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more readability and add the quaternion functions

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This commit is contained in:
Bill Currie 2004-04-07 18:01:45 +00:00
parent 524c02e97a
commit 39685d0c63
2 changed files with 112 additions and 26 deletions
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125
include/QF/mathlib.h
View file

@ -42,7 +42,7 @@ extern const vec_t * const vec3_origin;
#define EQUAL_EPSILON 0.001
#define RINT(x) (floor ((x) + 0.5))
#define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask)
#define IS_NAN(x) (((*(int *) (char *) &x) & nanmask) == nanmask)
#define DotProduct(a,b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
#define VectorSubtract(a,b,c) \
@ -59,46 +59,40 @@ extern const vec_t * const vec3_origin;
} while (0)
#define VectorAdd(a,b,c) \
do { \
(c)[0]=(a)[0]+(b)[0]; \
(c)[1]=(a)[1]+(b)[1]; \
(c)[2]=(a)[2]+(b)[2]; \
(c)[0] = (a)[0] + (b)[0]; \
(c)[1] = (a)[1] + (b)[1]; \
(c)[2] = (a)[2] + (b)[2]; \
} while (0)
#define VectorCopy(a,b) \
do { \
(b)[0]=(a)[0]; \
(b)[1]=(a)[1]; \
(b)[2]=(a)[2]; \
} while (0)
#define VectorMult(a,b,c) \
do { \
(c)[0]=(a)[0]*(b)[0]; \
(c)[1]=(a)[1]*(b)[1]; \
(c)[2]=(a)[2]*(b)[2]; \
(b)[0] = (a)[0]; \
(b)[1] = (a)[1]; \
(b)[2] = (a)[2]; \
} while (0)
#define VectorMultAdd(a,s,b,c) \
do { \
(c)[0]=(a)[0]+(s)*(b)[0]; \
(c)[1]=(a)[1]+(s)*(b)[1]; \
(c)[2]=(a)[2]+(s)*(b)[2]; \
(c)[0] = (a)[0] + (s) * (b)[0]; \
(c)[1] = (a)[1] + (s) * (b)[1]; \
(c)[2] = (a)[2] + (s) * (b)[2]; \
} while (0)
#define VectorMultSub(a,s,b,c) \
do { \
(c)[0]=(a)[0]-(s)*(b)[0]; \
(c)[1]=(a)[1]-(s)*(b)[1]; \
(c)[2]=(a)[2]-(s)*(b)[2]; \
(c)[0] = (a)[0] - (s) * (b)[0]; \
(c)[1] = (a)[1] - (s) * (b)[1]; \
(c)[2] = (a)[2] - (s) * (b)[2]; \
} while (0)
#define VectorLength(a) sqrt(DotProduct(a, a))
#define VectorScale(a,b,c) \
do { \
(c)[0]=(a)[0]*(b); \
(c)[1]=(a)[1]*(b); \
(c)[2]=(a)[2]*(b); \
(c)[0] = (a)[0] * (b); \
(c)[1] = (a)[1] * (b); \
(c)[2] = (a)[2] * (b); \
} while (0)
#define VectorCompare(x, y) \
(((x)[0] == (y)[0]) && ((x)[1] == (y)[1]) && ((x)[2] == (y)[2]))
#define VectorIsZero(a) ((a)[0] == 0 && (a)[1] == 0 && (a)[2] == 0)
#define VectorIsZero(a) (!(a)[0] && !(a)[1] && !(a)[2])
#define VectorZero(a) ((a)[2] = (a)[1] = (a)[0] = 0);
#define VectorBlend(v1,v2,b,v) \
@ -108,6 +102,81 @@ extern const vec_t * const vec3_origin;
(v)[2] = (v1)[2] * (1 - (b)) + (v2)[2] * (b); \
} while (0)
#define QDotProduct(a,b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] \
+ (a)[2] * (b)[2] + (a)[3] * (b)[3])
#define QuatSubtract(a,b,c) \
do { \
(c)[0] = (a)[0] - (b)[0]; \
(c)[1] = (a)[1] - (b)[1]; \
(c)[2] = (a)[2] - (b)[2]; \
(c)[3] = (a)[3] - (b)[3]; \
} while (0)
#define QuatNegate(a,b) \
do { \
(b)[0] = -(a)[0]; \
(b)[1] = -(a)[1]; \
(b)[2] = -(a)[2]; \
(b)[3] = -(a)[3]; \
} while (0)
#define QuatConj(a,b) \
do { \
(b)[0] = (a)[0]; \
(b)[1] = -(a)[1]; \
(b)[2] = -(a)[2]; \
(b)[3] = -(a)[3]; \
} while (0)
#define QuatAdd(a,b,c) \
do { \
(c)[0] = (a)[0] + (b)[0]; \
(c)[1] = (a)[1] + (b)[1]; \
(c)[2] = (a)[2] + (b)[2]; \
(c)[3] = (a)[3] + (b)[3]; \
} while (0)
#define QuatCopy(a,b) \
do { \
(b)[0] = (a)[0]; \
(b)[1] = (a)[1]; \
(b)[2] = (a)[2]; \
(b)[3] = (a)[3]; \
} while (0)
#define QuatMultAdd(a,s,b,c) \
do { \
(c)[0] = (a)[0] + (s) * (b)[0]; \
(c)[1] = (a)[1] + (s) * (b)[1]; \
(c)[2] = (a)[2] + (s) * (b)[2]; \
(c)[3] = (a)[3] + (s) * (b)[3]; \
} while (0)
#define QuatMultSub(a,s,b,c) \
do { \
(c)[0] = (a)[0] - (s) * (b)[0]; \
(c)[1] = (a)[1] - (s) * (b)[1]; \
(c)[2] = (a)[2] - (s) * (b)[2]; \
(c)[3] = (a)[3] - (s) * (b)[3]; \
} while (0)
#define QuatLength(a) sqrt(QDotProduct(a, a))
#define QuatScale(a,b,c) \
do { \
(c)[0] = (a)[0] * (b); \
(c)[1] = (a)[1] * (b); \
(c)[2] = (a)[2] * (b); \
(c)[3] = (a)[3] * (3); \
} while (0)
#define QuatCompare(x, y) \
(((x)[0] == (y)[0]) && ((x)[1] == (y)[1]) \
&& ((x)[2] == (y)[2]) && ((x)[3] == (y)[3]))
#define QuatIsZero(a) (!(a)[0] && !(a)[1] && !(a)[2] && !(a)[3])
#define QuatZero(a) ((a)[3] = (a)[2] = (a)[1] = (a)[0] = 0);
#define QuatBlend(v1,v2,b,v) \
do { \
(v)[0] = (v1)[0] * (1 - (b)) + (v2)[0] * (b); \
(v)[1] = (v1)[1] * (1 - (b)) + (v2)[1] * (b); \
(v)[2] = (v1)[2] * (1 - (b)) + (v2)[2] * (b); \
(v)[3] = (v1)[3] * (1 - (b)) + (v2)[3] * (b); \
} while (0)
/*
* VectorDistance, the distance between two points.
* Yes, this is the same as sqrt(VectorSubtract then DotProduct),
@ -161,6 +230,8 @@ float anglemod (float a);
void RotatePointAroundVector (vec3_t dst, const vec3_t axis,
const vec3_t point, float degrees);
void QuatMult (const quat_t v1, const quat_t v2, quat_t out);
#define BOX_ON_PLANE_SIDE(emins, emaxs, p) \
(((p)->type < 3)? \
( \
@ -177,9 +248,11 @@ void RotatePointAroundVector (vec3_t dst, const vec3_t axis,
: \
BoxOnPlaneSide( (emins), (emaxs), (p)))
#define PlaneDist(point,plane) ((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal))
#define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist)
#define PlaneDist(point,plane) \
((plane)->type < 3 ? (point)[(plane)->type] \
: DotProduct((point), (plane)->normal))
#define PlaneDiff(point,plane) \
(PlaneDist (point, plane) - (plane)->dist)
extern mplane_t * const frustum;
extern inline qboolean R_CullBox (const vec3_t mins, const vec3_t maxs);

13
libs/util/mathlib.c
View file

@ -169,6 +169,19 @@ RotatePointAroundVector (vec3_t dst, const vec3_t axis, const vec3_t point,
}
}
void
QuatMult (const quat_t v1, const quat_t v2, quat_t out)
{
vec_t s;
vec3_t v;
s = v1[0] * v2[0] - DotProduct (v1 + 1, v2 + 1);
CrossProduct (v1, v2, v);
VectorMultAdd (v, v1[0], v2 + 1, v);
out[0] = s;
VectorMultAdd (v, v2[0], v1 + 1, out + 1);
}
#if defined(_WIN32) && !defined(__GNUC__)
# pragma optimize( "", on )
#endif