quakespasm/source/mathlib.h

/*
Copyright (C) 1996-2001 Id Software, Inc.
Copyright (C) 2002-2009 John Fitzgibbons and others
Copyright (C) 2007-2008 Kristian Duske
Copyright (C) 2010-2014 QuakeSpasm developers

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.

*/

#ifndef __MATHLIB_H
#define __MATHLIB_H

// mathlib.h

#include <math.h>

#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

struct mplane_s;

extern vec3_t vec3_origin;
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 float matrix3x4[3][4];
typedef float matrix3x3[3][3];

#define	nanmask		(255 << 23)	/* 7F800000 */
#if 0	/* macro is violating strict aliasing rules */
#define	IS_NAN(x)	(((*(int *) (char *) &x) & nanmask) == nanmask)
#else
static inline int IS_NAN (float x) {
	union { float f; int i; } num;
	num.f = x;
	return ((num.i & nanmask) == nanmask);
}
#endif

#define Q_rint(x) ((x) > 0 ? (int)((x) + 0.5) : (int)((x) - 0.5)) //johnfitz -- from joequake

#define DotProduct(x,y) (x[0]*y[0]+x[1]*y[1]+x[2]*y[2])
#define DoublePrecisionDotProduct(x,y) ((double)x[0]*y[0]+(double)x[1]*y[1]+(double)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 RAD2DEG( x )	((float)(x) * (float)(180.f / M_PI))
#define DEG2RAD( a ) ( a * M_PI ) / 180.0F //sB porting seperate viewmodel fov
#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]))

//johnfitz -- courtesy of lordhavoc
// QuakeSpasm: To avoid strict aliasing violations, use a float/int union instead of type punning.
#define VectorNormalizeFast(_v)\
{\
	union { float f; int i; } _y, _number;\
	_number.f = DotProduct(_v, _v);\
	if (_number.f != 0.0)\
	{\
		_y.i = 0x5f3759df - (_number.i >> 1);\
		_y.f = _y.f * (1.5f - (_number.f * 0.5f * _y.f * _y.f));\
		VectorScale(_v, _y.f, _v);\
	}\
}
extern float _mathlib_temp_float1, _mathlib_temp_float2, _mathlib_temp_float3;
extern 
#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)

void TurnVector (vec3_t out, const vec3_t forward, const vec3_t side, float angle); //johnfitz
void VectorAngles (const vec3_t forward, vec3_t angles); //johnfitz

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);
float VectorLengthf (vec3_t v);
vec_t Length (vec3_t v);

int VectorCompare (vec3_t v1, vec3_t v2);
vec_t VectorLength (vec3_t v);
float VecLength2(vec3_t v1, vec3_t v2);
void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross);
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 (double numer, double 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);
void vectoangles (vec3_t vec, vec3_t ang);

void SinCos( float radians, float *sine, float *cosine );

//
// 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_identity2 )
#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_identity2;

#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)))

#endif	/* __MATHLIB_H */