mirror of
https://github.com/UberGames/lilium-voyager.git
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434 lines
9 KiB
C
434 lines
9 KiB
C
/*
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===========================================================================
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Copyright (C) 1999-2005 Id Software, Inc.
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This file is part of Quake III Arena source code.
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Quake III Arena source code is free software; you can redistribute it
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and/or modify it under the terms of the GNU General Public License as
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published by the Free Software Foundation; either version 2 of the License,
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or (at your option) any later version.
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Quake III Arena source code is distributed in the hope that it will be
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useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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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 Foobar; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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===========================================================================
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*/
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// 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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void ClearBounds (vec3_t mins, vec3_t maxs)
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{
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mins[0] = mins[1] = mins[2] = 99999;
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maxs[0] = maxs[1] = maxs[2] = -99999;
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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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/*
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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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/*
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================
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MatrixMultiply
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================
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*/
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void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]) {
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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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void 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 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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*/
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for ( pos = 0, i = 0; i < 3; i++ )
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{
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if ( fabs( src[i] ) < minelem )
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{
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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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*/
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ProjectPointOnPlane( dst, tempvec, src );
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/*
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** normalize the result
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*/
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VectorNormalize( dst, dst );
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}
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/*
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===============
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RotatePointAroundVector
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This is not implemented very well...
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===============
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*/
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void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
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float degrees ) {
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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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float rad;
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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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rad = DEG2RAD( degrees );
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zrot[0][0] = cos( rad );
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zrot[0][1] = sin( rad );
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zrot[1][0] = -sin( rad );
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zrot[1][1] = cos( rad );
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MatrixMultiply( m, zrot, tmpmat );
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MatrixMultiply( tmpmat, im, rot );
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for ( i = 0; i < 3; i++ ) {
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dst[i] = 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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