/* 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.h #ifndef M_PI #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h #endif typedef float vec_t; typedef vec_t vec2_t[2]; typedef vec_t vec3_t[3]; typedef vec_t vec4_t[4]; typedef vec_t vec5_t[5]; typedef vec_t vec6_t[6]; typedef vec_t vec7_t[7]; typedef vec_t vec8_t[8]; struct mplane_s; extern vec3_t vec3_origin; #define nanmask (255<<23) #define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask) #define bound(min,num,max) (num >= min ? (num < max ? num : max) : min) #ifndef min #define min(A,B) (A < B ? A : B) #define max(A,B) (A > B ? A : B) #endif #define lhrandom(MIN,MAX) ((rand() & 32767) * (((MAX)-(MIN)) * (1.0f / 32767.0f)) + (MIN)) #define DEG2RAD(a) ((a) * ((float) M_PI / 180.0f)) #define RAD2DEG(a) ((a) * (180.0f / (float) M_PI)) #define ANGLEMOD(a) (((int) ((a) * (65536.0f / 360.0f)) & 65535) * (360.0f / 65536.0f)) #define VectorNegate(a,b) ((b)[0]=-((a)[0]),(b)[1]=-((a)[1]),(b)[2]=-((a)[2])) #define VectorSet(a,b,c,d) ((a)[0]=(b),(a)[1]=(c),(a)[2]=(d)) #define VectorClear(a) ((a)[0]=(a)[1]=(a)[2]=0) #define DotProduct(a,b) ((a)[0]*(b)[0]+(a)[1]*(b)[1]+(a)[2]*(b)[2]) #define VectorSubtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2]) #define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2]) #define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2]) #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]) #define VectorNormalize(v) {float ilength = 1.0f / (float) sqrt(DotProduct(v,v));v[0] *= ilength;v[1] *= ilength;v[2] *= ilength;} #define VectorNormalize2(v,dest) {float ilength = 1.0f / (float) sqrt(DotProduct(v,v));dest[0] = v[0] * ilength;dest[1] = v[1] * ilength;dest[2] = v[2] * ilength;} #define VectorNormalizeDouble(v) {double ilength = 1.0 / (float) sqrt(DotProduct(v,v));v[0] *= ilength;v[1] *= ilength;v[2] *= ilength;} #define VectorDistance2(a, b) (((a)[0] - (b)[0]) * ((a)[0] - (b)[0]) + ((a)[1] - (b)[1]) * ((a)[1] - (b)[1]) + ((a)[2] - (b)[2]) * ((a)[2] - (b)[2])) #define VectorDistance(a, b) (sqrt(VectorDistance2(a,b))) #define VectorLength(a) sqrt(DotProduct(a, a)) #define VectorScale(in, scale, out) ((out)[0] = (in)[0] * (scale),(out)[1] = (in)[1] * (scale),(out)[2] = (in)[2] * (scale)) #define VectorCompare(a,b) (((a)[0]==(b)[0])&&((a)[1]==(b)[1])&&((a)[2]==(b)[2])) #define VectorMA(a, scale, b, c) ((c)[0] = (a)[0] + (scale) * (b)[0],(c)[1] = (a)[1] + (scale) * (b)[1],(c)[2] = (a)[2] + (scale) * (b)[2]) #define VectorNormalizeFast(_v)\ {\ float _y, _number;\ _number = DotProduct(_v, _v);\ if (_number != 0.0)\ {\ *((long *)&_y) = 0x5f3759df - ((* (long *) &_number) >> 1);\ _y = _y * (1.5f - (_number * 0.5f * _y * _y));\ VectorScale(_v, _y, _v);\ }\ } #define VectorRandom(v) {do{(v)[0] = lhrandom(-1, 1);(v)[1] = lhrandom(-1, 1);(v)[2] = lhrandom(-1, 1);}while(DotProduct(v, v) > 1);} // LordHavoc: quaternion math, untested, don't know if these are correct, // need to add conversion to/from matrices // returns length of quaternion #define qlen(a) ((float) sqrt((a)[0]*(a)[0]+(a)[1]*(a)[1]+(a)[2]*(a)[2]+(a)[3]*(a)[3])) // returns squared length of quaternion #define qlen2(a) ((a)[0]*(a)[0]+(a)[1]*(a)[1]+(a)[2]*(a)[2]+(a)[3]*(a)[3]) // makes a quaternion from x, y, z, and a rotation angle (in degrees) // FIXME: this is almost definitely broken, need a rewrite #define QuatMake(x,y,z,r,c)\ {\ r2 = (r) * M_PI / 360;\ if (r == 0)\ {\ (c)[0]=(float) ((x)*sin(r2));\ (c)[1]=(float) ((y)*sin(r2));\ (c)[2]=(float) ((z)*sin(r2));\ (c)[3]=(float) 1;\ }\ else\ {\ float r2 = (r) * 0.5 * (M_PI / 180);\ (c)[0]=(float) ((x)*sin(r2));\ (c)[1]=(float) ((y)*sin(r2));\ (c)[2]=(float) ((z)*sin(r2));\ (c)[3]=(float) (cos(r2));\ }\ } // makes a quaternion from a vector and a rotation angle (in degrees) #define QuatFromVec(a,r,c) QuatMake((a)[0],(a)[1],(a)[2],(r)) // copies a quaternion #define QuatCopy(a,c) {(c)[0]=(a)[0];(c)[1]=(a)[1];(c)[2]=(a)[2];(c)[3]=(a)[3];} #define QuatSubtract(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];} #define QuatAdd(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];} #define QuatScale(a,b,c) {(c)[0]=(a)[0]*b;(c)[1]=(a)[1]*b;(c)[2]=(a)[2]*b;(c)[3]=(a)[3]*b;} // FIXME: this is wrong, do some more research on quaternions //#define QuatMultiply(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];} // FIXME: this is wrong, do some more research on quaternions //#define QuatMultiplyAdd(a,b,d,c) {(c)[0]=(a)[0]*(b)[0]+d[0];(c)[1]=(a)[1]*(b)[1]+d[1];(c)[2]=(a)[2]*(b)[2]+d[2];(c)[3]=(a)[3]*(b)[3]+d[3];} #define qdist(a,b) ((float) sqrt(((b)[0]-(a)[0])*((b)[0]-(a)[0])+((b)[1]-(a)[1])*((b)[1]-(a)[1])+((b)[2]-(a)[2])*((b)[2]-(a)[2])+((b)[3]-(a)[3])*((b)[3]-(a)[3]))) #define qdist2(a,b) (((b)[0]-(a)[0])*((b)[0]-(a)[0])+((b)[1]-(a)[1])*((b)[1]-(a)[1])+((b)[2]-(a)[2])*((b)[2]-(a)[2])+((b)[3]-(a)[3])*((b)[3]-(a)[3])) #define VectorCopy4(a,b) {(b)[0]=(a)[0];(b)[1]=(a)[1];(b)[2]=(a)[2];(b)[3]=(a)[3];} vec_t Length (vec3_t v); float VectorNormalizeLength (vec3_t v); // returns vector length float VectorNormalizeLength2 (vec3_t v, vec3_t dest); // returns vector length #define NUMVERTEXNORMALS 162 extern float m_bytenormals[NUMVERTEXNORMALS][3]; qbyte NormalToByte(const vec3_t n); void ByteToNormal(qbyte num, vec3_t n); void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3]); void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4]); void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up); // LordHavoc: proper matrix version of AngleVectors void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up); // LordHavoc: builds a [3][4] matrix void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4]); // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful! void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up); void VectorVectorsDouble(const double *forward, double *right, double *up); void PlaneClassify(struct mplane_s *p); #define BOX_ON_PLANE_SIDE(emins, emaxs, p) \ (((p)->type < 3)? \ ( \ ((p)->dist <= (emins)[(p)->type])? \ 1 \ : \ ( \ ((p)->dist >= (emaxs)[(p)->type])?\ 2 \ : \ 3 \ ) \ ) \ : \ (p)->BoxOnPlaneSideFunc( (emins), (emaxs), (p))) #define PlaneDist(point,plane) ((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) #define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist) //#define PlaneDist(point,plane) (DotProduct((point), (plane)->normal)) //#define PlaneDiff(point,plane) (DotProduct((point), (plane)->normal) - (plane)->dist) // LordHavoc: minimal plane structure typedef struct { float normal[3], dist; } tinyplane_t; typedef struct { double normal[3], dist; } tinydoubleplane_t; void RotatePointAroundVector(vec3_t dst, const vec3_t dir, const vec3_t point, float degrees);