dquakeplus/source/mathlib.h

/*
Copyright (C) 1996-1997 Id Software, Inc.

This program 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.

This program 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 this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

*/
// mathlib.h
#ifdef PSP_VFPU
#include <pspmath.h>
#endif

typedef float vec_t;
typedef vec_t vec2_t[2];
typedef vec_t vec3_t[3];
typedef vec_t vec4_t[4];
typedef vec_t vec5_t[5];

typedef byte byte_vec4_t[4];

typedef	int	fixed4_t;
typedef	int	fixed8_t;
typedef	int	fixed16_t;

#ifndef M_PI
#define M_PI		3.14159265358979323846	// matches value in gcc v2 math.h
#endif

struct mplane_s;

extern vec3_t vec3_origin;
extern	int nanmask;

/*
#ifndef M_PI
#define M_PI		3.14159265358979323846	// matches value in gcc v2 math.h
#endif

#define M_PI_DIV_180 (M_PI / 180.0) //johnfitz
//#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
#define DEG2RAD( a ) ( (a) * M_PI_DIV_180 ) //johnfitz

//#else
*/
#ifndef M_PI
#define M_PI = GU_PI	// matches value in gcc v2 math.h
#endif

#define M_PI_DIV_180 (M_PI / 180.0) //johnfitz
//#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
#define DEG2RAD( a ) ( (a) * M_PI_DIV_180 ) //johnfitz
//#endif

#define CLAMP(min, x, max) ((x) < (min) ? (min) : (x) > (max) ? (max) : (x)) //johnfitz

#define lhrandom(MIN,MAX) ((rand() & 32767) * (((MAX)-(MIN)) * (1.0f / 32767.0f)) + (MIN))

#define	IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask)

#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 VectorCopy(a,b) {b[0]=a[0];b[1]=a[1];b[2]=a[2];}
#define VectorClear(a)		((a)[0] = (a)[1] = (a)[2] = 0)
#define VectorNegate(a, b)	((b)[0] = -(a)[0], (b)[1] = -(a)[1], (b)[2] = -(a)[2])
#define VectorSet(v, x, y, z)	((v)[0] = (x), (v)[1] = (y), (v)[2] = (z))
#define VectorRandom(v) {do{(v)[0] = lhrandom(-1, 1);(v)[1] = lhrandom(-1, 1);(v)[2] = lhrandom(-1, 1);}while(DotProduct(v, v) > 1);}

#define VSM(a,b,c) {c[0]=a[0]*b;c[1]=a[1]*b;c[2]=a[2]*b;}

// MDave -- courtesy of johnfitz, lordhavoc
#define VectorNormalizeFast(_v)\
{\
	float _y, _number;\
	_number = DotProduct(_v, _v);\
	if (_number != 0.0)\
	{\
		*((long *)&_y) = 0x5f3759df - ((* (long *) &_number) >> 1);\
		_y = _y * (1.5f - (_number * 0.5f * _y * _y));\
		VectorScale(_v, _y, _v);\
	}\
}

typedef float matrix3x4[3][4];
typedef float matrix3x3[3][3];

void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc);

vec_t _DotProduct (vec3_t v1, vec3_t v2);
void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out);
void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out);
void _VectorCopy (vec3_t in, vec3_t out);

void vectoangles (vec3_t vec, vec3_t ang);

int VectorCompare (vec3_t v1, vec3_t v2);
vec_t Length (vec3_t v);
void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross);
float VectorLength (vec3_t v);
float VecLength2(vec3_t v1, vec3_t v2);
float VectorNormalize (vec3_t v);		// returns vector length
void VectorInverse (vec3_t v);
void VectorScale (vec3_t in, vec_t scale, vec3_t out);
int Q_log2(int val);

void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]);
void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4]);

void FloorDivMod (float numer, float denom, int *quotient,
		int *rem);
fixed16_t Invert24To16(fixed16_t val);
int GreatestCommonDivisor (int i1, int i2);

void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, struct mplane_s *plane);
float	anglemod(float a);

#define VectorL2Compare(v, w, m)					\
	(_mathlib_temp_float1 = (m) * (m),				\
	_mathlib_temp_vec1[0] = (v)[0] - (w)[0], _mathlib_temp_vec1[1] = (v)[1] - (w)[1], _mathlib_temp_vec1[2] = (v)[2] - (w)[2],\
	_mathlib_temp_vec1[0] * _mathlib_temp_vec1[0] +	\
	_mathlib_temp_vec1[1] * _mathlib_temp_vec1[1] +	\
	_mathlib_temp_vec1[2] * _mathlib_temp_vec1[2] < _mathlib_temp_float1)


#define VectorSupCompare(v, w, m)								\
	(_mathlib_temp_float1 = m,									\
	(v)[0] - (w)[0] > -_mathlib_temp_float1 && (v)[0] - (w)[0] < _mathlib_temp_float1 &&	\
	(v)[1] - (w)[1] > -_mathlib_temp_float1 && (v)[1] - (w)[1] < _mathlib_temp_float1 &&	\
	(v)[2] - (w)[2] > -_mathlib_temp_float1 && (v)[2] - (w)[2] < _mathlib_temp_float1)

/*
#define VectorNormalizeFast(_v)		\
do {								\
	_mathlib_temp_float1 = DotProduct((_v), (_v));						\
	if (_mathlib_temp_float1) {											\
		_mathlib_temp_float2 = 0.5f * _mathlib_temp_float1;				\
		_mathlib_temp_int1 = *((int *) &_mathlib_temp_float1);			\
		_mathlib_temp_int1 = 0x5f375a86 - (_mathlib_temp_int1 >> 1);	\
		_mathlib_temp_float1 = *((float *) &_mathlib_temp_int1);		\
		_mathlib_temp_float1 = _mathlib_temp_float1 * (1.5f - _mathlib_temp_float2 * _mathlib_temp_float1 * _mathlib_temp_float1);	\
		VectorScale((_v), _mathlib_temp_float1, (_v))					\
	}																	\
} while (0);
*/

#define BOX_ON_PLANE_SIDE(emins, emaxs, p)	\
	(((p)->type < 3)?						\
	(										\
		((p)->dist <= (emins)[(p)->type])?	\
			1								\
		:									\
		(									\
			((p)->dist >= (emaxs)[(p)->type])?\
				2							\
			:								\
				3							\
		)									\
	)										\
	:										\
		BoxOnPlaneSide( (emins), (emaxs), (p)))

#define VectorInterpolate(v1, _frac, v2, v)		\
do {											\
	_mathlib_temp_float1 = _frac;				\
												\
	(v)[0] = (v1)[0] + _mathlib_temp_float1 * ((v2)[0] - (v1)[0]);\
	(v)[1] = (v1)[1] + _mathlib_temp_float1 * ((v2)[1] - (v1)[1]);\
	(v)[2] = (v1)[2] + _mathlib_temp_float1 * ((v2)[2] - (v1)[2]);\
} while(0)

#define FloatInterpolate(f1, _frac, f2)			\
	(_mathlib_temp_float1 = _frac,				\
	(f1) + _mathlib_temp_float1 * ((f2) - (f1)))

#define PlaneDist(point, plane) (				\
	(plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)	\
)

#define PlaneDiff(point, plane) (				\
	(((plane)->type < 3) ? (point)[(plane)->type] - (plane)->dist : DotProduct((point), (plane)->normal) - (plane)->dist)	\
)

// Prototypes added by PM.
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
void VectorTransform (const vec3_t in1, matrix3x4 in2, vec3_t out);
extern int _mathlib_temp_int1, _mathlib_temp_int2, _mathlib_temp_int3;
extern float _mathlib_temp_float1, _mathlib_temp_float2, _mathlib_temp_float3;
extern vec3_t _mathlib_temp_vec1, _mathlib_temp_vec2, _mathlib_temp_vec3;