mirror of
https://git.code.sf.net/p/quake/newtree
synced 2024-11-10 14:52:08 +00:00
629 lines
13 KiB
C
629 lines
13 KiB
C
/*
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mathlib.c
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math primitives
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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:
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Free Software Foundation, Inc.
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59 Temple Place - Suite 330
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Boston, MA 02111-1307, USA
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$Id$
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*/
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#ifdef HAVE_STRING_H
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# include <string.h>
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#endif
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#ifdef HAVE_STRINGS_H
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# include <strings.h>
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#endif
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#include <math.h>
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#include "mathlib.h"
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#include "model.h"
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#include "qtypes.h"
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#include "sys.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
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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
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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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for (pos = 0, i = 0; i < 3; i++) {
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if (fabs (src[i]) < minelem) {
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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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ProjectPointOnPlane (dst, tempvec, src);
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/*
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** normalize the result */
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VectorNormalize (dst);
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}
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#if defined(_WIN32) && !defined(__GNUC__)
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#pragma optimize( "", off )
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#endif
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void
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RotatePointAroundVector (vec3_t dst, const vec3_t dir, const vec3_t point,
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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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dst[i] =
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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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#if defined(_WIN32) && !defined(__GNUC__)
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#pragma optimize( "", on )
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#endif
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/*-----------------------------------------------------------------*/
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float
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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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BOPS_Error
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Split out like this for ASM to call.
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*/
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void
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BOPS_Error (void)
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{
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Sys_Error ("BoxOnPlaneSide: Bad signbits");
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}
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#ifndef USE_INTEL_ASM
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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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int
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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
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// BOX_ON_PLANE_SIDE macro before
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// 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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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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case 0:
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dist1 =
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p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emaxs[2];
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dist2 =
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p->normal[0] * emins[0] + p->normal[1] * emins[1] +
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p->normal[2] * emins[2];
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break;
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case 1:
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dist1 =
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p->normal[0] * emins[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emaxs[2];
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dist2 =
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p->normal[0] * emaxs[0] + p->normal[1] * emins[1] +
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p->normal[2] * emins[2];
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break;
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case 2:
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dist1 =
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p->normal[0] * emaxs[0] + p->normal[1] * emins[1] +
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p->normal[2] * emaxs[2];
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dist2 =
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p->normal[0] * emins[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emins[2];
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break;
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case 3:
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dist1 =
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p->normal[0] * emins[0] + p->normal[1] * emins[1] +
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p->normal[2] * emaxs[2];
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dist2 =
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p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emins[2];
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break;
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case 4:
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dist1 =
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p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emins[2];
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dist2 =
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p->normal[0] * emins[0] + p->normal[1] * emins[1] +
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p->normal[2] * emaxs[2];
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break;
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case 5:
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dist1 =
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p->normal[0] * emins[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emins[2];
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dist2 =
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p->normal[0] * emaxs[0] + p->normal[1] * emins[1] +
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p->normal[2] * emaxs[2];
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break;
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case 6:
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dist1 =
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p->normal[0] * emaxs[0] + p->normal[1] * emins[1] +
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p->normal[2] * emins[2];
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dist2 =
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p->normal[0] * emins[0] + p->normal[1] * emaxs[1] +
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p->normal[2] * emaxs[2];
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break;
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case 7:
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dist1 =
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p->normal[0] * emins[0] + p->normal[1] * emins[1] +
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p->normal[2] * emins[2];
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dist2 =
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p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] +
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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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if (plane->normal[i] < 0) {
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corners[0][i] = emins[i];
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corners[1][i] = emaxs[i];
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} else {
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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
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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
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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
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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
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_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
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_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
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_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
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_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
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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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double sqrt (double x);
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vec_t
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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
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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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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
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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
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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
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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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R_ConcatRotations
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*/
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void
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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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R_ConcatTransforms
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*/
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void
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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];
|
|
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
|
|
in1[0][2] * in2[2][1];
|
|
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
|
|
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 %f\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);
|
|
}
|
|
}
|
|
|
|
|
|
#ifndef USE_INTEL_ASM
|
|
|
|
// 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
|