327 lines
6.6 KiB
C
327 lines
6.6 KiB
C
// mathlib.c -- math primitives
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#include "cmdlib.h"
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#include "mathlib.h"
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#ifdef _WIN32
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//Improve floating-point consistency.
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//without this option weird floating point issues occur
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#pragma optimize( "p", on )
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#endif
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vec3_t vec3_origin = {0,0,0};
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/*
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** NormalToLatLong
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**
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** We use two byte encoded normals in some space critical applications.
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** Lat = 0 at (1,0,0) to 360 (-1,0,0), encoded in 8-bit sine table format
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** Lng = 0 at (0,0,1) to 180 (0,0,-1), encoded in 8-bit sine table format
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**
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*/
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void NormalToLatLong( const vec3_t normal, byte bytes[2] ) {
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// check for singularities
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if ( normal[0] == 0 && normal[1] == 0 ) {
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if ( normal[2] > 0 ) {
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bytes[0] = 0;
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bytes[1] = 0; // lat = 0, long = 0
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} else {
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bytes[0] = 128;
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bytes[1] = 0; // lat = 0, long = 128
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}
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} else {
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int a, b;
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a = RAD2DEG( atan2( normal[1], normal[0] ) ) * (255.0f / 360.0f );
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a &= 0xff;
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b = RAD2DEG( acos( normal[2] ) ) * ( 255.0f / 360.0f );
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b &= 0xff;
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bytes[0] = b; // longitude
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bytes[1] = a; // lattitude
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}
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}
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/*
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=====================
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PlaneFromPoints
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Returns false if the triangle is degenrate.
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The normal will point out of the clock for clockwise ordered points
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=====================
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*/
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qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c ) {
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vec3_t d1, d2;
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VectorSubtract( b, a, d1 );
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VectorSubtract( c, a, d2 );
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CrossProduct( d2, d1, plane );
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if ( VectorNormalize( plane, plane ) == 0 ) {
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return qfalse;
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}
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plane[3] = DotProduct( a, plane );
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return qtrue;
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}
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/*
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================
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MakeNormalVectors
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Given a normalized forward vector, create two
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other perpendicular vectors
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================
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*/
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void MakeNormalVectors (vec3_t forward, vec3_t right, vec3_t up)
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{
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float d;
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// this rotate and negate guarantees a vector
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// not colinear with the original
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right[1] = -forward[0];
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right[2] = forward[1];
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right[0] = forward[2];
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d = DotProduct (right, forward);
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VectorMA (right, -d, forward, right);
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VectorNormalize (right, right);
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CrossProduct (right, forward, up);
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}
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void Vec10Copy( vec_t *in, vec_t *out ) {
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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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out[3] = in[3];
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out[4] = in[4];
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out[5] = in[5];
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out[6] = in[6];
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out[7] = in[7];
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out[8] = in[8];
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out[9] = in[9];
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}
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void VectorRotate3x3( vec3_t v, float r[3][3], vec3_t d )
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{
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d[0] = v[0] * r[0][0] + v[1] * r[1][0] + v[2] * r[2][0];
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d[1] = v[0] * r[0][1] + v[1] * r[1][1] + v[2] * r[2][1];
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d[2] = v[0] * r[0][2] + v[1] * r[1][2] + v[2] * r[2][2];
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}
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double VectorLength( const vec3_t v ) {
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int i;
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double 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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qboolean VectorCompare( const vec3_t v1, const vec3_t v2 ) {
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int i;
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for (i=0 ; i<3 ; i++)
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if (fabs(v1[i]-v2[i]) > EQUAL_EPSILON)
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return qfalse;
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return qtrue;
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}
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vec_t Q_rint (vec_t in)
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{
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return floor (in + 0.5);
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}
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void VectorMA( const vec3_t va, double scale, const vec3_t vb, vec3_t vc ) {
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vc[0] = va[0] + scale*vb[0];
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vc[1] = va[1] + scale*vb[1];
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vc[2] = va[2] + scale*vb[2];
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}
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void CrossProduct( const vec3_t v1, const vec3_t v2, vec3_t cross ) {
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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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vec_t _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 _VectorSubtract (vec3_t va, vec3_t vb, vec3_t out)
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{
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out[0] = va[0]-vb[0];
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out[1] = va[1]-vb[1];
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out[2] = va[2]-vb[2];
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}
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void _VectorAdd (vec3_t va, vec3_t vb, vec3_t out)
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{
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out[0] = va[0]+vb[0];
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out[1] = va[1]+vb[1];
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out[2] = va[2]+vb[2];
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}
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void _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 _VectorScale (vec3_t v, vec_t scale, vec3_t out)
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{
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out[0] = v[0] * scale;
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out[1] = v[1] * scale;
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out[2] = v[2] * scale;
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}
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vec_t VectorNormalize( const vec3_t in, vec3_t out ) {
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vec_t length, ilength;
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length = sqrt (in[0]*in[0] + in[1]*in[1] + in[2]*in[2]);
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if (length == 0)
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{
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VectorClear (out);
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return 0;
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}
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ilength = 1.0/length;
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out[0] = in[0]*ilength;
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out[1] = in[1]*ilength;
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out[2] = in[2]*ilength;
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return length;
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}
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vec_t ColorNormalize( const vec3_t in, vec3_t out ) {
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float max, scale;
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max = in[0];
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if (in[1] > max)
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max = in[1];
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if (in[2] > max)
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max = in[2];
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if (max == 0) {
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out[0] = out[1] = out[2] = 1.0;
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return 0;
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}
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scale = 1.0 / max;
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VectorScale (in, scale, out);
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return max;
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}
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void 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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#define BOUNDS_CLEAR_VALUE 99999
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void ClearBounds( vec3_t mins, vec3_t maxs ) {
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mins[0] = mins[1] = mins[2] = BOUNDS_CLEAR_VALUE;
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maxs[0] = maxs[1] = maxs[2] = -BOUNDS_CLEAR_VALUE;
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}
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qboolean BoundsClear( vec3_t mins, vec3_t maxs )
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{
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if (
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( mins[ 0 ] == BOUNDS_CLEAR_VALUE ) &&
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( mins[ 1 ] == BOUNDS_CLEAR_VALUE ) &&
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( mins[ 2 ] == BOUNDS_CLEAR_VALUE ) &&
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( maxs[ 0 ] == -BOUNDS_CLEAR_VALUE ) &&
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( maxs[ 1 ] == -BOUNDS_CLEAR_VALUE ) &&
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( maxs[ 2 ] == -BOUNDS_CLEAR_VALUE )
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)
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{
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return qtrue;
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}
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else
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{
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return qfalse;
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}
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}
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void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs ) {
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int i;
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vec_t val;
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for (i=0 ; i<3 ; i++)
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{
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val = v[i];
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if (val < mins[i])
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mins[i] = val;
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if (val > maxs[i])
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maxs[i] = val;
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}
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}
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void AngleVectors( const 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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static float sr, sp, sy, cr, cp, cy;
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// static to help MS compiler fp bugs
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angle = angles[YAW] * (Q_PI*2 / 360);
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * (Q_PI*2 / 360);
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[ROLL] * (Q_PI*2 / 360);
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sr = sin(angle);
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cr = cos(angle);
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if (forward)
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{
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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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}
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if (right)
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{
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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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}
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if (up)
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{
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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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}
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/*
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=================
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PlaneTypeForNormal
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=================
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*/
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int PlaneTypeForNormal (vec3_t normal) {
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if (normal[0] == 1.0 || normal[0] == -1.0)
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return PLANE_X;
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if (normal[1] == 1.0 || normal[1] == -1.0)
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return PLANE_Y;
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if (normal[2] == 1.0 || normal[2] == -1.0)
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return PLANE_Z;
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return PLANE_NON_AXIAL;
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}
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