quakeforge/include/QF/mathlib.h

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/*
mathlib.h
Vector math library
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:
Free Software Foundation, Inc.
59 Temple Place - Suite 330
Boston, MA 02111-1307, USA
*/
#ifndef __QF_mathlib_h
#define __QF_mathlib_h
/** \defgroup mathlib Vector and matrix functions
\ingroup utils
*/
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///@{
#include <math.h>
#include "QF/qtypes.h"
#ifndef max
# define max(a,b) ((a) > (b) ? (a) : (b))
#endif
#ifndef min
# define min(a,b) ((a) < (b) ? (a) : (b))
#endif
#ifndef bound
# define bound(a,b,c) (max(a, min(b, c)))
#endif
#ifndef M_PI
# define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
#endif
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extern int nanmask;
#define EQUAL_EPSILON 0.001
#define RINT(x) (floor ((x) + 0.5))
#define IS_NAN(x) (((*(int *) (char *) &x) & nanmask) == nanmask)
#include "QF/math/vector.h"
#include "QF/math/quaternion.h"
#include "QF/math/dual.h"
#include "QF/math/matrix3.h"
#include "QF/math/matrix4.h"
#include "QF/math/half.h"
#define qfrandom(MAX) ((float) MAX * (rand() * (1.0 / (RAND_MAX + 1.0))))
// up / down
#define PITCH 0
// left / right
#define YAW 1
// fall over
#define ROLL 2
int Q_log2(int val) __attribute__((const));
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]);
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void FloorDivMod (double numer, double denom, int *quotient, int *rem);
fixed16_t Invert24To16(fixed16_t val) __attribute__((const));
fixed16_t Mul16_30(fixed16_t multiplier, fixed16_t multiplicand);
int GreatestCommonDivisor (int i1, int i2) __attribute__((const));
/** Convert quake angles to basis vectors.
The basis vectors form a left handed system (although the world is
right handed). When all angles are 0, \a forward points along the world
X axis, \a right along the <em>negative</em> Y axis, and \a up along
the Z axis.
Rotation is done by:
-# Rotating YAW degrees counterclockwise around the local Z axis
-# Rotating PITCH degrees clockwise around the new local negative Y axis
(or counterclockwise around the new local Y axis).
-# Rotating ROLL degrees counterclockwise around the local X axis
Thus when used for the player from the first person perspective,
positive YAW turns to the left, positive PITCH looks down, and positive
ROLL leans to the right.
\f[
YAW=\begin{array}{ccc}
c_{y} & s_{y} & 0\\
-s_{y} & c_{y} & 0\\
0 & 0 & 1
\end{array}
\f]
\f[
PITCH=\begin{array}{ccc}
c_{p} & 0 & -s_{p}\\
0 & 1 & 0\\
s_{p} & 0 & c_{p}
\end{array}
\f]
\f[
ROLL=\begin{array}{ccc}
1 & 0 & 0\\
0 & c_{r} & -s_{r}\\
0 & s_{r} & c_{r}
\end{array}
\f]
\f[
ROLL\,(PITCH\,YAW)=\begin{array}{c}
forward\\
-right\\
up
\end{array}
\f]
\param angles The rotation angles.
\param forward The vector pointing forward.
\param right The vector pointing to the right.
\param up The vector pointing up.
*/
void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right,
vec3_t up);
void AngleQuat (const vec3_t angles, quat_t q);
void VectorVectors (const vec3_t forward, vec3_t right, vec3_t up);
int BoxOnPlaneSide (const vec3_t emins, const vec3_t emaxs,
struct plane_s *plane) __attribute__((pure));
float anglemod (float a) __attribute__((const));
void RotatePointAroundVector (vec3_t dst, const vec3_t axis,
const vec3_t point, float degrees);
#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 PlaneDist(point,plane) \
((plane)->type < 3 ? (point)[(plane)->type] \
: DotProduct((point), (plane)->normal))
#define PlaneDiff(point,plane) \
(PlaneDist (point, plane) - (plane)->dist)
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#define PlaneFlip(sp, dp) \
do { \
(dp)->dist = -(sp)->dist; \
VectorNegate ((sp)->normal, (dp)->normal); \
} while (0)
extern plane_t * const frustum;
GNU89INLINE inline qboolean R_CullBox (const vec3_t mins, const vec3_t maxs) __attribute__((pure));
GNU89INLINE inline qboolean R_CullSphere (const vec3_t origin, const float radius);
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#ifndef IMPLEMENT_R_Cull
GNU89INLINE inline
#else
VISIBLE
#endif
qboolean
R_CullBox (const vec3_t mins, const vec3_t maxs)
{
int i;
for (i=0 ; i < 4 ; i++)
if (BoxOnPlaneSide (mins, maxs, &frustum[i]) == 2)
return true;
return false;
}
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#ifndef IMPLEMENT_R_Cull
GNU89INLINE inline
#else
VISIBLE
#endif
qboolean
R_CullSphere (const vec3_t origin, const float radius)
{
int i;
float r;
for (i = 0; i < 4; i++)
{
r = DotProduct (origin, frustum[i].normal) - frustum[i].dist;
if (r <= -radius)
return true;
}
return false;
}
sphere_t SmallestEnclosingBall (const vec3_t points[], int num_points);
int CircumSphere (const vec3_t points[], int num_points, sphere_t *sphere);
void BarycentricCoords (const vec_t **points, int num_points, const vec3_t p,
vec_t *lambda);
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///@}
#endif//__QF_mathlib_h