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a67a6355d2
git-svn-id: https://svn.code.sf.net/p/fteqw/code/trunk@4 fc73d0e0-1445-4013-8a0c-d673dee63da5
715 lines
15 KiB
C
715 lines
15 KiB
C
/*
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Copyright (C) 1996-1997 Id Software, Inc.
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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This program 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.
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See the 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 this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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// mathlib.c -- math primitives
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#include "quakedef.h"
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#include <math.h>
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vec3_t vec3_origin = {0,0,0};
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int nanmask = 255<<23;
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/*-----------------------------------------------------------------*/
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#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
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void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
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{
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float d;
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vec3_t n;
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float inv_denom;
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inv_denom = 1.0F / DotProduct( normal, normal );
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d = DotProduct( normal, p ) * inv_denom;
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n[0] = normal[0] * inv_denom;
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n[1] = normal[1] * inv_denom;
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n[2] = normal[2] * inv_denom;
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dst[0] = p[0] - d * n[0];
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dst[1] = p[1] - d * n[1];
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dst[2] = p[2] - d * n[2];
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}
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/*
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** assumes "src" is normalized
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*/
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void PerpendicularVector( vec3_t dst, const vec3_t src )
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{
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int pos;
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int i;
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float minelem = 1.0F;
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vec3_t tempvec;
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/*
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** find the smallest magnitude axially aligned vector
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*/
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for ( pos = 0, i = 0; i < 3; i++ )
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{
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if ( fabs( src[i] ) < minelem )
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{
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pos = i;
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minelem = fabs( src[i] );
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}
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}
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tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
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tempvec[pos] = 1.0F;
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/*
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** project the point onto the plane defined by src
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*/
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ProjectPointOnPlane( dst, tempvec, src );
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/*
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** normalize the result
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*/
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VectorNormalize( dst );
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}
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#ifdef _WIN32
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#pragma optimize( "", off )
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#endif
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void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
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{
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float m[3][3];
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float im[3][3];
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float zrot[3][3];
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float tmpmat[3][3];
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float rot[3][3];
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int i;
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vec3_t vr, vup, vf;
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vf[0] = dir[0];
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vf[1] = dir[1];
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vf[2] = dir[2];
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PerpendicularVector( vr, dir );
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CrossProduct( vr, vf, vup );
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m[0][0] = vr[0];
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m[1][0] = vr[1];
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m[2][0] = vr[2];
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m[0][1] = vup[0];
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m[1][1] = vup[1];
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m[2][1] = vup[2];
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m[0][2] = vf[0];
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m[1][2] = vf[1];
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m[2][2] = vf[2];
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memcpy( im, m, sizeof( im ) );
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im[0][1] = m[1][0];
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im[0][2] = m[2][0];
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im[1][0] = m[0][1];
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im[1][2] = m[2][1];
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im[2][0] = m[0][2];
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im[2][1] = m[1][2];
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memset( zrot, 0, sizeof( zrot ) );
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zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
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zrot[0][0] = cos( DEG2RAD( degrees ) );
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zrot[0][1] = sin( DEG2RAD( degrees ) );
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zrot[1][0] = -sin( DEG2RAD( degrees ) );
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zrot[1][1] = cos( DEG2RAD( degrees ) );
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R_ConcatRotations( m, zrot, tmpmat );
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R_ConcatRotations( tmpmat, im, rot );
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for ( i = 0; i < 3; i++ )
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{
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dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
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}
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}
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#ifdef _WIN32
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#pragma optimize( "", on )
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#endif
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/*-----------------------------------------------------------------*/
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float anglemod(float a)
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{
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#if 0
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if (a >= 0)
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a -= 360*(int)(a/360);
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else
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a += 360*( 1 + (int)(-a/360) );
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#endif
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a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535);
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return a;
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}
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/*
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==================
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BOPS_Error
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Split out like this for ASM to call.
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==================
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*/
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void VARGS BOPS_Error (void)
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{
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Sys_Error ("BoxOnPlaneSide: Bad signbits");
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}
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#if !id386
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/*
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==================
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BoxOnPlaneSide
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Returns 1, 2, or 1 + 2
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==================
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*/
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int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p)
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{
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float dist1, dist2;
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int sides;
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#if 0 // this is done by the BOX_ON_PLANE_SIDE macro before calling this
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// function
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// fast axial cases
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if (p->type < 3)
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{
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if (p->dist <= emins[p->type])
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return 1;
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if (p->dist >= emaxs[p->type])
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return 2;
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return 3;
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}
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#endif
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// general case
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switch (p->signbits)
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{
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case 0:
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dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
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dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
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break;
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case 1:
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dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
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dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
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break;
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case 2:
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dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
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dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
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break;
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case 3:
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dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
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dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
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break;
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case 4:
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dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
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dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
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break;
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case 5:
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dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
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dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
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break;
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case 6:
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dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
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dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
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break;
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case 7:
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dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
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dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
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break;
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default:
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dist1 = dist2 = 0; // shut up compiler
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BOPS_Error ();
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break;
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}
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#if 0
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int i;
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vec3_t corners[2];
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for (i=0 ; i<3 ; i++)
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{
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if (plane->normal[i] < 0)
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{
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corners[0][i] = emins[i];
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corners[1][i] = emaxs[i];
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}
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else
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{
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corners[1][i] = emins[i];
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corners[0][i] = emaxs[i];
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}
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}
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dist = DotProduct (plane->normal, corners[0]) - plane->dist;
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dist2 = DotProduct (plane->normal, corners[1]) - plane->dist;
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sides = 0;
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if (dist1 >= 0)
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sides = 1;
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if (dist2 < 0)
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sides |= 2;
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#endif
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sides = 0;
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if (dist1 >= p->dist)
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sides = 1;
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if (dist2 < p->dist)
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sides |= 2;
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#ifdef PARANOID
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if (sides == 0)
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Sys_Error ("BoxOnPlaneSide: sides==0");
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#endif
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return sides;
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}
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#endif
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void VVPerpendicularVector(vec3_t dst, const vec3_t src)
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{
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if (!src[0])
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{
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dst[0] = 1;
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dst[1] = dst[2] = 0;
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}
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else if (!src[1])
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{
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dst[1] = 1;
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dst[0] = dst[2] = 0;
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}
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else if (!src[2])
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{
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dst[2] = 1;
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dst[0] = dst[1] = 0;
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}
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else
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{
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dst[0] = -src[1];
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dst[1] = src[0];
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dst[2] = 0;
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VectorNormalize(dst);
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}
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}
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void VectorVectors(vec3_t forward, vec3_t right, vec3_t up)
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{
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VVPerpendicularVector(right, forward);
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CrossProduct(right, forward, up);
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}
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void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
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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[YAW] * (M_PI*2 / 360);
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * (M_PI*2 / 360);
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[ROLL] * (M_PI*2 / 360);
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sr = sin(angle);
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cr = cos(angle);
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forward[0] = cp*cy;
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forward[1] = cp*sy;
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forward[2] = -sp;
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right[0] = (-1*sr*sp*cy+-1*cr*-sy);
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right[1] = (-1*sr*sp*sy+-1*cr*cy);
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right[2] = -1*sr*cp;
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up[0] = (cr*sp*cy+-sr*-sy);
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up[1] = (cr*sp*sy+-sr*cy);
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up[2] = cr*cp;
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}
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int VectorCompare (vec3_t v1, vec3_t v2)
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{
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int i;
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for (i=0 ; i<3 ; i++)
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if (v1[i] != v2[i])
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return 0;
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return 1;
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}
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void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t 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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vec_t _DotProduct (vec3_t v1, vec3_t v2)
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{
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return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
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}
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void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out)
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{
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out[0] = veca[0]-vecb[0];
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out[1] = veca[1]-vecb[1];
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out[2] = veca[2]-vecb[2];
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}
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void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out)
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{
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out[0] = veca[0]+vecb[0];
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out[1] = veca[1]+vecb[1];
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out[2] = veca[2]+vecb[2];
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}
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void _VectorCopy (vec3_t in, vec3_t out)
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{
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out[0] = in[0];
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out[1] = in[1];
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out[2] = in[2];
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}
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void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross)
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{
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cross[0] = v1[1]*v2[2] - v1[2]*v2[1];
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cross[1] = v1[2]*v2[0] - v1[0]*v2[2];
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cross[2] = v1[0]*v2[1] - v1[1]*v2[0];
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}
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vec_t Length(vec3_t 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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float VectorNormalize (vec3_t 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 VectorInverse (vec3_t 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 VectorScale (vec3_t in, vec_t scale, vec3_t 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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int Q_log2(int val)
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{
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int answer=0;
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while ((val>>=1) != 0)
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answer++;
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return answer;
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}
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/*
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================
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R_ConcatRotations
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================
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*/
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void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3])
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{
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out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
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in1[0][2] * in2[2][0];
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out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
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in1[0][2] * in2[2][1];
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out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
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in1[0][2] * in2[2][2];
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out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
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in1[1][2] * in2[2][0];
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out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
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in1[1][2] * in2[2][1];
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out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
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in1[1][2] * in2[2][2];
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out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
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in1[2][2] * in2[2][0];
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out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
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in1[2][2] * in2[2][1];
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out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
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in1[2][2] * in2[2][2];
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}
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/*
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================
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R_ConcatTransforms
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================
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*/
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void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4])
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{
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out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
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in1[0][2] * in2[2][0];
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out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
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in1[0][2] * in2[2][1];
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out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
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|
in1[0][2] * in2[2][2];
|
|
out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] +
|
|
in1[0][2] * in2[2][3] + in1[0][3];
|
|
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
|
|
in1[1][2] * in2[2][0];
|
|
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
|
|
in1[1][2] * in2[2][1];
|
|
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
|
|
in1[1][2] * in2[2][2];
|
|
out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] +
|
|
in1[1][2] * in2[2][3] + in1[1][3];
|
|
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
|
|
in1[2][2] * in2[2][0];
|
|
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
|
|
in1[2][2] * in2[2][1];
|
|
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
|
|
in1[2][2] * in2[2][2];
|
|
out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] +
|
|
in1[2][2] * in2[2][3] + in1[2][3];
|
|
}
|
|
|
|
|
|
/*
|
|
===================
|
|
FloorDivMod
|
|
|
|
Returns mathematically correct (floor-based) quotient and remainder for
|
|
numer and denom, both of which should contain no fractional part. The
|
|
quotient must fit in 32 bits.
|
|
====================
|
|
*/
|
|
|
|
void FloorDivMod (double numer, double denom, int *quotient,
|
|
int *rem)
|
|
{
|
|
int q, r;
|
|
double x;
|
|
|
|
#ifndef PARANOID
|
|
if (denom <= 0.0)
|
|
Sys_Error ("FloorDivMod: bad denominator %d\n", denom);
|
|
|
|
// if ((floor(numer) != numer) || (floor(denom) != denom))
|
|
// Sys_Error ("FloorDivMod: non-integer numer or denom %f %f\n",
|
|
// numer, denom);
|
|
#endif
|
|
|
|
if (numer >= 0.0)
|
|
{
|
|
|
|
x = floor(numer / denom);
|
|
q = (int)x;
|
|
r = (int)floor(numer - (x * denom));
|
|
}
|
|
else
|
|
{
|
|
//
|
|
// perform operations with positive values, and fix mod to make floor-based
|
|
//
|
|
x = floor(-numer / denom);
|
|
q = -(int)x;
|
|
r = (int)floor(-numer - (x * denom));
|
|
if (r != 0)
|
|
{
|
|
q--;
|
|
r = (int)denom - r;
|
|
}
|
|
}
|
|
|
|
*quotient = q;
|
|
*rem = r;
|
|
}
|
|
|
|
|
|
/*
|
|
===================
|
|
GreatestCommonDivisor
|
|
====================
|
|
*/
|
|
int GreatestCommonDivisor (int i1, int i2)
|
|
{
|
|
if (i1 > i2)
|
|
{
|
|
if (i2 == 0)
|
|
return (i1);
|
|
return GreatestCommonDivisor (i2, i1 % i2);
|
|
}
|
|
else
|
|
{
|
|
if (i1 == 0)
|
|
return (i2);
|
|
return GreatestCommonDivisor (i1, i2 % i1);
|
|
}
|
|
}
|
|
|
|
|
|
#if !id386
|
|
|
|
// TODO: move to nonintel.c
|
|
|
|
/*
|
|
===================
|
|
Invert24To16
|
|
|
|
Inverts an 8.24 value to a 16.16 value
|
|
====================
|
|
*/
|
|
|
|
fixed16_t Invert24To16(fixed16_t val)
|
|
{
|
|
if (val < 256)
|
|
return (0xFFFFFFFF);
|
|
|
|
return (fixed16_t)
|
|
(((double)0x10000 * (double)0x1000000 / (double)val) + 0.5);
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void VectorTransform (const vec3_t in1, const float in2[3][4], vec3_t out)
|
|
{
|
|
out[0] = DotProduct(in1, in2[0]) + in2[0][3];
|
|
out[1] = DotProduct(in1, in2[1]) + in2[1][3];
|
|
out[2] = DotProduct(in1, in2[2]) + in2[2][3];
|
|
}
|
|
|
|
#ifdef HALFLIFEMODELS
|
|
|
|
void AngleQuaternion( const vec3_t angles, vec4_t quaternion )
|
|
{
|
|
float angle;
|
|
float sr, sp, sy, cr, cp, cy;
|
|
|
|
// FIXME: rescale the inputs to 1/2 angle
|
|
angle = angles[2] * 0.5;
|
|
sy = sin(angle);
|
|
cy = cos(angle);
|
|
angle = angles[1] * 0.5;
|
|
sp = sin(angle);
|
|
cp = cos(angle);
|
|
angle = angles[0] * 0.5;
|
|
sr = sin(angle);
|
|
cr = cos(angle);
|
|
|
|
quaternion[0] = sr*cp*cy-cr*sp*sy; // X
|
|
quaternion[1] = cr*sp*cy+sr*cp*sy; // Y
|
|
quaternion[2] = cr*cp*sy-sr*sp*cy; // Z
|
|
quaternion[3] = cr*cp*cy+sr*sp*sy; // W
|
|
}
|
|
|
|
void QuaternionMatrix( const vec4_t quaternion, float (*matrix)[4] )
|
|
{
|
|
|
|
matrix[0][0] = 1.0 - 2.0 * quaternion[1] * quaternion[1] - 2.0 * quaternion[2] * quaternion[2];
|
|
matrix[1][0] = 2.0 * quaternion[0] * quaternion[1] + 2.0 * quaternion[3] * quaternion[2];
|
|
matrix[2][0] = 2.0 * quaternion[0] * quaternion[2] - 2.0 * quaternion[3] * quaternion[1];
|
|
|
|
matrix[0][1] = 2.0 * quaternion[0] * quaternion[1] - 2.0 * quaternion[3] * quaternion[2];
|
|
matrix[1][1] = 1.0 - 2.0 * quaternion[0] * quaternion[0] - 2.0 * quaternion[2] * quaternion[2];
|
|
matrix[2][1] = 2.0 * quaternion[1] * quaternion[2] + 2.0 * quaternion[3] * quaternion[0];
|
|
|
|
matrix[0][2] = 2.0 * quaternion[0] * quaternion[2] + 2.0 * quaternion[3] * quaternion[1];
|
|
matrix[1][2] = 2.0 * quaternion[1] * quaternion[2] - 2.0 * quaternion[3] * quaternion[0];
|
|
matrix[2][2] = 1.0 - 2.0 * quaternion[0] * quaternion[0] - 2.0 * quaternion[1] * quaternion[1];
|
|
}
|
|
|
|
void QuaternionSlerp( const vec4_t p, vec4_t q, float t, vec4_t qt )
|
|
{
|
|
int i;
|
|
float omega, cosom, sinom, sclp, sclq;
|
|
|
|
// decide if one of the quaternions is backwards
|
|
float a = 0;
|
|
float b = 0;
|
|
for (i = 0; i < 4; i++) {
|
|
a += (p[i]-q[i])*(p[i]-q[i]);
|
|
b += (p[i]+q[i])*(p[i]+q[i]);
|
|
}
|
|
if (a > b) {
|
|
for (i = 0; i < 4; i++) {
|
|
q[i] = -q[i];
|
|
}
|
|
}
|
|
|
|
cosom = p[0]*q[0] + p[1]*q[1] + p[2]*q[2] + p[3]*q[3];
|
|
|
|
if ((1.0 + cosom) > 0.00000001) {
|
|
if ((1.0 - cosom) > 0.00000001) {
|
|
omega = acos( cosom );
|
|
sinom = sin( omega );
|
|
sclp = sin( (1.0 - t)*omega) / sinom;
|
|
sclq = sin( t*omega ) / sinom;
|
|
}
|
|
else {
|
|
sclp = 1.0 - t;
|
|
sclq = t;
|
|
}
|
|
for (i = 0; i < 4; i++) {
|
|
qt[i] = sclp * p[i] + sclq * q[i];
|
|
}
|
|
}
|
|
else {
|
|
qt[0] = -p[1];
|
|
qt[1] = p[0];
|
|
qt[2] = -p[3];
|
|
qt[3] = p[2];
|
|
sclp = sin( (1.0 - t) * 0.5 * M_PI);
|
|
sclq = sin( t * 0.5 * M_PI);
|
|
for (i = 0; i < 3; i++) {
|
|
qt[i] = sclp * p[i] + sclq * qt[i];
|
|
}
|
|
}
|
|
}
|
|
#endif
|