577 lines
13 KiB
C
577 lines
13 KiB
C
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/*
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Copyright (C) 1999-2006 Id Software, Inc. and contributors.
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For a list of contributors, see the accompanying CONTRIBUTORS file.
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This file is part of GtkRadiant.
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GtkRadiant is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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GtkRadiant 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. 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 GtkRadiant; 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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#ifndef __MATH_VECTOR_H__
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#define __MATH_VECTOR_H__
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#include "globaldefs.h"
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#if GDEF_COMPILER_MSVC
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#pragma warning(disable : 4244)
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#endif
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#include <math.h>
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#include <assert.h>
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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) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
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//#define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
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//#define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
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//#define VectorCopy(a,b) ((b).x=(a).x,(b).y=(a).y,(b).z=(a).z])
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//#define VectorScale(v, s, o) ((o)[0]=(v)[0]*(s),(o)[1]=(v)[1]*(s),(o)[2]=(v)[2]*(s))
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#define __VectorMA( v, s, b, o ) ( ( o )[0] = ( v )[0] + ( b )[0] * ( s ),( o )[1] = ( v )[1] + ( b )[1] * ( s ),( o )[2] = ( v )[2] + ( b )[2] * ( s ) )
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//#define CrossProduct(a,b,c) ((c)[0]=(a)[1]*(b)[2]-(a)[2]*(b)[1],(c)[1]=(a)[2]*(b)[0]-(a)[0]*(b)[2],(c)[2]=(a)[0]*(b)[1]-(a)[1]*(b)[0])
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#define DotProduct4( x,y ) ( ( x )[0] * ( y )[0] + ( x )[1] * ( y )[1] + ( x )[2] * ( y )[2] + ( x )[3] * ( y )[3] )
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#define VectorSubtract4( a,b,c ) ( ( c )[0] = ( a )[0] - ( b )[0],( c )[1] = ( a )[1] - ( b )[1],( c )[2] = ( a )[2] - ( b )[2],( c )[3] = ( a )[3] - ( b )[3] )
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#define VectorAdd4( a,b,c ) ( ( c )[0] = ( a )[0] + ( b )[0],( c )[1] = ( a )[1] + ( b )[1],( c )[2] = ( a )[2] + ( b )[2],( c )[3] = ( a )[3] + ( b )[3] )
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#define VectorCopy4( a,b ) ( ( b )[0] = ( a )[0],( b )[1] = ( a )[1],( b )[2] = ( a )[2],( b )[3] = ( a )[3] )
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#define VectorScale4( v, s, o ) ( ( o )[0] = ( v )[0] * ( s ),( o )[1] = ( v )[1] * ( s ),( o )[2] = ( v )[2] * ( s ),( o )[3] = ( v )[3] * ( s ) )
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#define VectorMA4( v, s, b, o ) ( ( o )[0] = ( v )[0] + ( b )[0] * ( s ),( o )[1] = ( v )[1] + ( b )[1] * ( s ),( o )[2] = ( v )[2] + ( b )[2] * ( s ),( o )[3] = ( v )[3] + ( b )[3] * ( s ) )
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//#define VectorClear(a) ((a)[0]=(a)[1]=(a)[2]=0)
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#define VectorNegate( a,b ) ( ( b )[0] = -( a )[0],( b )[1] = -( a )[1],( b )[2] = -( a )[2] )
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//#define VectorSet(v, x, y, z) ((v)[0]=(x), (v)[1]=(y), (v)[2]=(z))
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#define Vector4Copy( a,b ) ( ( b )[0] = ( a )[0],( b )[1] = ( a )[1],( b )[2] = ( a )[2],( b )[3] = ( a )[3] )
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#define SnapVector( v ) {v[0] = (int)v[0]; v[1] = (int)v[1]; v[2] = (int)v[2]; }
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//#include "util_heap.h"
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#ifndef EQUAL_EPSILON
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#define EQUAL_EPSILON 0.001
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#endif
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float Q_fabs( float f );
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#ifndef ID_INLINE
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#define ID_INLINE GDEF_ATTRIBUTE_INLINE
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#endif
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// if this is defined, vec3 will take four elements, which may allow
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// easier SIMD optimizations
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//#define FAT_VEC3
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//#ifdef __ppc__
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//#pragma align(16)
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//#endif
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class angles_t;
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#ifdef __ppc__
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// Vanilla PPC code, but since PPC has a reciprocal square root estimate instruction,
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// runs *much* faster than calling sqrt(). We'll use two Newton-Raphson
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// refinement steps to get bunch more precision in the 1/sqrt() value for very little cost.
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// We'll then multiply 1/sqrt times the original value to get the sqrt.
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// This is about 12.4 times faster than sqrt() and according to my testing (not exhaustive)
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// it returns fairly accurate results (error below 1.0e-5 up to 100000.0 in 0.1 increments).
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static inline float idSqrt( float x ) {
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const float half = 0.5;
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const float one = 1.0;
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float B, y0, y1;
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// This'll NaN if it hits frsqrte. Handle both +0.0 and -0.0
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if ( fabs( x ) == 0.0 ) {
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return x;
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}
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B = x;
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#if GDEF_COMPILER_GNU
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asm ( "frsqrte %0,%1" : "=f" ( y0 ) : "f" ( B ) );
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#else
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y0 = __frsqrte( B );
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#endif
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/* First refinement step */
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y1 = y0 + half * y0 * ( one - B * y0 * y0 );
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/* Second refinement step -- copy the output of the last step to the input of this step */
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y0 = y1;
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y1 = y0 + half * y0 * ( one - B * y0 * y0 );
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/* Get sqrt(x) from x * 1/sqrt(x) */
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return x * y1;
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}
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#else
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static inline double idSqrt( double x ) {
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return sqrt( x );
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}
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#endif
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//class idVec3 : public idHeap<idVec3> {
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class idVec3 {
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public:
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#ifndef FAT_VEC3
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float x,y,z;
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#else
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float x,y,z,dist;
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#endif
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#ifndef FAT_VEC3
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idVec3() {};
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#else
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idVec3() {dist = 0.0f; };
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#endif
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idVec3( const float x, const float y, const float z );
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operator float *();
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float operator[]( const int index ) const;
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float &operator[]( const int index );
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void set( const float x, const float y, const float z );
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idVec3 operator-() const;
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idVec3 &operator=( const idVec3 &a );
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float operator*( const idVec3 &a ) const;
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idVec3 operator*( const float a ) const;
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friend idVec3 operator*( float a, idVec3 b );
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idVec3 operator+( const idVec3 &a ) const;
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idVec3 operator-( const idVec3 &a ) const;
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idVec3 &operator+=( const idVec3 &a );
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idVec3 &operator-=( const idVec3 &a );
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idVec3 &operator*=( const float a );
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int operator==( const idVec3 &a ) const;
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int operator!=( const idVec3 &a ) const;
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idVec3 Cross( const idVec3 &a ) const;
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idVec3 &Cross( const idVec3 &a, const idVec3 &b );
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float Length( void ) const;
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float Normalize( void );
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void Zero( void );
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void Snap( void );
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void SnapTowards( const idVec3 &to );
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float toYaw( void );
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float toPitch( void );
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angles_t toAngles( void );
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friend idVec3 LerpVector( const idVec3 &w1, const idVec3 &w2, const float t );
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char *string( void );
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};
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extern idVec3 vec_zero;
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ID_INLINE idVec3::idVec3( const float x, const float y, const float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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#ifdef FAT_VEC3
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this->dist = 0.0f;
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#endif
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}
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ID_INLINE float idVec3::operator[]( const int index ) const {
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return ( &x )[ index ];
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}
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ID_INLINE float &idVec3::operator[]( const int index ) {
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return ( &x )[ index ];
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}
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ID_INLINE idVec3::operator float *( void ) {
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return &x;
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}
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ID_INLINE idVec3 idVec3::operator-() const {
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return idVec3( -x, -y, -z );
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}
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ID_INLINE idVec3 &idVec3::operator=( const idVec3 &a ) {
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x = a.x;
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y = a.y;
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z = a.z;
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return *this;
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}
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ID_INLINE void idVec3::set( const float x, const float y, const float z ) {
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this->x = x;
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this->y = y;
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this->z = z;
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}
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ID_INLINE idVec3 idVec3::operator-( const idVec3 &a ) const {
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return idVec3( x - a.x, y - a.y, z - a.z );
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}
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ID_INLINE float idVec3::operator*( const idVec3 &a ) const {
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return x * a.x + y * a.y + z * a.z;
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}
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ID_INLINE idVec3 idVec3::operator*( const float a ) const {
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return idVec3( x * a, y * a, z * a );
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}
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ID_INLINE idVec3 operator*( const float a, const idVec3 b ) {
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return idVec3( b.x * a, b.y * a, b.z * a );
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}
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ID_INLINE idVec3 idVec3::operator+( const idVec3 &a ) const {
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return idVec3( x + a.x, y + a.y, z + a.z );
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}
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ID_INLINE idVec3 &idVec3::operator+=( const idVec3 &a ) {
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x += a.x;
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y += a.y;
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z += a.z;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator-=( const idVec3 &a ) {
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x -= a.x;
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y -= a.y;
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z -= a.z;
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return *this;
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}
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ID_INLINE idVec3 &idVec3::operator*=( const float a ) {
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x *= a;
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y *= a;
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z *= a;
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return *this;
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}
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ID_INLINE int idVec3::operator==( const idVec3 &a ) const {
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if ( Q_fabs( x - a.x ) > EQUAL_EPSILON ) {
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return false;
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}
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if ( Q_fabs( y - a.y ) > EQUAL_EPSILON ) {
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return false;
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}
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if ( Q_fabs( z - a.z ) > EQUAL_EPSILON ) {
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return false;
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}
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return true;
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}
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ID_INLINE int idVec3::operator!=( const idVec3 &a ) const {
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if ( Q_fabs( x - a.x ) > EQUAL_EPSILON ) {
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return true;
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}
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if ( Q_fabs( y - a.y ) > EQUAL_EPSILON ) {
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return true;
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}
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if ( Q_fabs( z - a.z ) > EQUAL_EPSILON ) {
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return true;
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}
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return false;
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}
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ID_INLINE idVec3 idVec3::Cross( const idVec3 &a ) const {
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return idVec3( y * a.z - z * a.y, z * a.x - x * a.z, x * a.y - y * a.x );
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}
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ID_INLINE idVec3 &idVec3::Cross( const idVec3 &a, const idVec3 &b ) {
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x = a.y * b.z - a.z * b.y;
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y = a.z * b.x - a.x * b.z;
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z = a.x * b.y - a.y * b.x;
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return *this;
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}
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ID_INLINE float idVec3::Length( void ) const {
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float length;
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length = x * x + y * y + z * z;
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return ( float )idSqrt( length );
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}
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ID_INLINE float idVec3::Normalize( void ) {
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float length;
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float ilength;
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length = this->Length();
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if ( length ) {
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ilength = 1.0f / length;
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x *= ilength;
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y *= ilength;
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z *= ilength;
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}
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return length;
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}
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ID_INLINE void idVec3::Zero( void ) {
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x = 0.0f;
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y = 0.0f;
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z = 0.0f;
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}
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ID_INLINE void idVec3::Snap( void ) {
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x = float( int( x ) );
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y = float( int( y ) );
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z = float( int( z ) );
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}
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/*
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======================
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SnapTowards
|
||
|
|
|
||
|
|
Round a vector to integers for more efficient network
|
||
|
|
transmission, but make sure that it rounds towards a given point
|
||
|
|
rather than blindly truncating. This prevents it from truncating
|
||
|
|
into a wall.
|
||
|
|
======================
|
||
|
|
*/
|
||
|
|
ID_INLINE void idVec3::SnapTowards( const idVec3 &to ) {
|
||
|
|
if ( to.x <= x ) {
|
||
|
|
x = float( int( x ) );
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
x = float( int( x ) + 1 );
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( to.y <= y ) {
|
||
|
|
y = float( int( y ) );
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
y = float( int( y ) + 1 );
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( to.z <= z ) {
|
||
|
|
z = float( int( z ) );
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
z = float( int( z ) + 1 );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//===============================================================
|
||
|
|
|
||
|
|
class Bounds {
|
||
|
|
public:
|
||
|
|
idVec3 b[2];
|
||
|
|
|
||
|
|
Bounds();
|
||
|
|
Bounds( const idVec3 &mins, const idVec3 &maxs );
|
||
|
|
|
||
|
|
void Clear();
|
||
|
|
void Zero();
|
||
|
|
float Radius(); // radius from origin, not from center
|
||
|
|
idVec3 Center();
|
||
|
|
void AddPoint( const idVec3 &v );
|
||
|
|
void AddBounds( const Bounds &bb );
|
||
|
|
bool IsCleared();
|
||
|
|
bool ContainsPoint( const idVec3 &p );
|
||
|
|
bool IntersectsBounds( const Bounds &b2 ); // touching is NOT intersecting
|
||
|
|
};
|
||
|
|
|
||
|
|
extern Bounds boundsZero;
|
||
|
|
|
||
|
|
ID_INLINE Bounds::Bounds(){
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool Bounds::IsCleared() {
|
||
|
|
return b[0][0] > b[1][0];
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool Bounds::ContainsPoint( const idVec3 &p ) {
|
||
|
|
if ( p[0] < b[0][0] || p[1] < b[0][1] || p[2] < b[0][2]
|
||
|
|
|| p[0] > b[1][0] || p[1] > b[1][1] || p[2] > b[1][2] ) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool Bounds::IntersectsBounds( const Bounds &b2 ) {
|
||
|
|
if ( b2.b[1][0] < b[0][0] || b2.b[1][1] < b[0][1] || b2.b[1][2] < b[0][2]
|
||
|
|
|| b2.b[0][0] > b[1][0] || b2.b[0][1] > b[1][1] || b2.b[0][2] > b[1][2] ) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE Bounds::Bounds( const idVec3 &mins, const idVec3 &maxs ) {
|
||
|
|
b[0] = mins;
|
||
|
|
b[1] = maxs;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idVec3 Bounds::Center() {
|
||
|
|
return idVec3( ( b[1][0] + b[0][0] ) * 0.5f, ( b[1][1] + b[0][1] ) * 0.5f, ( b[1][2] + b[0][2] ) * 0.5f );
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE void Bounds::Clear() {
|
||
|
|
b[0][0] = b[0][1] = b[0][2] = 99999;
|
||
|
|
b[1][0] = b[1][1] = b[1][2] = -99999;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE void Bounds::Zero() {
|
||
|
|
b[0][0] = b[0][1] = b[0][2] =
|
||
|
|
b[1][0] = b[1][1] = b[1][2] = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE void Bounds::AddPoint( const idVec3 &v ) {
|
||
|
|
if ( v[0] < b[0][0] ) {
|
||
|
|
b[0][0] = v[0];
|
||
|
|
}
|
||
|
|
if ( v[0] > b[1][0] ) {
|
||
|
|
b[1][0] = v[0];
|
||
|
|
}
|
||
|
|
if ( v[1] < b[0][1] ) {
|
||
|
|
b[0][1] = v[1];
|
||
|
|
}
|
||
|
|
if ( v[1] > b[1][1] ) {
|
||
|
|
b[1][1] = v[1];
|
||
|
|
}
|
||
|
|
if ( v[2] < b[0][2] ) {
|
||
|
|
b[0][2] = v[2];
|
||
|
|
}
|
||
|
|
if ( v[2] > b[1][2] ) {
|
||
|
|
b[1][2] = v[2];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
ID_INLINE void Bounds::AddBounds( const Bounds &bb ) {
|
||
|
|
if ( bb.b[0][0] < b[0][0] ) {
|
||
|
|
b[0][0] = bb.b[0][0];
|
||
|
|
}
|
||
|
|
if ( bb.b[0][1] < b[0][1] ) {
|
||
|
|
b[0][1] = bb.b[0][1];
|
||
|
|
}
|
||
|
|
if ( bb.b[0][2] < b[0][2] ) {
|
||
|
|
b[0][2] = bb.b[0][2];
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( bb.b[1][0] > b[1][0] ) {
|
||
|
|
b[1][0] = bb.b[1][0];
|
||
|
|
}
|
||
|
|
if ( bb.b[1][1] > b[1][1] ) {
|
||
|
|
b[1][1] = bb.b[1][1];
|
||
|
|
}
|
||
|
|
if ( bb.b[1][2] > b[1][2] ) {
|
||
|
|
b[1][2] = bb.b[1][2];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE float Bounds::Radius() {
|
||
|
|
int i;
|
||
|
|
float total;
|
||
|
|
float a, aa;
|
||
|
|
|
||
|
|
total = 0;
|
||
|
|
for ( i = 0 ; i < 3 ; i++ ) {
|
||
|
|
a = (float)fabs( b[0][i] );
|
||
|
|
aa = (float)fabs( b[1][i] );
|
||
|
|
if ( aa > a ) {
|
||
|
|
a = aa;
|
||
|
|
}
|
||
|
|
total += a * a;
|
||
|
|
}
|
||
|
|
|
||
|
|
return (float)idSqrt( total );
|
||
|
|
}
|
||
|
|
|
||
|
|
//===============================================================
|
||
|
|
|
||
|
|
|
||
|
|
class idVec2 {
|
||
|
|
public:
|
||
|
|
float x;
|
||
|
|
float y;
|
||
|
|
|
||
|
|
operator float *();
|
||
|
|
float operator[]( int index ) const;
|
||
|
|
float &operator[]( int index );
|
||
|
|
};
|
||
|
|
|
||
|
|
ID_INLINE float idVec2::operator[]( int index ) const {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE float& idVec2::operator[]( int index ) {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idVec2::operator float *( void ) {
|
||
|
|
return &x;
|
||
|
|
}
|
||
|
|
|
||
|
|
class idVec4 : public idVec3 {
|
||
|
|
public:
|
||
|
|
#ifndef FAT_VEC3
|
||
|
|
float dist;
|
||
|
|
#endif
|
||
|
|
idVec4();
|
||
|
|
~idVec4() {};
|
||
|
|
|
||
|
|
idVec4( float x, float y, float z, float dist );
|
||
|
|
float operator[]( int index ) const;
|
||
|
|
float &operator[]( int index );
|
||
|
|
};
|
||
|
|
|
||
|
|
ID_INLINE idVec4::idVec4() {}
|
||
|
|
ID_INLINE idVec4::idVec4( float x, float y, float z, float dist ) {
|
||
|
|
this->x = x;
|
||
|
|
this->y = y;
|
||
|
|
this->z = z;
|
||
|
|
this->dist = dist;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE float idVec4::operator[]( int index ) const {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE float& idVec4::operator[]( int index ) {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
class idVec5_t : public idVec3 {
|
||
|
|
public:
|
||
|
|
float s;
|
||
|
|
float t;
|
||
|
|
float operator[]( int index ) const;
|
||
|
|
float &operator[]( int index );
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
ID_INLINE float idVec5_t::operator[]( int index ) const {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE float& idVec5_t::operator[]( int index ) {
|
||
|
|
return ( &x )[ index ];
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* !__MATH_VECTOR_H__ */
|