/* 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 #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 vec_t matrix4x4[4][4]; 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 #define RAD2DEG( x ) ((float)(x) * (float)(180.f / M_PI)) #define DEG2RAD( x ) ((float)(x) * (float)(M_PI / 180.f)) struct mplane_s; extern vec3_t vec3_origin; extern int nanmask; #define CLAMP(min, x, max) ((x) < (min) ? (min) : (x) > (max) ? (max) : (x)) //johnfitz #define MIN(a,b) (((a)<(b))?(a):(b)) #define MAX(a,b) (((a)>(b))?(a):(b)) #define lhrandom(MIN,MAX) ((rand() & 32767) * (((MAX)-(MIN)) * (1.0f / 32767.0f)) + (MIN)) #define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask) #define VectorLerp( v1, lerp, v2, c ) ((c)[0] = (v1)[0] + (lerp) * ((v2)[0] - (v1)[0]), (c)[1] = (v1)[1] + (lerp) * ((v2)[1] - (v1)[1]), (c)[2] = (v1)[2] + (lerp) * ((v2)[2] - (v1)[2])) #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 DoublePrecisionDotProduct(x,y) ((double)(x)[0]*(y)[0]+(double)(x)[1]*(y)[1]+(double)(x)[2]*(y)[2]) #define VSM(a,b,c) {c[0]=a[0]*b;c[1]=a[1]*b;c[2]=a[2]*b;} #define VectorNormalizeFast( v ){float ilength = (float)rsqrt(DotProduct(v,v));v[0] *= ilength;v[1] *= ilength;v[2] *= ilength; } #define VectorDistanceSquared(a,b)((a[0]-b[0])*(a[0]-b[0])+(a[1]-b[1])*(a[1]-b[1])+(a[2]-b[2])*(a[2]-b[2])) 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); #define VectorCompare(v1,v2) ((v1)[0]==(v2)[0] && (v1)[1]==(v2)[1] && (v1)[2]==(v2)[2]) #define Length(v) (sqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])) 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); #define anglemod(a) ((360.0/65536) * ((int)((a)*(65536/360.0)) & 65535)) #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 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) \ ) void SinCos( float radians, float *sine, float *cosine ); float rsqrt( float number ); // // matrixlib.c // #define Matrix3x4_LoadIdentity( mat ) Matrix3x4_Copy( mat, matrix3x4_identity ) #define Matrix3x4_Copy( out, in ) memcpy( out, in, sizeof( matrix3x4 )) void Matrix3x4_VectorTransform( const matrix3x4 in, const float v[3], float out[3] ); void Matrix3x4_VectorITransform( const matrix3x4 in, const float v[3], float out[3] ); void Matrix3x4_VectorRotate( const matrix3x4 in, const float v[3], float out[3] ); void Matrix3x4_VectorIRotate( const matrix3x4 in, const float v[3], float out[3] ); void Matrix3x4_ConcatTransforms( matrix3x4 out, const matrix3x4 in1, const matrix3x4 in2 ); void Matrix3x4_FromOriginQuat( matrix3x4 out, const vec4_t quaternion, const vec3_t origin ); void Matrix3x4_CreateFromEntity( matrix3x4 out, const vec3_t angles, const vec3_t origin, float scale ); void Matrix3x4_TransformPositivePlane( const matrix3x4 in, const vec3_t normal, float d, vec3_t out, float *dist ); void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z ); void Matrix3x4_Invert_Simple( matrix3x4 out, const matrix3x4 in1 ); void Matrix3x4_OriginFromMatrix( const matrix3x4 in, float *out ); #define Matrix4x4_LoadIdentity( mat ) Matrix4x4_Copy( mat, matrix4x4_identity ) #define Matrix4x4_Copy( out, in ) memcpy( out, in, sizeof( matrix4x4 )) void Matrix4x4_VectorTransform( const matrix4x4 in, const float v[3], float out[3] ); void Matrix4x4_VectorITransform( const matrix4x4 in, const float v[3], float out[3] ); void Matrix4x4_VectorRotate( const matrix4x4 in, const float v[3], float out[3] ); void Matrix4x4_VectorIRotate( const matrix4x4 in, const float v[3], float out[3] ); void Matrix4x4_ConcatTransforms( matrix4x4 out, const matrix4x4 in1, const matrix4x4 in2 ); void Matrix4x4_FromOriginQuat( matrix4x4 out, const vec4_t quaternion, const vec3_t origin ); void Matrix4x4_CreateFromEntity( matrix4x4 out, const vec3_t angles, const vec3_t origin, float scale ); void Matrix4x4_TransformPositivePlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist ); void Matrix4x4_TransformStandardPlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist ); void Matrix4x4_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin ); void Matrix4x4_SetOrigin( matrix4x4 out, float x, float y, float z ); void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 ); void Matrix4x4_OriginFromMatrix( const matrix4x4 in, float *out ); extern const matrix3x4 matrix3x4_identity; extern const matrix4x4 matrix4x4_identity; void VectorTransform (const vec3_t in1, matrix3x4 in2, vec3_t out); // Prototypes added by PM. void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ); 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;