/* | |
Copyright (C) 1996-1997 Id Software, Inc. | |
This program is free software; you can redistribute it and/or | |
modify it under the terms of the GNU General Public License | |
as published by the Free Software Foundation; either version 2 | |
of the License, or (at your option) any later version. | |
This program is distributed in the hope that it will be useful, | |
but WITHOUT ANY WARRANTY; without even the implied warranty of | |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. | |
See the GNU General Public License for more details. | |
You should have received a copy of the GNU General Public License | |
along with this program; if not, write to the Free Software | |
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. | |
*/ | |
// mathlib.c -- math primitives | |
#include <math.h> | |
#include "quakedef.h" | |
void Sys_Error (char *error, ...); | |
vec3_t vec3_origin = {0,0,0}; | |
int nanmask = 255<<23; | |
/*-----------------------------------------------------------------*/ | |
#define DEG2RAD( a ) ( a * M_PI ) / 180.0F | |
void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal ) | |
{ | |
float d; | |
vec3_t n; | |
float inv_denom; | |
inv_denom = 1.0F / DotProduct( normal, normal ); | |
d = DotProduct( normal, p ) * inv_denom; | |
n[0] = normal[0] * inv_denom; | |
n[1] = normal[1] * inv_denom; | |
n[2] = normal[2] * inv_denom; | |
dst[0] = p[0] - d * n[0]; | |
dst[1] = p[1] - d * n[1]; | |
dst[2] = p[2] - d * n[2]; | |
} | |
/* | |
** assumes "src" is normalized | |
*/ | |
void PerpendicularVector( vec3_t dst, const vec3_t src ) | |
{ | |
int pos; | |
int i; | |
float minelem = 1.0F; | |
vec3_t tempvec; | |
/* | |
** find the smallest magnitude axially aligned vector | |
*/ | |
for ( pos = 0, i = 0; i < 3; i++ ) | |
{ | |
if ( fabs( src[i] ) < minelem ) | |
{ | |
pos = i; | |
minelem = fabs( src[i] ); | |
} | |
} | |
tempvec[0] = tempvec[1] = tempvec[2] = 0.0F; | |
tempvec[pos] = 1.0F; | |
/* | |
** project the point onto the plane defined by src | |
*/ | |
ProjectPointOnPlane( dst, tempvec, src ); | |
/* | |
** normalize the result | |
*/ | |
VectorNormalize( dst ); | |
} | |
#ifdef _WIN32 | |
#pragma optimize( "", off ) | |
#endif | |
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ) | |
{ | |
float m[3][3]; | |
float im[3][3]; | |
float zrot[3][3]; | |
float tmpmat[3][3]; | |
float rot[3][3]; | |
int i; | |
vec3_t vr, vup, vf; | |
vf[0] = dir[0]; | |
vf[1] = dir[1]; | |
vf[2] = dir[2]; | |
PerpendicularVector( vr, dir ); | |
CrossProduct( vr, vf, vup ); | |
m[0][0] = vr[0]; | |
m[1][0] = vr[1]; | |
m[2][0] = vr[2]; | |
m[0][1] = vup[0]; | |
m[1][1] = vup[1]; | |
m[2][1] = vup[2]; | |
m[0][2] = vf[0]; | |
m[1][2] = vf[1]; | |
m[2][2] = vf[2]; | |
memcpy( im, m, sizeof( im ) ); | |
im[0][1] = m[1][0]; | |
im[0][2] = m[2][0]; | |
im[1][0] = m[0][1]; | |
im[1][2] = m[2][1]; | |
im[2][0] = m[0][2]; | |
im[2][1] = m[1][2]; | |
memset( zrot, 0, sizeof( zrot ) ); | |
zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; | |
zrot[0][0] = cos( DEG2RAD( degrees ) ); | |
zrot[0][1] = sin( DEG2RAD( degrees ) ); | |
zrot[1][0] = -sin( DEG2RAD( degrees ) ); | |
zrot[1][1] = cos( DEG2RAD( degrees ) ); | |
R_ConcatRotations( m, zrot, tmpmat ); | |
R_ConcatRotations( tmpmat, im, rot ); | |
for ( i = 0; i < 3; i++ ) | |
{ | |
dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2]; | |
} | |
} | |
#ifdef _WIN32 | |
#pragma optimize( "", on ) | |
#endif | |
/*-----------------------------------------------------------------*/ | |
float anglemod(float a) | |
{ | |
#if 0 | |
if (a >= 0) | |
a -= 360*(int)(a/360); | |
else | |
a += 360*( 1 + (int)(-a/360) ); | |
#endif | |
a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535); | |
return a; | |
} | |
/* | |
================== | |
BOPS_Error | |
Split out like this for ASM to call. | |
================== | |
*/ | |
void BOPS_Error (void) | |
{ | |
Sys_Error ("BoxOnPlaneSide: Bad signbits"); | |
} | |
#if !id386 | |
/* | |
================== | |
BoxOnPlaneSide | |
Returns 1, 2, or 1 + 2 | |
================== | |
*/ | |
int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p) | |
{ | |
float dist1, dist2; | |
int sides; | |
#if 0 // this is done by the BOX_ON_PLANE_SIDE macro before calling this | |
// function | |
// fast axial cases | |
if (p->type < 3) | |
{ | |
if (p->dist <= emins[p->type]) | |
return 1; | |
if (p->dist >= emaxs[p->type]) | |
return 2; | |
return 3; | |
} | |
#endif | |
// general case | |
switch (p->signbits) | |
{ | |
case 0: | |
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; | |
dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; | |
break; | |
case 1: | |
dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; | |
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; | |
break; | |
case 2: | |
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; | |
dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; | |
break; | |
case 3: | |
dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; | |
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; | |
break; | |
case 4: | |
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; | |
dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; | |
break; | |
case 5: | |
dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; | |
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; | |
break; | |
case 6: | |
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; | |
dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; | |
break; | |
case 7: | |
dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; | |
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; | |
break; | |
default: | |
dist1 = dist2 = 0; // shut up compiler | |
BOPS_Error (); | |
break; | |
} | |
#if 0 | |
int i; | |
vec3_t corners[2]; | |
for (i=0 ; i<3 ; i++) | |
{ | |
if (plane->normal[i] < 0) | |
{ | |
corners[0][i] = emins[i]; | |
corners[1][i] = emaxs[i]; | |
} | |
else | |
{ | |
corners[1][i] = emins[i]; | |
corners[0][i] = emaxs[i]; | |
} | |
} | |
dist = DotProduct (plane->normal, corners[0]) - plane->dist; | |
dist2 = DotProduct (plane->normal, corners[1]) - plane->dist; | |
sides = 0; | |
if (dist1 >= 0) | |
sides = 1; | |
if (dist2 < 0) | |
sides |= 2; | |
#endif | |
sides = 0; | |
if (dist1 >= p->dist) | |
sides = 1; | |
if (dist2 < p->dist) | |
sides |= 2; | |
#ifdef PARANOID | |
if (sides == 0) | |
Sys_Error ("BoxOnPlaneSide: sides==0"); | |
#endif | |
return sides; | |
} | |
#endif | |
void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) | |
{ | |
float angle; | |
float sr, sp, sy, cr, cp, cy; | |
angle = angles[YAW] * (M_PI*2 / 360); | |
sy = sin(angle); | |
cy = cos(angle); | |
angle = angles[PITCH] * (M_PI*2 / 360); | |
sp = sin(angle); | |
cp = cos(angle); | |
angle = angles[ROLL] * (M_PI*2 / 360); | |
sr = sin(angle); | |
cr = cos(angle); | |
forward[0] = cp*cy; | |
forward[1] = cp*sy; | |
forward[2] = -sp; | |
right[0] = (-1*sr*sp*cy+-1*cr*-sy); | |
right[1] = (-1*sr*sp*sy+-1*cr*cy); | |
right[2] = -1*sr*cp; | |
up[0] = (cr*sp*cy+-sr*-sy); | |
up[1] = (cr*sp*sy+-sr*cy); | |
up[2] = cr*cp; | |
} | |
int VectorCompare (vec3_t v1, vec3_t v2) | |
{ | |
int i; | |
for (i=0 ; i<3 ; i++) | |
if (v1[i] != v2[i]) | |
return 0; | |
return 1; | |
} | |
void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc) | |
{ | |
vecc[0] = veca[0] + scale*vecb[0]; | |
vecc[1] = veca[1] + scale*vecb[1]; | |
vecc[2] = veca[2] + scale*vecb[2]; | |
} | |
vec_t _DotProduct (vec3_t v1, vec3_t v2) | |
{ | |
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; | |
} | |
void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out) | |
{ | |
out[0] = veca[0]-vecb[0]; | |
out[1] = veca[1]-vecb[1]; | |
out[2] = veca[2]-vecb[2]; | |
} | |
void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out) | |
{ | |
out[0] = veca[0]+vecb[0]; | |
out[1] = veca[1]+vecb[1]; | |
out[2] = veca[2]+vecb[2]; | |
} | |
void _VectorCopy (vec3_t in, vec3_t out) | |
{ | |
out[0] = in[0]; | |
out[1] = in[1]; | |
out[2] = in[2]; | |
} | |
void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross) | |
{ | |
cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; | |
cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; | |
cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; | |
} | |
double sqrt(double x); | |
vec_t Length(vec3_t v) | |
{ | |
int i; | |
float length; | |
length = 0; | |
for (i=0 ; i< 3 ; i++) | |
length += v[i]*v[i]; | |
length = sqrt (length); // FIXME | |
return length; | |
} | |
float VectorNormalize (vec3_t v) | |
{ | |
float length, ilength; | |
length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; | |
length = sqrt (length); // FIXME | |
if (length) | |
{ | |
ilength = 1/length; | |
v[0] *= ilength; | |
v[1] *= ilength; | |
v[2] *= ilength; | |
} | |
return length; | |
} | |
void VectorInverse (vec3_t v) | |
{ | |
v[0] = -v[0]; | |
v[1] = -v[1]; | |
v[2] = -v[2]; | |
} | |
void VectorScale (vec3_t in, vec_t scale, vec3_t out) | |
{ | |
out[0] = in[0]*scale; | |
out[1] = in[1]*scale; | |
out[2] = in[2]*scale; | |
} | |
int Q_log2(int val) | |
{ | |
int answer=0; | |
while (val>>=1) | |
answer++; | |
return answer; | |
} | |
/* | |
================ | |
R_ConcatRotations | |
================ | |
*/ | |
void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]) | |
{ | |
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + | |
in1[0][2] * in2[2][0]; | |
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + | |
in1[0][2] * in2[2][1]; | |
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + | |
in1[0][2] * in2[2][2]; | |
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + | |
in1[1][2] * in2[2][0]; | |
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + | |
in1[1][2] * in2[2][1]; | |
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + | |
in1[1][2] * in2[2][2]; | |
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + | |
in1[2][2] * in2[2][0]; | |
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + | |
in1[2][2] * in2[2][1]; | |
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + | |
in1[2][2] * in2[2][2]; | |
} | |
/* | |
================ | |
R_ConcatTransforms | |
================ | |
*/ | |
void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4]) | |
{ | |
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + | |
in1[0][2] * in2[2][0]; | |
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + | |
in1[0][2] * in2[2][1]; | |
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + | |
in1[0][2] * in2[2][2]; | |
out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + | |
in1[0][2] * in2[2][3] + in1[0][3]; | |
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + | |
in1[1][2] * in2[2][0]; | |
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + | |
in1[1][2] * in2[2][1]; | |
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + | |
in1[1][2] * in2[2][2]; | |
out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + | |
in1[1][2] * in2[2][3] + in1[1][3]; | |
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + | |
in1[2][2] * in2[2][0]; | |
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + | |
in1[2][2] * in2[2][1]; | |
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + | |
in1[2][2] * in2[2][2]; | |
out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + | |
in1[2][2] * in2[2][3] + in1[2][3]; | |
} | |
/* | |
=================== | |
FloorDivMod | |
Returns mathematically correct (floor-based) quotient and remainder for | |
numer and denom, both of which should contain no fractional part. The | |
quotient must fit in 32 bits. | |
==================== | |
*/ | |
void FloorDivMod (double numer, double denom, int *quotient, | |
int *rem) | |
{ | |
int q, r; | |
double x; | |
#ifndef PARANOID | |
if (denom <= 0.0) | |
Sys_Error ("FloorDivMod: bad denominator %d\n", denom); | |
// if ((floor(numer) != numer) || (floor(denom) != denom)) | |
// Sys_Error ("FloorDivMod: non-integer numer or denom %f %f\n", | |
// numer, denom); | |
#endif | |
if (numer >= 0.0) | |
{ | |
x = floor(numer / denom); | |
q = (int)x; | |
r = (int)floor(numer - (x * denom)); | |
} | |
else | |
{ | |
// | |
// perform operations with positive values, and fix mod to make floor-based | |
// | |
x = floor(-numer / denom); | |
q = -(int)x; | |
r = (int)floor(-numer - (x * denom)); | |
if (r != 0) | |
{ | |
q--; | |
r = (int)denom - r; | |
} | |
} | |
*quotient = q; | |
*rem = r; | |
} | |
/* | |
=================== | |
GreatestCommonDivisor | |
==================== | |
*/ | |
int GreatestCommonDivisor (int i1, int i2) | |
{ | |
if (i1 > i2) | |
{ | |
if (i2 == 0) | |
return (i1); | |
return GreatestCommonDivisor (i2, i1 % i2); | |
} | |
else | |
{ | |
if (i1 == 0) | |
return (i2); | |
return GreatestCommonDivisor (i1, i2 % i1); | |
} | |
} | |
#if !id386 | |
// TODO: move to nonintel.c | |
/* | |
=================== | |
Invert24To16 | |
Inverts an 8.24 value to a 16.16 value | |
==================== | |
*/ | |
fixed16_t Invert24To16(fixed16_t val) | |
{ | |
if (val < 256) | |
return (0xFFFFFFFF); | |
return (fixed16_t) | |
(((double)0x10000 * (double)0x1000000 / (double)val) + 0.5); | |
} | |
#endif |