2 Copyright (C) 1996-1997 Id Software, Inc.
4 This program is free software; you can redistribute it and/or
5 modify it under the terms of the GNU General Public License
6 as published by the Free Software Foundation; either version 2
7 of the License, or (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 See the GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program; if not, write to the Free Software
17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
20 // mathlib.c -- math primitives
26 vec3_t vec3_origin = {0,0,0};
29 /*-----------------------------------------------------------------*/
31 float m_bytenormals[NUMVERTEXNORMALS][3] =
33 {-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188},
34 {-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017},
35 {-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000},
36 {0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718},
37 {0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651},
38 {0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651},
39 {0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188},
40 {0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567},
41 {-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191},
42 {-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856},
43 {-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325},
44 {-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863},
45 {-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621},
46 {-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000},
47 {0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863},
48 {0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460},
49 {0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242},
50 {-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863},
51 {0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017},
52 {0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460},
53 {0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000},
54 {0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621},
55 {0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785},
56 {0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325},
57 {0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567},
58 {0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000},
59 {1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866},
60 {0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000},
61 {0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866},
62 {0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567},
63 {0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856},
64 {0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866},
65 {0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567},
66 {0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731},
67 {0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856},
68 {0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718},
69 {0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785},
70 {0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191},
71 {0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718},
72 {-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651},
73 {-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188},
74 {-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056},
75 {0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423},
76 {0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188},
77 {-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056},
78 {0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718},
79 {0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651},
80 {0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188},
81 {0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863},
82 {0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785},
83 {0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325},
84 {0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242},
85 {0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460},
86 {0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242},
87 {0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460},
88 {0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621},
89 {0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863},
90 {-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460},
91 {-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621},
92 {-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000},
93 {-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863},
94 {-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856},
95 {-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325},
96 {-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188},
97 {-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017},
98 {-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785},
99 {-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188},
100 {0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017},
101 {0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651},
102 {0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191},
103 {0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000},
104 {-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000},
105 {-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000},
106 {-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856},
107 {-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000},
108 {-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866},
109 {-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567},
110 {-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731},
111 {-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191},
112 {-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785},
113 {-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325},
117 unsigned char NormalToByte(const vec3_t n)
120 float bestdistance, distance;
123 bestdistance = DotProduct (n, m_bytenormals[0]);
124 for (i = 1;i < NUMVERTEXNORMALS;i++)
126 distance = DotProduct (n, m_bytenormals[i]);
127 if (distance > bestdistance)
129 bestdistance = distance;
136 // note: uses byte partly to force unsigned for the validity check
137 void ByteToNormal(unsigned char num, vec3_t n)
139 if (num < NUMVERTEXNORMALS)
140 VectorCopy(m_bytenormals[num], n);
142 VectorClear(n); // FIXME: complain?
145 // assumes "src" is normalized
146 void PerpendicularVector( vec3_t dst, const vec3_t src )
148 // LordHavoc: optimized to death and beyond
162 minelem = fabs(src[0]);
163 if (fabs(src[1]) < minelem)
166 minelem = fabs(src[1]);
168 if (fabs(src[2]) < minelem)
172 dst[0] -= src[pos] * src[0];
173 dst[1] -= src[pos] * src[1];
174 dst[2] -= src[pos] * src[2];
176 // normalize the result
177 VectorNormalize(dst);
198 // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
199 void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
203 right[0] = forward[2];
204 right[1] = -forward[0];
205 right[2] = forward[1];
207 d = DotProduct(forward, right);
208 VectorMA(right, -d, forward, right);
209 VectorNormalize(right);
210 CrossProduct(right, forward, up);
213 void VectorVectorsDouble(const double *forward, double *right, double *up)
217 right[0] = forward[2];
218 right[1] = -forward[0];
219 right[2] = forward[1];
221 d = DotProduct(forward, right);
222 VectorMA(right, -d, forward, right);
223 VectorNormalize(right);
224 CrossProduct(right, forward, up);
227 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
233 angle = DEG2RAD(degrees);
237 VectorVectors(vf, vr, vu);
239 t0 = vr[0] * c + vu[0] * -s;
240 t1 = vr[0] * s + vu[0] * c;
241 dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
242 + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
243 + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
245 t0 = vr[1] * c + vu[1] * -s;
246 t1 = vr[1] * s + vu[1] * c;
247 dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
248 + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
249 + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
251 t0 = vr[2] * c + vu[2] * -s;
252 t1 = vr[2] * s + vu[2] * c;
253 dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
254 + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
255 + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
258 /*-----------------------------------------------------------------*/
260 // returns the smallest integer greater than or equal to "value", or 0 if "value" is too big
261 unsigned int CeilPowerOf2(unsigned int value)
263 unsigned int ceilvalue;
265 if (value > (1U << (sizeof(int) * 8 - 1)))
269 while (ceilvalue < value)
276 /*-----------------------------------------------------------------*/
279 void PlaneClassify(mplane_t *p)
281 // for optimized plane comparisons
282 if (p->normal[0] == 1)
284 else if (p->normal[1] == 1)
286 else if (p->normal[2] == 1)
290 // for BoxOnPlaneSide
292 if (p->normal[0] < 0) // 1
294 if (p->normal[1] < 0) // 2
296 if (p->normal[2] < 0) // 4
300 int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
303 return ((emaxs[p->type] >= p->dist) | ((emins[p->type] < p->dist) << 1));
307 case 0: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
308 case 1: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
309 case 2: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
310 case 3: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
311 case 4: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
312 case 5: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
313 case 6: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
314 case 7: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
319 int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist)
321 switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
324 case 0: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
325 case 1: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
326 case 2: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
327 case 3: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
328 case 4: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
329 case 5: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
330 case 6: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
331 case 7: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
336 void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar)
340 outnear[0] = outnear[1] = outnear[2] = outfar[0] = outfar[1] = outfar[2] = 0;
341 outnear[p->type] = emins[p->type];
342 outfar[p->type] = emaxs[p->type];
348 case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
349 case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
350 case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
351 case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
352 case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
353 case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
354 case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
355 case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
359 void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar)
361 switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
364 case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
365 case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
366 case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
367 case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
368 case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
369 case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
370 case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
371 case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
375 void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist)
379 *outneardist = emins[p->type] - p->dist;
380 *outfardist = emaxs[p->type] - p->dist;
386 case 0: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
387 case 1: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
388 case 2: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
389 case 3: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
390 case 4: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
391 case 5: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
392 case 6: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
393 case 7: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
397 void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outneardist, vec_t *outfardist)
399 switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
402 case 0: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
403 case 1: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
404 case 2: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
405 case 3: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
406 case 4: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
407 case 5: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
408 case 6: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
409 case 7: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
413 void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
415 double angle, sr, sp, sy, cr, cp, cy;
417 angle = angles[YAW] * (M_PI*2 / 360);
420 angle = angles[PITCH] * (M_PI*2 / 360);
433 angle = angles[ROLL] * (M_PI*2 / 360);
438 right[0] = -1*(sr*sp*cy+cr*-sy);
439 right[1] = -1*(sr*sp*sy+cr*cy);
440 right[2] = -1*(sr*cp);
444 up[0] = (cr*sp*cy+-sr*-sy);
445 up[1] = (cr*sp*sy+-sr*cy);
467 void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
469 double angle, sr, sp, sy, cr, cp, cy;
471 angle = angles[YAW] * (M_PI*2 / 360);
474 angle = angles[PITCH] * (M_PI*2 / 360);
487 angle = angles[ROLL] * (M_PI*2 / 360);
492 left[0] = sr*sp*cy+cr*-sy;
493 left[1] = sr*sp*sy+cr*cy;
498 up[0] = cr*sp*cy+-sr*-sy;
499 up[1] = cr*sp*sy+-sr*cy;
521 // LordHavoc: calculates pitch/yaw/roll angles from forward and up vectors
522 void AnglesFromVectors (vec3_t angles, const vec3_t forward, const vec3_t up, qboolean flippitch)
524 if (forward[0] == 0 && forward[1] == 0)
528 angles[PITCH] = -M_PI * 0.5;
529 angles[YAW] = up ? atan2(-up[1], -up[0]) : 0;
533 angles[PITCH] = M_PI * 0.5;
534 angles[YAW] = up ? atan2(up[1], up[0]) : 0;
540 angles[YAW] = atan2(forward[1], forward[0]);
541 angles[PITCH] = -atan2(forward[2], sqrt(forward[0]*forward[0] + forward[1]*forward[1]));
544 vec_t cp = cos(angles[PITCH]), sp = sin(angles[PITCH]);
545 vec_t cy = cos(angles[YAW]), sy = sin(angles[YAW]);
553 angles[ROLL] = -atan2(DotProduct(up, tleft), DotProduct(up, tup));
559 // now convert radians to degrees, and make all values positive
560 VectorScale(angles, 180.0 / M_PI, angles);
563 if (angles[PITCH] < 0) angles[PITCH] += 360;
564 if (angles[YAW] < 0) angles[YAW] += 360;
565 if (angles[ROLL] < 0) angles[ROLL] += 360;
570 vec3_t tforward, tleft, tup, nforward, nup;
571 VectorCopy(forward, nforward);
572 VectorNormalize(nforward);
576 VectorNormalize(nup);
577 AngleVectors(angles, tforward, tleft, tup);
578 if (VectorDistance(tforward, nforward) > 0.01 || VectorDistance(tup, nup) > 0.01)
580 Con_Printf("vectoangles('%f %f %f', '%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], nup[0], nup[1], nup[2], angles[0], angles[1], angles[2]);
581 Con_Printf("^3But that is '%f %f %f', '%f %f %f'\n", tforward[0], tforward[1], tforward[2], tup[0], tup[1], tup[2]);
586 AngleVectors(angles, tforward, tleft, tup);
587 if (VectorDistance(tforward, nforward) > 0.01)
589 Con_Printf("vectoangles('%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], angles[0], angles[1], angles[2]);
590 Con_Printf("^3But that is '%f %f %f'\n", tforward[0], tforward[1], tforward[2]);
598 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
600 double angle, sr, sp, sy, cr, cp, cy;
602 angle = angles[YAW] * (M_PI*2 / 360);
605 angle = angles[PITCH] * (M_PI*2 / 360);
608 angle = angles[ROLL] * (M_PI*2 / 360);
611 matrix[0][0] = cp*cy;
612 matrix[0][1] = sr*sp*cy+cr*-sy;
613 matrix[0][2] = cr*sp*cy+-sr*-sy;
614 matrix[0][3] = translate[0];
615 matrix[1][0] = cp*sy;
616 matrix[1][1] = sr*sp*sy+cr*cy;
617 matrix[1][2] = cr*sp*sy+-sr*cy;
618 matrix[1][3] = translate[1];
620 matrix[2][1] = sr*cp;
621 matrix[2][2] = cr*cp;
622 matrix[2][3] = translate[2];
627 // LordHavoc: renamed this to Length, and made the normal one a #define
628 float VectorNormalizeLength (vec3_t v)
630 float length, ilength;
632 length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
633 length = sqrt (length);
653 void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3])
655 out[0*3+0] = in1[0*3+0] * in2[0*3+0] + in1[0*3+1] * in2[1*3+0] + in1[0*3+2] * in2[2*3+0];
656 out[0*3+1] = in1[0*3+0] * in2[0*3+1] + in1[0*3+1] * in2[1*3+1] + in1[0*3+2] * in2[2*3+1];
657 out[0*3+2] = in1[0*3+0] * in2[0*3+2] + in1[0*3+1] * in2[1*3+2] + in1[0*3+2] * in2[2*3+2];
658 out[1*3+0] = in1[1*3+0] * in2[0*3+0] + in1[1*3+1] * in2[1*3+0] + in1[1*3+2] * in2[2*3+0];
659 out[1*3+1] = in1[1*3+0] * in2[0*3+1] + in1[1*3+1] * in2[1*3+1] + in1[1*3+2] * in2[2*3+1];
660 out[1*3+2] = in1[1*3+0] * in2[0*3+2] + in1[1*3+1] * in2[1*3+2] + in1[1*3+2] * in2[2*3+2];
661 out[2*3+0] = in1[2*3+0] * in2[0*3+0] + in1[2*3+1] * in2[1*3+0] + in1[2*3+2] * in2[2*3+0];
662 out[2*3+1] = in1[2*3+0] * in2[0*3+1] + in1[2*3+1] * in2[1*3+1] + in1[2*3+2] * in2[2*3+1];
663 out[2*3+2] = in1[2*3+0] * in2[0*3+2] + in1[2*3+1] * in2[1*3+2] + in1[2*3+2] * in2[2*3+2];
672 void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4])
674 out[0*4+0] = in1[0*4+0] * in2[0*4+0] + in1[0*4+1] * in2[1*4+0] + in1[0*4+2] * in2[2*4+0];
675 out[0*4+1] = in1[0*4+0] * in2[0*4+1] + in1[0*4+1] * in2[1*4+1] + in1[0*4+2] * in2[2*4+1];
676 out[0*4+2] = in1[0*4+0] * in2[0*4+2] + in1[0*4+1] * in2[1*4+2] + in1[0*4+2] * in2[2*4+2];
677 out[0*4+3] = in1[0*4+0] * in2[0*4+3] + in1[0*4+1] * in2[1*4+3] + in1[0*4+2] * in2[2*4+3] + in1[0*4+3];
678 out[1*4+0] = in1[1*4+0] * in2[0*4+0] + in1[1*4+1] * in2[1*4+0] + in1[1*4+2] * in2[2*4+0];
679 out[1*4+1] = in1[1*4+0] * in2[0*4+1] + in1[1*4+1] * in2[1*4+1] + in1[1*4+2] * in2[2*4+1];
680 out[1*4+2] = in1[1*4+0] * in2[0*4+2] + in1[1*4+1] * in2[1*4+2] + in1[1*4+2] * in2[2*4+2];
681 out[1*4+3] = in1[1*4+0] * in2[0*4+3] + in1[1*4+1] * in2[1*4+3] + in1[1*4+2] * in2[2*4+3] + in1[1*4+3];
682 out[2*4+0] = in1[2*4+0] * in2[0*4+0] + in1[2*4+1] * in2[1*4+0] + in1[2*4+2] * in2[2*4+0];
683 out[2*4+1] = in1[2*4+0] * in2[0*4+1] + in1[2*4+1] * in2[1*4+1] + in1[2*4+2] * in2[2*4+1];
684 out[2*4+2] = in1[2*4+0] * in2[0*4+2] + in1[2*4+1] * in2[1*4+2] + in1[2*4+2] * in2[2*4+2];
685 out[2*4+3] = in1[2*4+0] * in2[0*4+3] + in1[2*4+1] * in2[1*4+3] + in1[2*4+2] * in2[2*4+3] + in1[2*4+3];
688 float RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
691 VectorMultiply(mins, mins, m1);
692 VectorMultiply(maxs, maxs, m2);
693 return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
696 float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin)
699 VectorSubtract(mins, origin, m1);VectorMultiply(m1, m1, m1);
700 VectorSubtract(maxs, origin, m2);VectorMultiply(m2, m2, m2);
701 return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
704 void Mathlib_Init(void)
708 // LordHavoc: setup 1.0f / N table for quick recipricols of integers
710 for (a = 1;a < 4096;a++)
711 ixtable[a] = 1.0f / a;
714 #include "matrixlib.h"
716 void Matrix4x4_Print(const matrix4x4_t *in)
718 Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
719 , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
720 , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
721 , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
722 , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
725 int Math_atov(const char *s, vec3_t out)
731 for (i = 0;i < 3;i++)
733 while (*s == ' ' || *s == '\t')
736 if (out[i] == 0 && *s != '-' && *s != '+' && (*s < '0' || *s > '9'))
737 break; // not a number
738 while (*s && *s != ' ' && *s !='\t' && *s != '\'')
746 void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f)
749 VectorCopy(point3f, mins);
750 VectorCopy(point3f, maxs);
751 for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3)
753 mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]);
754 mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]);
755 mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]);