the int version of VectorSnap when possible
|
|
// to avoid potential rounding issues
|
|
// TTimo: renaming to VectorFSnap for C implementation
|
|
void VectorFSnap(vec3_t point, float snap);
|
|
|
|
// NOTE: added these from Ritual's Q3Radiant
|
|
void ClearBounds (vec3_t mins, vec3_t maxs);
|
|
void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs);
|
|
|
|
|
|
#define PITCH 0 // up / down
|
|
#define YAW 1 // left / right
|
|
#define ROLL 2 // fall over
|
|
|
|
void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
|
|
void VectorToAngles( vec3_t vec, vec3_t angles );
|
|
|
|
#define ZERO_EPSILON 1.0E-6
|
|
#define RAD2DEGMULT 57.29577951308232f
|
|
#define DEG2RADMULT 0.01745329251994329f
|
|
#define RAD2DEG( a ) ( (a) * RAD2DEGMULT )
|
|
#define DEG2RAD( a ) ( (a) * DEG2RADMULT )
|
|
|
|
void VectorRotate (vec3_t vIn, vec3_t vRotation, vec3_t out);
|
|
void VectorRotateOrigin (vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out);
|
|
|
|
// some function merged from tools mathlib code
|
|
|
|
qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c );
|
|
void NormalToLatLong( const vec3_t normal, byte bytes[2] );
|
|
int PlaneTypeForNormal (vec3_t normal);
|
|
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
|
|
|
|
|
|
/*!
|
|
\todo
|
|
FIXME test calls such as intersect tests should be named test_
|
|
*/
|
|
|
|
typedef vec_t m3x3_t[9];
|
|
/*!NOTE
|
|
m4x4 looks like this..
|
|
|
|
x y z
|
|
x axis ( 0 1 2)
|
|
y axis ( 4 5 6)
|
|
z axis ( 8 9 10)
|
|
translation (12 13 14)
|
|
scale ( 0 5 10)
|
|
*/
|
|
typedef vec_t m4x4_t[16];
|
|
|
|
#define M4X4_INDEX(m,row,col) (m[(col<<2)+row])
|
|
|
|
typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t;
|
|
|
|
#define CLIP_PASS 0x00 // 000000
|
|
#define CLIP_LT_X 0x01 // 000001
|
|
#define CLIP_GT_X 0x02 // 000010
|
|
#define CLIP_LT_Y 0x04 // 000100
|
|
#define CLIP_GT_Y 0x08 // 001000
|
|
#define CLIP_LT_Z 0x10 // 010000
|
|
#define CLIP_GT_Z 0x20 // 100000
|
|
#define CLIP_FAIL 0x3F // 111111
|
|
typedef unsigned char clipmask_t;
|
|
|
|
extern const m4x4_t g_m4x4_identity;
|
|
|
|
#define M4X4_COPY(dst,src) (\
|
|
(dst)[0]=(src)[0],\
|
|
(dst)[1]=(src)[1],\
|
|
(dst)[2]=(src)[2],\
|
|
(dst)[3]=(src)[3],\
|
|
(dst)[4]=(src)[4],\
|
|
(dst)[5]=(src)[5],\
|
|
(dst)[6]=(src)[6],\
|
|
(dst)[7]=(src)[7],\
|
|
(dst)[8]=(src)[8],\
|
|
(dst)[9]=(src)[9],\
|
|
(dst)[10]=(src)[10],\
|
|
(dst)[11]=(src)[11],\
|
|
(dst)[12]=(src)[12],\
|
|
(dst)[13]=(src)[13],\
|
|
(dst)[14]=(src)[14],\
|
|
(dst)[15]=(src)[15])
|
|
|
|
typedef enum
|
|
{
|
|
eRightHanded = 0,
|
|
eLeftHanded = 1,
|
|
}
|
|
m4x4Handedness_t;
|
|
|
|
m4x4Handedness_t m4x4_handedness(const m4x4_t matrix);
|
|
|
|
/*! assign other m4x4 to this m4x4 */
|
|
void m4x4_assign(m4x4_t matrix, const m4x4_t other);
|
|
|
|
// constructors
|
|
/*! create m4x4 as identity matrix */
|
|
void m4x4_identity(m4x4_t matrix);
|
|
/*! create m4x4 as a translation matrix, for a translation vec3 */
|
|
void m4x4_translation_for_vec3(m4x4_t matrix, const vec3_t translation);
|
|
/*! create m4x4 as a rotation matrix, for an euler angles (degrees) vec3 */
|
|
void m4x4_rotation_for_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
|
|
/*! create m4x4 as a scaling matrix, for a scale vec3 */
|
|
void m4x4_scale_for_vec3(m4x4_t matrix, const vec3_t scale);
|
|
/*! create m4x4 as a rotation matrix, for a quaternion vec4 */
|
|
void m4x4_rotation_for_quat(m4x4_t matrix, const vec4_t rotation);
|
|
/*! create m4x4 as a rotation matrix, for an axis vec3 and an angle (radians) */
|
|
void m4x4_rotation_for_axisangle(m4x4_t matrix, const vec3_t axis, double angle);
|
|
/*! generate a perspective matrix by specifying the view frustum */
|
|
void m4x4_frustum(m4x4_t matrix, vec_t left, vec_t right, vec_t bottom, vec_t top, vec_t nearval, vec_t farval);
|
|
|
|
// a valid m4x4 to access is always first argument
|
|
/*! extract translation vec3 from matrix */
|
|
void m4x4_get_translation_vec3(const m4x4_t matrix, vec3_t translation);
|
|
/*! extract euler rotation angles from a rotation-only matrix */
|
|
void m4x4_get_rotation_vec3(const m4x4_t matrix, vec3_t euler, eulerOrder_t order);
|
|
/*! extract scale vec3 from matrix */
|
|
void m4x4_get_scale_vec3(const m4x4_t matrix, vec3_t scale);
|
|
/*! extract translation/euler/scale from an orthogonal matrix. NOTE: requires right-handed axis-base */
|
|
void m4x4_get_transform_vec3(const m4x4_t matrix, vec3_t translation, vec3_t euler, eulerOrder_t order, vec3_t scale);
|
|
|
|
// a valid m4x4 to be modified is always first argument
|
|
/*! translate m4x4 by a translation vec3 */
|
|
void m4x4_translate_by_vec3(m4x4_t matrix, const vec3_t translation);
|
|
/*! rotate m4x4 by a euler (degrees) vec3 */
|
|
void m4x4_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
|
|
/*! scale m4x4 by a scaling vec3 */
|
|
void m4x4_scale_by_vec3(m4x4_t matrix, const vec3_t scale);
|
|
/*! rotate m4x4 by a quaternion vec4 */
|
|
void m4x4_rotate_by_quat(m4x4_t matrix, const vec4_t rotation);
|
|
/*! rotate m4x4 by an axis vec3 and an angle (radians) */
|
|
void m4x4_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, double angle);
|
|
/*! transform m4x4 by translation/eulerZYX/scaling vec3 (transform = scale * eulerZ * eulerY * eulerX * translation) */
|
|
void m4x4_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale);
|
|
/*! rotate m4x4 around a pivot point by eulerZYX vec3 */
|
|
void m4x4_pivoted_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint);
|
|
/*! scale m4x4 around a pivot point by scaling vec3 */
|
|
void m4x4_pivoted_scale_by_vec3(m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint);
|
|
/*! transform m4x4 around a pivot point by translation/eulerZYX/scaling vec3 */
|
|
void m4x4_pivoted_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint);
|
|
/*! transform m4x4 around a pivot point by translation/rotation/scaling vec3 */
|
|
void m4x4_pivoted_transform_by_rotation(m4x4_t matrix, const vec3_t translation, const m4x4_t rotation, const vec3_t scale, const vec3_t pivotpoint);
|
|
/*! rotate m4x4 around a pivot point by quaternion vec4 */
|
|
void m4x4_pivoted_rotate_by_quat(m4x4_t matrix, const vec4_t quat, const vec3_t pivotpoint);
|
|
/*! rotate m4x4 around a pivot point by axis vec3 and angle (radians) */
|
|
void m4x4_pivoted_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, double angle, const vec3_t pivotpoint);
|
|
|
|
/*! postmultiply m4x4 by another m4x4 */
|
|
void m4x4_multiply_by_m4x4(m4x4_t matrix, const m4x4_t matrix_src);
|
|
/*! premultiply m4x4 by another m4x4 */
|
|
void m4x4_premultiply_by_m4x4(m4x4_t matrix, const m4x4_t matrix_src);
|
|
/*! postmultiply orthogonal m4x4 by another orthogonal m4x4 */
|
|
void m4x4_orthogonal_multiply_by_m4x4(m4x4_t matrix, const m4x4_t matrix_src);
|
|
/*! premultiply orthogonal m4x4 by another orthogonal m4x4 */
|
|
void m4x4_orthogonal_premultiply_by_m4x4(m4x4_t matrix, const m4x4_t matrix_src);
|
|
|
|
/*! multiply a point (x,y,z,1) by matrix */
|
|
void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
|
|
/*! multiply a normal (x,y,z,0) by matrix */
|
|
void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
|
|
/*! multiply a vec4 (x,y,z,w) by matrix */
|
|
void m4x4_transform_vec4(const m4x4_t matrix, vec4_t vector);
|
|
|
|
/*! multiply a point (x,y,z,1) by matrix */
|
|
void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
|
|
/*! multiply a normal (x,y,z,0) by matrix */
|
|
void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
|
|
|
|
/*! transpose a m4x4 */
|
|
void m4x4_transpose(m4x4_t matrix);
|
|
/*! invert an orthogonal 4x3 subset of a 4x4 matrix */
|
|
int m4x4_orthogonal_invert(m4x4_t matrix);
|
|
/*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */
|
|
int m4x4_invert(m4x4_t matrix);
|
|
|
|
/*! clip a point (x,y,z,1) by canonical matrix */
|
|
clipmask_t m4x4_clip_point(const m4x4_t matrix, const vec3_t point, vec4_t clipped);
|
|
/*! device-space polygon for clipped triangle */
|
|
unsigned int m4x4_clip_triangle(const m4x4_t matrix, const vec3_t p0, const vec3_t p1, const vec3_t p2, vec4_t clipped[9]);
|
|
/*! device-space line for clipped line */
|
|
unsigned int m4x4_clip_line(const m4x4_t matrix, const vec3_t p0, const vec3_t p1, vec4_t clipped[2]);
|
|
|
|
|
|
//! quaternion identity
|
|
void quat_identity(vec4_t quat);
|
|
//! quaternion from two unit vectors
|
|
void quat_for_unit_vectors(vec4_t quat, const vec3_t from, const vec3_t to);
|
|
//! quaternion from axis and angle (radians)
|
|
void quat_for_axisangle(vec4_t quat, const vec3_t axis, double angle);
|
|
//! concatenates two rotations.. equivalent to m4x4_multiply_by_m4x4 .. postmultiply.. the right-hand side is the first rotation performed
|
|
void quat_multiply_by_quat(vec4_t quat, const vec4_t other);
|
|
//! negate a quaternion
|
|
void quat_conjugate(vec4_t quat);
|
|
//! normalise a quaternion
|
|
void quat_normalise(vec4_t quat);
|
|
|
|
|
|
|
|
/*!
|
|
\todo object/ray intersection functions should maybe return a point rather than a distance?
|
|
*/
|
|
|
|
/*!
|
|
aabb_t - "axis-aligned" bounding box...
|
|
origin: centre of bounding box...
|
|
extents: +/- extents of box from origin...
|
|
*/
|
|
typedef struct aabb_s
|
|
{
|
|
vec3_t origin;
|
|
vec3_t extents;
|
|
} aabb_t;
|
|
|
|
extern const aabb_t g_aabb_null;
|
|
|
|
/*!
|
|
bbox_t - oriented bounding box...
|
|
aabb: axis-aligned bounding box...
|
|
axes: orientation axes...
|
|
*/
|
|
typedef struct bbox_s
|
|
{
|
|
aabb_t aabb;
|
|
vec3_t axes[3];
|
|
vec_t radius;
|
|
} bbox_t;
|
|
|
|
/*!
|
|
ray_t - origin point and direction unit-vector
|
|
*/
|
|
typedef struct ray_s
|
|
{
|
|
vec3_t origin;
|
|
vec3_t direction;
|
|
} ray_t;
|
|
|
|
/*!
|
|
line_t - centre point and displacement of end point from centre
|
|
*/
|
|
typedef struct line_s
|
|
{
|
|
vec3_t origin;
|
|
vec3_t extents;
|
|
} line_t;
|
|
|
|
|
|
/*! Generate line from start/end points. */
|
|
void line_construct_for_vec3(line_t* line, const vec3_t start, const vec3_t end);
|
|
/*! Return 2 if line is behind plane, else return 1 if line intersects plane, else return 0. */
|
|
int line_test_plane(const line_t* line, const vec4_t plane);
|
|
|
|
/*! Generate AABB from min/max. */
|
|
void aabb_construct_for_vec3(aabb_t* aabb, const vec3_t min, const vec3_t max);
|
|
/*! Initialise AABB to negative size. */
|
|
void aabb_clear(aabb_t* aabb);
|
|
|
|
/*! Extend AABB to include point. */
|
|
void aabb_extend_by_point(aabb_t* aabb, const vec3_t point);
|
|
/*! Extend AABB to include aabb_src. */
|
|
void aabb_extend_by_aabb(aabb_t* aabb, const aabb_t* aabb_src);
|
|
/*! Extend AABB by +/- extension vector. */
|
|
void aabb_extend_by_vec3(aabb_t* aabb, vec3_t extension);
|
|
|
|
/*! Return 2 if point is inside, else 1 if point is on surface, else 0. */
|
|
int aabb_test_point(const aabb_t* aabb, const vec3_t point);
|
|
/*! Return 2 if aabb_src intersects, else 1 if aabb_src touches exactly, else 0. */
|
|
int aabb_test_aabb(const aabb_t* aabb, const aabb_t* aabb_src);
|
|
/*! Return 2 if aabb is behind plane, else 1 if aabb intersects plane, else 0. */
|
|
int aabb_test_plane(const aabb_t* aabb, const float* plane);
|
|
/*! Return 1 if aabb intersects ray, else 0... dist = closest intersection. */
|
|
int aabb_intersect_ray(const aabb_t* aabb, const ray_t* ray, vec3_t intersection);
|
|
/*! Return 1 if aabb intersects ray, else 0. Faster, but does not provide point of intersection */
|
|
int aabb_test_ray(const aabb_t* aabb, const ray_t* ray);
|
|
|
|
/*! Return 2 if oriented aabb is behind plane, else 1 if aabb intersects plane, else 0. */
|
|
int aabb_oriented_intersect_plane(const aabb_t* aabb, const m4x4_t transform, const vec_t* plane);
|
|
|
|
/*! Calculate the corners of the aabb. */
|
|
void aabb_corners(const aabb_t* aabb, vec3_t corners[8]);
|
|
|
|
/*! (deprecated) Generate AABB from oriented bounding box. */
|
|
void aabb_for_bbox(aabb_t* aabb, const bbox_t* bbox);
|
|
/*! (deprecated) Generate AABB from 2-dimensions of min/max, specified by axis. */
|
|
void aabb_for_area(aabb_t* aabb, vec3_t area_tl, vec3_t area_br, int axis);
|
|
/*! Generate AABB to contain src* transform. NOTE: transform must be orthogonal */
|
|
void aabb_for_transformed_aabb(aabb_t* dst, const aabb_t* src, const m4x4_t transform);
|
|
|
|
/*! Update bounding-sphere radius. */
|
|
void bbox_update_radius(bbox_t* bbox);
|
|
/*! Generate oriented bounding box from AABB and transformation matrix. */
|
|
/*!\todo Remove need to specify eulerZYX/scale. */
|
|
void bbox_for_oriented_aabb(bbox_t* bbox, const aabb_t* aabb,
|
|
const m4x4_t matrix, const vec3_t eulerZYX, const vec3_t scale);
|
|
/*! Return 2 if bbox is behind plane, else return 1 if bbox intersects plane, else return 0. */
|
|
int bbox_intersect_plane(const bbox_t* bbox, const vec_t* plane);
|
|
|
|
|
|
/*! Generate a ray from an origin point and a direction unit-vector */
|
|
void ray_construct_for_vec3(ray_t* ray, const vec3_t origin, const vec3_t direction);
|
|
|
|
/*! Transform a ray */
|
|
void ray_transform(ray_t* ray, const m4x4_t matrix);
|
|
|
|
/*! distance from ray origin in ray direction to point. FLT_MAX if no intersection. */
|
|
vec_t ray_intersect_point(const ray_t* ray, const vec3_t point, vec_t epsilon, vec_t divergence);
|
|
/*! distance from ray origin in ray direction to triangle. FLT_MAX if no intersection. */
|
|
vec_t ray_intersect_triangle(const ray_t* ray, qboolean bCullBack, const vec3_t vert0, const vec3_t vert1, const vec3_t vert2);
|
|
/*! distance from ray origin in ray direction to plane. */
|
|
vec_t ray_intersect_plane(const ray_t* ray, const vec3_t normal, vec_t dist);
|
|
|
|
|
|
int plane_intersect_planes(const vec4_t plane1, const vec4_t plane2, const vec4_t plane3, vec3_t intersection);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* __MATHLIB__ */
|