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1.1 ! root 1: /* ! 2: Copyright (C) 1996-1997 Id Software, Inc. ! 3: ! 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. ! 8: ! 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. ! 12: ! 13: See the GNU General Public License for more details. ! 14: ! 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. ! 18: ! 19: */ ! 20: // mathlib.c -- math primitives ! 21: ! 22: #include <math.h> ! 23: #include "quakedef.h" ! 24: ! 25: void Sys_Error (char *error, ...); ! 26: ! 27: vec3_t vec3_origin = {0,0,0}; ! 28: int nanmask = 255<<23; ! 29: ! 30: /*-----------------------------------------------------------------*/ ! 31: ! 32: #define DEG2RAD( a ) ( a * M_PI ) / 180.0F ! 33: ! 34: void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal ) ! 35: { ! 36: float d; ! 37: vec3_t n; ! 38: float inv_denom; ! 39: ! 40: inv_denom = 1.0F / DotProduct( normal, normal ); ! 41: ! 42: d = DotProduct( normal, p ) * inv_denom; ! 43: ! 44: n[0] = normal[0] * inv_denom; ! 45: n[1] = normal[1] * inv_denom; ! 46: n[2] = normal[2] * inv_denom; ! 47: ! 48: dst[0] = p[0] - d * n[0]; ! 49: dst[1] = p[1] - d * n[1]; ! 50: dst[2] = p[2] - d * n[2]; ! 51: } ! 52: ! 53: /* ! 54: ** assumes "src" is normalized ! 55: */ ! 56: void PerpendicularVector( vec3_t dst, const vec3_t src ) ! 57: { ! 58: int pos; ! 59: int i; ! 60: float minelem = 1.0F; ! 61: vec3_t tempvec; ! 62: ! 63: /* ! 64: ** find the smallest magnitude axially aligned vector ! 65: */ ! 66: for ( pos = 0, i = 0; i < 3; i++ ) ! 67: { ! 68: if ( fabs( src[i] ) < minelem ) ! 69: { ! 70: pos = i; ! 71: minelem = fabs( src[i] ); ! 72: } ! 73: } ! 74: tempvec[0] = tempvec[1] = tempvec[2] = 0.0F; ! 75: tempvec[pos] = 1.0F; ! 76: ! 77: /* ! 78: ** project the point onto the plane defined by src ! 79: */ ! 80: ProjectPointOnPlane( dst, tempvec, src ); ! 81: ! 82: /* ! 83: ** normalize the result ! 84: */ ! 85: VectorNormalize( dst ); ! 86: } ! 87: ! 88: #ifdef _WIN32 ! 89: #pragma optimize( "", off ) ! 90: #endif ! 91: ! 92: ! 93: void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ) ! 94: { ! 95: float m[3][3]; ! 96: float im[3][3]; ! 97: float zrot[3][3]; ! 98: float tmpmat[3][3]; ! 99: float rot[3][3]; ! 100: int i; ! 101: vec3_t vr, vup, vf; ! 102: ! 103: vf[0] = dir[0]; ! 104: vf[1] = dir[1]; ! 105: vf[2] = dir[2]; ! 106: ! 107: PerpendicularVector( vr, dir ); ! 108: CrossProduct( vr, vf, vup ); ! 109: ! 110: m[0][0] = vr[0]; ! 111: m[1][0] = vr[1]; ! 112: m[2][0] = vr[2]; ! 113: ! 114: m[0][1] = vup[0]; ! 115: m[1][1] = vup[1]; ! 116: m[2][1] = vup[2]; ! 117: ! 118: m[0][2] = vf[0]; ! 119: m[1][2] = vf[1]; ! 120: m[2][2] = vf[2]; ! 121: ! 122: memcpy( im, m, sizeof( im ) ); ! 123: ! 124: im[0][1] = m[1][0]; ! 125: im[0][2] = m[2][0]; ! 126: im[1][0] = m[0][1]; ! 127: im[1][2] = m[2][1]; ! 128: im[2][0] = m[0][2]; ! 129: im[2][1] = m[1][2]; ! 130: ! 131: memset( zrot, 0, sizeof( zrot ) ); ! 132: zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; ! 133: ! 134: zrot[0][0] = cos( DEG2RAD( degrees ) ); ! 135: zrot[0][1] = sin( DEG2RAD( degrees ) ); ! 136: zrot[1][0] = -sin( DEG2RAD( degrees ) ); ! 137: zrot[1][1] = cos( DEG2RAD( degrees ) ); ! 138: ! 139: R_ConcatRotations( m, zrot, tmpmat ); ! 140: R_ConcatRotations( tmpmat, im, rot ); ! 141: ! 142: for ( i = 0; i < 3; i++ ) ! 143: { ! 144: dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2]; ! 145: } ! 146: } ! 147: ! 148: #ifdef _WIN32 ! 149: #pragma optimize( "", on ) ! 150: #endif ! 151: ! 152: /*-----------------------------------------------------------------*/ ! 153: ! 154: float anglemod(float a) ! 155: { ! 156: #if 0 ! 157: if (a >= 0) ! 158: a -= 360*(int)(a/360); ! 159: else ! 160: a += 360*( 1 + (int)(-a/360) ); ! 161: #endif ! 162: a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535); ! 163: return a; ! 164: } ! 165: ! 166: /* ! 167: ================== ! 168: BOPS_Error ! 169: ! 170: Split out like this for ASM to call. ! 171: ================== ! 172: */ ! 173: void BOPS_Error (void) ! 174: { ! 175: Sys_Error ("BoxOnPlaneSide: Bad signbits"); ! 176: } ! 177: ! 178: #if !id386 ! 179: ! 180: /* ! 181: ================== ! 182: BoxOnPlaneSide ! 183: ! 184: Returns 1, 2, or 1 + 2 ! 185: ================== ! 186: */ ! 187: int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p) ! 188: { ! 189: float dist1, dist2; ! 190: int sides; ! 191: ! 192: #if 0 // this is done by the BOX_ON_PLANE_SIDE macro before calling this ! 193: // function ! 194: // fast axial cases ! 195: if (p->type < 3) ! 196: { ! 197: if (p->dist <= emins[p->type]) ! 198: return 1; ! 199: if (p->dist >= emaxs[p->type]) ! 200: return 2; ! 201: return 3; ! 202: } ! 203: #endif ! 204: ! 205: // general case ! 206: switch (p->signbits) ! 207: { ! 208: case 0: ! 209: dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; ! 210: dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; ! 211: break; ! 212: case 1: ! 213: dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; ! 214: dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; ! 215: break; ! 216: case 2: ! 217: dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; ! 218: dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; ! 219: break; ! 220: case 3: ! 221: dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; ! 222: dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; ! 223: break; ! 224: case 4: ! 225: dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; ! 226: dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; ! 227: break; ! 228: case 5: ! 229: dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]; ! 230: dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]; ! 231: break; ! 232: case 6: ! 233: dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; ! 234: dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; ! 235: break; ! 236: case 7: ! 237: dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]; ! 238: dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]; ! 239: break; ! 240: default: ! 241: dist1 = dist2 = 0; // shut up compiler ! 242: BOPS_Error (); ! 243: break; ! 244: } ! 245: ! 246: #if 0 ! 247: int i; ! 248: vec3_t corners[2]; ! 249: ! 250: for (i=0 ; i<3 ; i++) ! 251: { ! 252: if (plane->normal[i] < 0) ! 253: { ! 254: corners[0][i] = emins[i]; ! 255: corners[1][i] = emaxs[i]; ! 256: } ! 257: else ! 258: { ! 259: corners[1][i] = emins[i]; ! 260: corners[0][i] = emaxs[i]; ! 261: } ! 262: } ! 263: dist = DotProduct (plane->normal, corners[0]) - plane->dist; ! 264: dist2 = DotProduct (plane->normal, corners[1]) - plane->dist; ! 265: sides = 0; ! 266: if (dist1 >= 0) ! 267: sides = 1; ! 268: if (dist2 < 0) ! 269: sides |= 2; ! 270: ! 271: #endif ! 272: ! 273: sides = 0; ! 274: if (dist1 >= p->dist) ! 275: sides = 1; ! 276: if (dist2 < p->dist) ! 277: sides |= 2; ! 278: ! 279: #ifdef PARANOID ! 280: if (sides == 0) ! 281: Sys_Error ("BoxOnPlaneSide: sides==0"); ! 282: #endif ! 283: ! 284: return sides; ! 285: } ! 286: ! 287: #endif ! 288: ! 289: ! 290: void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) ! 291: { ! 292: float angle; ! 293: float sr, sp, sy, cr, cp, cy; ! 294: ! 295: angle = angles[YAW] * (M_PI*2 / 360); ! 296: sy = sin(angle); ! 297: cy = cos(angle); ! 298: angle = angles[PITCH] * (M_PI*2 / 360); ! 299: sp = sin(angle); ! 300: cp = cos(angle); ! 301: angle = angles[ROLL] * (M_PI*2 / 360); ! 302: sr = sin(angle); ! 303: cr = cos(angle); ! 304: ! 305: forward[0] = cp*cy; ! 306: forward[1] = cp*sy; ! 307: forward[2] = -sp; ! 308: right[0] = (-1*sr*sp*cy+-1*cr*-sy); ! 309: right[1] = (-1*sr*sp*sy+-1*cr*cy); ! 310: right[2] = -1*sr*cp; ! 311: up[0] = (cr*sp*cy+-sr*-sy); ! 312: up[1] = (cr*sp*sy+-sr*cy); ! 313: up[2] = cr*cp; ! 314: } ! 315: ! 316: int VectorCompare (vec3_t v1, vec3_t v2) ! 317: { ! 318: int i; ! 319: ! 320: for (i=0 ; i<3 ; i++) ! 321: if (v1[i] != v2[i]) ! 322: return 0; ! 323: ! 324: return 1; ! 325: } ! 326: ! 327: void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc) ! 328: { ! 329: vecc[0] = veca[0] + scale*vecb[0]; ! 330: vecc[1] = veca[1] + scale*vecb[1]; ! 331: vecc[2] = veca[2] + scale*vecb[2]; ! 332: } ! 333: ! 334: ! 335: vec_t _DotProduct (vec3_t v1, vec3_t v2) ! 336: { ! 337: return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; ! 338: } ! 339: ! 340: void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out) ! 341: { ! 342: out[0] = veca[0]-vecb[0]; ! 343: out[1] = veca[1]-vecb[1]; ! 344: out[2] = veca[2]-vecb[2]; ! 345: } ! 346: ! 347: void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out) ! 348: { ! 349: out[0] = veca[0]+vecb[0]; ! 350: out[1] = veca[1]+vecb[1]; ! 351: out[2] = veca[2]+vecb[2]; ! 352: } ! 353: ! 354: void _VectorCopy (vec3_t in, vec3_t out) ! 355: { ! 356: out[0] = in[0]; ! 357: out[1] = in[1]; ! 358: out[2] = in[2]; ! 359: } ! 360: ! 361: void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross) ! 362: { ! 363: cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; ! 364: cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; ! 365: cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; ! 366: } ! 367: ! 368: double sqrt(double x); ! 369: ! 370: vec_t Length(vec3_t v) ! 371: { ! 372: int i; ! 373: float length; ! 374: ! 375: length = 0; ! 376: for (i=0 ; i< 3 ; i++) ! 377: length += v[i]*v[i]; ! 378: length = sqrt (length); // FIXME ! 379: ! 380: return length; ! 381: } ! 382: ! 383: float VectorNormalize (vec3_t v) ! 384: { ! 385: float length, ilength; ! 386: ! 387: length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; ! 388: length = sqrt (length); // FIXME ! 389: ! 390: if (length) ! 391: { ! 392: ilength = 1/length; ! 393: v[0] *= ilength; ! 394: v[1] *= ilength; ! 395: v[2] *= ilength; ! 396: } ! 397: ! 398: return length; ! 399: ! 400: } ! 401: ! 402: void VectorInverse (vec3_t v) ! 403: { ! 404: v[0] = -v[0]; ! 405: v[1] = -v[1]; ! 406: v[2] = -v[2]; ! 407: } ! 408: ! 409: void VectorScale (vec3_t in, vec_t scale, vec3_t out) ! 410: { ! 411: out[0] = in[0]*scale; ! 412: out[1] = in[1]*scale; ! 413: out[2] = in[2]*scale; ! 414: } ! 415: ! 416: ! 417: int Q_log2(int val) ! 418: { ! 419: int answer=0; ! 420: while ((val>>=1) != 0) ! 421: answer++; ! 422: return answer; ! 423: } ! 424: ! 425: ! 426: /* ! 427: ================ ! 428: R_ConcatRotations ! 429: ================ ! 430: */ ! 431: void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]) ! 432: { ! 433: out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + ! 434: in1[0][2] * in2[2][0]; ! 435: out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + ! 436: in1[0][2] * in2[2][1]; ! 437: out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + ! 438: in1[0][2] * in2[2][2]; ! 439: out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + ! 440: in1[1][2] * in2[2][0]; ! 441: out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + ! 442: in1[1][2] * in2[2][1]; ! 443: out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + ! 444: in1[1][2] * in2[2][2]; ! 445: out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + ! 446: in1[2][2] * in2[2][0]; ! 447: out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + ! 448: in1[2][2] * in2[2][1]; ! 449: out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + ! 450: in1[2][2] * in2[2][2]; ! 451: } ! 452: ! 453: ! 454: /* ! 455: ================ ! 456: R_ConcatTransforms ! 457: ================ ! 458: */ ! 459: void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4]) ! 460: { ! 461: out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + ! 462: in1[0][2] * in2[2][0]; ! 463: out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + ! 464: in1[0][2] * in2[2][1]; ! 465: out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + ! 466: in1[0][2] * in2[2][2]; ! 467: out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + ! 468: in1[0][2] * in2[2][3] + in1[0][3]; ! 469: out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + ! 470: in1[1][2] * in2[2][0]; ! 471: out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + ! 472: in1[1][2] * in2[2][1]; ! 473: out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + ! 474: in1[1][2] * in2[2][2]; ! 475: out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + ! 476: in1[1][2] * in2[2][3] + in1[1][3]; ! 477: out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + ! 478: in1[2][2] * in2[2][0]; ! 479: out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + ! 480: in1[2][2] * in2[2][1]; ! 481: out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + ! 482: in1[2][2] * in2[2][2]; ! 483: out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + ! 484: in1[2][2] * in2[2][3] + in1[2][3]; ! 485: } ! 486: ! 487: ! 488: /* ! 489: =================== ! 490: FloorDivMod ! 491: ! 492: Returns mathematically correct (floor-based) quotient and remainder for ! 493: numer and denom, both of which should contain no fractional part. The ! 494: quotient must fit in 32 bits. ! 495: ==================== ! 496: */ ! 497: ! 498: void FloorDivMod (double numer, double denom, int *quotient, ! 499: int *rem) ! 500: { ! 501: int q, r; ! 502: double x; ! 503: ! 504: #ifndef PARANOID ! 505: if (denom <= 0.0) ! 506: Sys_Error ("FloorDivMod: bad denominator %d\n", denom); ! 507: ! 508: // if ((floor(numer) != numer) || (floor(denom) != denom)) ! 509: // Sys_Error ("FloorDivMod: non-integer numer or denom %f %f\n", ! 510: // numer, denom); ! 511: #endif ! 512: ! 513: if (numer >= 0.0) ! 514: { ! 515: ! 516: x = floor(numer / denom); ! 517: q = (int)x; ! 518: r = (int)floor(numer - (x * denom)); ! 519: } ! 520: else ! 521: { ! 522: // ! 523: // perform operations with positive values, and fix mod to make floor-based ! 524: // ! 525: x = floor(-numer / denom); ! 526: q = -(int)x; ! 527: r = (int)floor(-numer - (x * denom)); ! 528: if (r != 0) ! 529: { ! 530: q--; ! 531: r = (int)denom - r; ! 532: } ! 533: } ! 534: ! 535: *quotient = q; ! 536: *rem = r; ! 537: } ! 538: ! 539: ! 540: /* ! 541: =================== ! 542: GreatestCommonDivisor ! 543: ==================== ! 544: */ ! 545: int GreatestCommonDivisor (int i1, int i2) ! 546: { ! 547: if (i1 > i2) ! 548: { ! 549: if (i2 == 0) ! 550: return (i1); ! 551: return GreatestCommonDivisor (i2, i1 % i2); ! 552: } ! 553: else ! 554: { ! 555: if (i1 == 0) ! 556: return (i2); ! 557: return GreatestCommonDivisor (i1, i2 % i1); ! 558: } ! 559: } ! 560: ! 561: ! 562: #if !id386 ! 563: ! 564: // TODO: move to nonintel.c ! 565: ! 566: /* ! 567: =================== ! 568: Invert24To16 ! 569: ! 570: Inverts an 8.24 value to a 16.16 value ! 571: ==================== ! 572: */ ! 573: ! 574: fixed16_t Invert24To16(fixed16_t val) ! 575: { ! 576: if (val < 256) ! 577: return (0xFFFFFFFF); ! 578: ! 579: return (fixed16_t) ! 580: (((double)0x10000 * (double)0x1000000 / (double)val) + 0.5); ! 581: } ! 582: ! 583: #endif
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