328 lines
8.2 KiB
C
328 lines
8.2 KiB
C
/*
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mathlib.h
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Vector math library
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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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#ifndef __mathlib_h
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#define __mathlib_h
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/** \defgroup mathlib Vector and matrix functions
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\ingroup utils
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*/
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//@{
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#include <math.h>
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#include "QF/qtypes.h"
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#ifndef M_PI
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# define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
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#endif
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extern int nanmask;
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extern const vec_t * const vec3_origin;
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#define EQUAL_EPSILON 0.001
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#define RINT(x) (floor ((x) + 0.5))
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#define IS_NAN(x) (((*(int *) (char *) &x) & nanmask) == nanmask)
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#define DotProduct(a,b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
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#define VectorSubtract(a,b,c) \
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do { \
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(c)[0] = (a)[0] - (b)[0]; \
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(c)[1] = (a)[1] - (b)[1]; \
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(c)[2] = (a)[2] - (b)[2]; \
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} while (0)
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#define VectorNegate(a,b) \
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do { \
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(b)[0] = -(a)[0]; \
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(b)[1] = -(a)[1]; \
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(b)[2] = -(a)[2]; \
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} while (0)
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#define VectorAdd(a,b,c) \
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do { \
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(c)[0] = (a)[0] + (b)[0]; \
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(c)[1] = (a)[1] + (b)[1]; \
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(c)[2] = (a)[2] + (b)[2]; \
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} while (0)
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#define VectorCopy(a,b) \
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do { \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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(b)[2] = (a)[2]; \
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} while (0)
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#define VectorMultAdd(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] + (s) * (b)[0]; \
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(c)[1] = (a)[1] + (s) * (b)[1]; \
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(c)[2] = (a)[2] + (s) * (b)[2]; \
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} while (0)
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#define VectorMultSub(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] - (s) * (b)[0]; \
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(c)[1] = (a)[1] - (s) * (b)[1]; \
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(c)[2] = (a)[2] - (s) * (b)[2]; \
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} while (0)
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#define VectorLength(a) sqrt(DotProduct(a, a))
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#define VectorScale(a,b,c) \
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do { \
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(c)[0] = (a)[0] * (b); \
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(c)[1] = (a)[1] * (b); \
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(c)[2] = (a)[2] * (b); \
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} while (0)
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#define VectorCompare(x, y) \
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(((x)[0] == (y)[0]) && ((x)[1] == (y)[1]) && ((x)[2] == (y)[2]))
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#define VectorIsZero(a) (!(a)[0] && !(a)[1] && !(a)[2])
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#define VectorZero(a) ((a)[2] = (a)[1] = (a)[0] = 0);
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#define VectorBlend(v1,v2,b,v) \
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do { \
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(v)[0] = (v1)[0] * (1 - (b)) + (v2)[0] * (b); \
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(v)[1] = (v1)[1] * (1 - (b)) + (v2)[1] * (b); \
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(v)[2] = (v1)[2] * (1 - (b)) + (v2)[2] * (b); \
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} while (0)
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#define QDotProduct(a,b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] \
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+ (a)[2] * (b)[2] + (a)[3] * (b)[3])
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#define QuatSubtract(a,b,c) \
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do { \
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(c)[0] = (a)[0] - (b)[0]; \
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(c)[1] = (a)[1] - (b)[1]; \
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(c)[2] = (a)[2] - (b)[2]; \
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(c)[3] = (a)[3] - (b)[3]; \
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} while (0)
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#define QuatNegate(a,b) \
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do { \
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(b)[0] = -(a)[0]; \
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(b)[1] = -(a)[1]; \
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(b)[2] = -(a)[2]; \
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(b)[3] = -(a)[3]; \
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} while (0)
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#define QuatConj(a,b) \
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do { \
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(b)[0] = (a)[0]; \
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(b)[1] = -(a)[1]; \
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(b)[2] = -(a)[2]; \
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(b)[3] = -(a)[3]; \
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} while (0)
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#define QuatAdd(a,b,c) \
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do { \
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(c)[0] = (a)[0] + (b)[0]; \
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(c)[1] = (a)[1] + (b)[1]; \
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(c)[2] = (a)[2] + (b)[2]; \
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(c)[3] = (a)[3] + (b)[3]; \
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} while (0)
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#define QuatCopy(a,b) \
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do { \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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(b)[2] = (a)[2]; \
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(b)[3] = (a)[3]; \
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} while (0)
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#define QuatMultAdd(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] + (s) * (b)[0]; \
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(c)[1] = (a)[1] + (s) * (b)[1]; \
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(c)[2] = (a)[2] + (s) * (b)[2]; \
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(c)[3] = (a)[3] + (s) * (b)[3]; \
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} while (0)
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#define QuatMultSub(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] - (s) * (b)[0]; \
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(c)[1] = (a)[1] - (s) * (b)[1]; \
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(c)[2] = (a)[2] - (s) * (b)[2]; \
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(c)[3] = (a)[3] - (s) * (b)[3]; \
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} while (0)
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#define QuatLength(a) sqrt(QDotProduct(a, a))
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#define QuatScale(a,b,c) \
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do { \
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(c)[0] = (a)[0] * (b); \
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(c)[1] = (a)[1] * (b); \
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(c)[2] = (a)[2] * (b); \
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(c)[3] = (a)[3] * (3); \
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} while (0)
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#define QuatCompare(x, y) \
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(((x)[0] == (y)[0]) && ((x)[1] == (y)[1]) \
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&& ((x)[2] == (y)[2]) && ((x)[3] == (y)[3]))
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#define QuatIsZero(a) (!(a)[0] && !(a)[1] && !(a)[2] && !(a)[3])
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#define QuatZero(a) ((a)[3] = (a)[2] = (a)[1] = (a)[0] = 0);
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#define QuatBlend(v1,v2,b,v) \
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do { \
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(v)[0] = (v1)[0] * (1 - (b)) + (v2)[0] * (b); \
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(v)[1] = (v1)[1] * (1 - (b)) + (v2)[1] * (b); \
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(v)[2] = (v1)[2] * (1 - (b)) + (v2)[2] * (b); \
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(v)[3] = (v1)[3] * (1 - (b)) + (v2)[3] * (b); \
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} while (0)
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/*
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* VectorDistance, the distance between two points.
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* Yes, this is the same as sqrt(VectorSubtract then DotProduct),
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* however that way would involve more vars, this is cheaper.
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*/
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#define VectorDistance_fast(a, b) \
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((((a)[0] - (b)[0]) * ((a)[0] - (b)[0])) + \
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(((a)[1] - (b)[1]) * ((a)[1] - (b)[1])) + \
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(((a)[2] - (b)[2]) * ((a)[2] - (b)[2])))
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#define VectorDistance(a, b) sqrt(VectorDistance_fast(a, b))
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#define qfrandom(MAX) ((float) MAX * (rand() * (1.0 / (RAND_MAX + 1.0))))
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// up / down
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#define PITCH 0
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// left / right
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#define YAW 1
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// fall over
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#define ROLL 2
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vec_t _DotProduct (const vec3_t v1, const vec3_t v2);
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void _VectorAdd (const vec3_t veca, const vec3_t vecb, vec3_t out);
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void _VectorCopy (const vec3_t in, vec3_t out);
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int _VectorCompare (const vec3_t v1, const vec3_t v2); // uses EQUAL_EPSILON
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vec_t _VectorLength (const vec3_t v);
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void _VectorMA (const vec3_t veca, float scale, const vec3_t vecb,
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vec3_t vecc);
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void _VectorScale (const vec3_t in, vec_t scale, vec3_t out);
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void _VectorSubtract (const vec3_t veca, const vec3_t vecb, vec3_t out);
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void CrossProduct (const vec3_t v1, const vec3_t v2, vec3_t cross);
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vec_t _VectorNormalize (vec3_t v); // returns vector length
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int Q_log2(int val);
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void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]);
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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);
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fixed16_t Invert24To16(fixed16_t val);
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fixed16_t Mul16_30(fixed16_t multiplier, fixed16_t multiplicand);
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int GreatestCommonDivisor (int i1, int i2);
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void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right,
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vec3_t up);
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void VectorVectors (const vec3_t forward, vec3_t right, vec3_t up);
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int BoxOnPlaneSide (const vec3_t emins, const vec3_t emaxs,
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struct mplane_s *plane);
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float anglemod (float a);
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void RotatePointAroundVector (vec3_t dst, const vec3_t axis,
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const vec3_t point, float degrees);
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void QuatMult (const quat_t v1, const quat_t v2, quat_t out);
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#define BOX_ON_PLANE_SIDE(emins, emaxs, p) \
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(((p)->type < 3)? \
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( \
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((p)->dist <= (emins)[(p)->type])? \
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1 \
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: \
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( \
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((p)->dist >= (emaxs)[(p)->type])? \
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2 \
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: \
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3 \
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) \
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) \
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: \
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BoxOnPlaneSide( (emins), (emaxs), (p)))
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#define PlaneDist(point,plane) \
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((plane)->type < 3 ? (point)[(plane)->type] \
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: DotProduct((point), (plane)->normal))
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#define PlaneDiff(point,plane) \
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(PlaneDist (point, plane) - (plane)->dist)
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extern mplane_t * const frustum;
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extern inline qboolean R_CullBox (const vec3_t mins, const vec3_t maxs);
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extern inline qboolean R_CullSphere (const vec3_t origin, const float radius);
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extern inline float VectorNormalize (vec3_t v); // returns vector length
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#ifndef IMPLEMENT_R_Cull
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extern inline
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#else
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VISIBLE
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#endif
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qboolean
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R_CullBox (const vec3_t mins, const vec3_t maxs)
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{
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int i;
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for (i=0 ; i < 4 ; i++)
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if (BoxOnPlaneSide (mins, maxs, &frustum[i]) == 2)
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return true;
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return false;
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}
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#ifndef IMPLEMENT_R_Cull
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extern inline
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#else
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VISIBLE
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#endif
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qboolean
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R_CullSphere (const vec3_t origin, const float radius)
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{
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int i;
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float r;
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for (i = 0; i < 4; i++)
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{
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r = DotProduct (origin, frustum[i].normal) - frustum[i].dist;
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if (r <= -radius)
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return true;
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}
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return false;
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}
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#ifndef IMPLEMENT_VectorNormalize
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extern inline
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#else
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VISIBLE
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#endif
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float
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VectorNormalize (vec3_t v)
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{
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float length;
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length = DotProduct (v, v);
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if (length) {
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float ilength;
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length = sqrt (length);
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ilength = 1.0 / 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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//@}
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#endif // __mathlib_h
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