glquake/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 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 VectorMax(a,b,out) {out[0]=a[0]>b[0]?a[0]:b[0]; out[1]=a[1]>b[1]?a[1]:b[1]; out[2]=a[2]>b[2]?a[2]:b[2];}
#define VectorMin(a,b,out) {out[0]=a[0]<b[0]?a[0]:b[0]; out[1]=a[1]<b[1]?a[1]:b[1]; out[2]=a[2]<b[2]?a[2]:b[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;