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
25 void Sys_Error (char *error, ...);
27 vec3_t vec3_origin = {0,0,0};
30 /*-----------------------------------------------------------------*/
32 float m_bytenormals[NUMVERTEXNORMALS][3] =
34 {-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188},
35 {-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017},
36 {-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000},
37 {0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718},
38 {0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651},
39 {0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651},
40 {0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188},
41 {0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567},
42 {-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191},
43 {-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856},
44 {-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325},
45 {-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863},
46 {-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621},
47 {-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000},
48 {0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863},
49 {0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460},
50 {0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242},
51 {-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863},
52 {0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017},
53 {0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460},
54 {0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000},
55 {0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621},
56 {0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785},
57 {0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325},
58 {0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567},
59 {0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000},
60 {1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866},
61 {0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000},
62 {0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866},
63 {0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567},
64 {0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856},
65 {0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866},
66 {0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567},
67 {0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731},
68 {0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856},
69 {0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718},
70 {0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785},
71 {0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191},
72 {0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718},
73 {-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651},
74 {-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188},
75 {-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056},
76 {0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423},
77 {0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188},
78 {-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056},
79 {0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718},
80 {0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651},
81 {0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188},
82 {0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863},
83 {0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785},
84 {0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325},
85 {0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242},
86 {0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460},
87 {0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242},
88 {0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460},
89 {0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621},
90 {0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863},
91 {-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460},
92 {-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621},
93 {-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000},
94 {-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863},
95 {-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856},
96 {-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325},
97 {-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188},
98 {-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017},
99 {-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785},
100 {-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188},
101 {0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017},
102 {0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651},
103 {0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191},
104 {0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000},
105 {-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000},
106 {-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000},
107 {-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856},
108 {-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000},
109 {-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866},
110 {-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567},
111 {-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731},
112 {-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191},
113 {-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785},
114 {-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325},
117 qbyte 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(qbyte num, vec3_t n)
139 if (num < NUMVERTEXNORMALS)
140 VectorCopy(m_bytenormals[num], n);
142 VectorClear(n); // FIXME: complain?
145 float Q_RSqrt(float number)
152 *((int *)&y) = 0x5f3759df - ((* (int *) &number) >> 1);
153 return y * (1.5f - (number * 0.5f * y * y));
157 // LordHavoc: no longer used at all
158 void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
161 // LordHavoc: the old way...
166 inv_denom = 1.0F / DotProduct( normal, normal );
168 d = DotProduct( normal, p ) * inv_denom;
170 n[0] = normal[0] * inv_denom;
171 n[1] = normal[1] * inv_denom;
172 n[2] = normal[2] * inv_denom;
174 dst[0] = p[0] - d * n[0];
175 dst[1] = p[1] - d * n[1];
176 dst[2] = p[2] - d * n[2];
178 // LordHavoc: optimized to death and beyond
181 // LordHavoc: the normal is a unit vector by definition,
182 // therefore inv_denom was pointless.
183 d = DotProduct(normal, p);
184 dst[0] = p[0] - d * normal[0];
185 dst[1] = p[1] - d * normal[1];
186 dst[2] = p[2] - d * normal[2];
191 // assumes "src" is normalized
192 void PerpendicularVector( vec3_t dst, const vec3_t src )
195 // LordHavoc: the old way...
201 // find the smallest magnitude axially aligned vector
203 for ( pos = 0, i = 0; i < 3; i++ )
205 if ( fabs( src[i] ) < minelem )
208 minelem = fabs( src[i] );
211 VectorClear(tempvec);
214 // project the point onto the plane defined by src
215 ProjectPointOnPlane( dst, tempvec, src );
217 // normalize the result
218 VectorNormalize(dst);
220 // LordHavoc: optimized to death and beyond
234 minelem = fabs(src[0]);
235 if (fabs(src[1]) < minelem)
238 minelem = fabs(src[1]);
240 if (fabs(src[2]) < minelem)
244 dst[0] -= src[pos] * src[0];
245 dst[1] -= src[pos] * src[1];
246 dst[2] -= src[pos] * src[2];
248 // normalize the result
249 VectorNormalize(dst);
270 // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
271 void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
275 right[0] = forward[2];
276 right[1] = -forward[0];
277 right[2] = forward[1];
279 d = DotProduct(forward, right);
280 right[0] -= d * forward[0];
281 right[1] -= d * forward[1];
282 right[2] -= d * forward[2];
283 VectorNormalizeFast(right);
284 CrossProduct(right, forward, up);
287 void VectorVectorsDouble(const double *forward, double *right, double *up)
291 right[0] = forward[2];
292 right[1] = -forward[0];
293 right[2] = forward[1];
295 d = DotProduct(forward, right);
296 right[0] -= d * forward[0];
297 right[1] -= d * forward[1];
298 right[2] -= d * forward[2];
299 VectorNormalize(right);
300 CrossProduct(right, forward, up);
303 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
306 // LordHavoc: the old way, cryptic brute force...
319 PerpendicularVector( vr, dir );
320 CrossProduct( vr, vf, vup );
334 memcpy( im, m, sizeof( im ) );
343 memset( zrot, 0, sizeof( zrot ) );
344 zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
346 zrot[0][0] = cos( DEG2RAD( degrees ) );
347 zrot[0][1] = sin( DEG2RAD( degrees ) );
348 zrot[1][0] = -sin( DEG2RAD( degrees ) );
349 zrot[1][1] = cos( DEG2RAD( degrees ) );
351 R_ConcatRotations( m, zrot, tmpmat );
352 R_ConcatRotations( tmpmat, im, rot );
354 for ( i = 0; i < 3; i++ )
355 dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
357 // LordHavoc: on the path to unintelligible code...
367 angle = DEG2RAD(degrees);
376 PerpendicularVector(vr, dir);
377 CrossProduct(vr, vf, vu);
379 // m [0][0] = vr[0];m [0][1] = vu[0];m [0][2] = vf[0];
380 // m [1][0] = vr[1];m [1][1] = vu[1];m [1][2] = vf[1];
381 // m [2][0] = vr[2];m [2][1] = vu[2];m [2][2] = vf[2];
382 // im [0][0] = vr[0];im [0][1] = vr[1];im [0][2] = vr[2];
383 // im [1][0] = vu[0];im [1][1] = vu[1];im [1][2] = vu[2];
384 // im [2][0] = vf[0];im [2][1] = vf[1];im [2][2] = vf[2];
385 // zrot[0][0] = c;zrot[0][1] = s;zrot[0][2] = 0;
386 // zrot[1][0] = -s;zrot[1][1] = c;zrot[1][2] = 0;
387 // zrot[2][0] = 0;zrot[2][1] = 0;zrot[2][2] = 1;
389 // tmpmat[0][0] = m[0][0] * zrot[0][0] + m[0][1] * zrot[1][0] + m[0][2] * zrot[2][0];
390 // tmpmat[0][1] = m[0][0] * zrot[0][1] + m[0][1] * zrot[1][1] + m[0][2] * zrot[2][1];
391 // tmpmat[0][2] = m[0][0] * zrot[0][2] + m[0][1] * zrot[1][2] + m[0][2] * zrot[2][2];
392 // tmpmat[1][0] = m[1][0] * zrot[0][0] + m[1][1] * zrot[1][0] + m[1][2] * zrot[2][0];
393 // tmpmat[1][1] = m[1][0] * zrot[0][1] + m[1][1] * zrot[1][1] + m[1][2] * zrot[2][1];
394 // tmpmat[1][2] = m[1][0] * zrot[0][2] + m[1][1] * zrot[1][2] + m[1][2] * zrot[2][2];
395 // tmpmat[2][0] = m[2][0] * zrot[0][0] + m[2][1] * zrot[1][0] + m[2][2] * zrot[2][0];
396 // tmpmat[2][1] = m[2][0] * zrot[0][1] + m[2][1] * zrot[1][1] + m[2][2] * zrot[2][1];
397 // tmpmat[2][2] = m[2][0] * zrot[0][2] + m[2][1] * zrot[1][2] + m[2][2] * zrot[2][2];
399 tmpmat[0][0] = vr[0] * c + vu[0] * -s;
400 tmpmat[0][1] = vr[0] * s + vu[0] * c;
401 // tmpmat[0][2] = vf[0];
402 tmpmat[1][0] = vr[1] * c + vu[1] * -s;
403 tmpmat[1][1] = vr[1] * s + vu[1] * c;
404 // tmpmat[1][2] = vf[1];
405 tmpmat[2][0] = vr[2] * c + vu[2] * -s;
406 tmpmat[2][1] = vr[2] * s + vu[2] * c;
407 // tmpmat[2][2] = vf[2];
409 // rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + tmpmat[0][2] * vf[0];
410 // rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + tmpmat[0][2] * vf[1];
411 // rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + tmpmat[0][2] * vf[2];
412 // rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + tmpmat[1][2] * vf[0];
413 // rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + tmpmat[1][2] * vf[1];
414 // rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + tmpmat[1][2] * vf[2];
415 // rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + tmpmat[2][2] * vf[0];
416 // rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + tmpmat[2][2] * vf[1];
417 // rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + tmpmat[2][2] * vf[2];
419 // rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0];
420 // rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1];
421 // rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2];
422 // rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0];
423 // rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1];
424 // rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2];
425 // rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0];
426 // rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1];
427 // rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2];
429 // dst[0] = rot[0][0] * point[0] + rot[0][1] * point[1] + rot[0][2] * point[2];
430 // dst[1] = rot[1][0] * point[0] + rot[1][1] * point[1] + rot[1][2] * point[2];
431 // dst[2] = rot[2][0] * point[0] + rot[2][1] * point[1] + rot[2][2] * point[2];
433 dst[0] = (tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0]) * point[0]
434 + (tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1]) * point[1]
435 + (tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2]) * point[2];
436 dst[1] = (tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0]) * point[0]
437 + (tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1]) * point[1]
438 + (tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2]) * point[2];
439 dst[2] = (tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0]) * point[0]
440 + (tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1]) * point[1]
441 + (tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2]) * point[2];
443 // LordHavoc: optimized to death and beyond, cryptic in an entirely new way
448 angle = DEG2RAD(degrees);
457 // PerpendicularVector(vr, dir);
458 // CrossProduct(vr, vf, vu);
459 VectorVectors(vf, vr, vu);
461 t0 = vr[0] * c + vu[0] * -s;
462 t1 = vr[0] * s + vu[0] * c;
463 dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
464 + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
465 + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
467 t0 = vr[1] * c + vu[1] * -s;
468 t1 = vr[1] * s + vu[1] * c;
469 dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
470 + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
471 + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
473 t0 = vr[2] * c + vu[2] * -s;
474 t1 = vr[2] * s + vu[2] * c;
475 dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
476 + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
477 + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
481 /*-----------------------------------------------------------------*/
485 // BoxOnPlaneSide did a switch on a 'signbits' value and had optimized
486 // assembly in an attempt to accelerate it further, very inefficient
487 // considering that signbits of the frustum planes only changed each
488 // frame, and the world planes changed only at load time.
489 // So, to optimize it further I took the obvious route of storing a function
490 // pointer in the plane struct itself, and shrunk each of the individual
491 // cases to a single return statement.
493 // realized axial cases would be a nice speedup for world geometry, although
494 // never useful for the frustum planes.
495 int BoxOnPlaneSideX (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[0] ? 1 : (p->dist >= emaxs[0] ? 2 : 3);}
496 int BoxOnPlaneSideY (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[1] ? 1 : (p->dist >= emaxs[1] ? 2 : 3);}
497 int BoxOnPlaneSideZ (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[2] ? 1 : (p->dist >= emaxs[2] ? 2 : 3);}
498 int BoxOnPlaneSide0 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
499 int BoxOnPlaneSide1 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
500 int BoxOnPlaneSide2 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
501 int BoxOnPlaneSide3 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
502 int BoxOnPlaneSide4 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
503 int BoxOnPlaneSide5 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
504 int BoxOnPlaneSide6 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
505 int BoxOnPlaneSide7 (vec3_t emins, vec3_t emaxs, mplane_t *p) {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));}
507 void BoxOnPlaneSideClassify(mplane_t *p)
512 p->BoxOnPlaneSideFunc = BoxOnPlaneSideX;
515 p->BoxOnPlaneSideFunc = BoxOnPlaneSideY;
518 p->BoxOnPlaneSideFunc = BoxOnPlaneSideZ;
521 if (p->normal[2] < 0) // 4
523 if (p->normal[1] < 0) // 2
525 if (p->normal[0] < 0) // 1
526 p->BoxOnPlaneSideFunc = BoxOnPlaneSide7;
528 p->BoxOnPlaneSideFunc = BoxOnPlaneSide6;
532 if (p->normal[0] < 0) // 1
533 p->BoxOnPlaneSideFunc = BoxOnPlaneSide5;
535 p->BoxOnPlaneSideFunc = BoxOnPlaneSide4;
540 if (p->normal[1] < 0) // 2
542 if (p->normal[0] < 0) // 1
543 p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
545 p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
549 if (p->normal[0] < 0) // 1
550 p->BoxOnPlaneSideFunc = BoxOnPlaneSide1;
552 p->BoxOnPlaneSideFunc = BoxOnPlaneSide0;
559 void PlaneClassify(mplane_t *p)
561 if (p->normal[0] == 1)
563 else if (p->normal[1] == 1)
565 else if (p->normal[2] == 1)
569 BoxOnPlaneSideClassify(p);
572 void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
574 double angle, sr, sp, sy, cr, cp, cy;
576 angle = angles[YAW] * (M_PI*2 / 360);
579 angle = angles[PITCH] * (M_PI*2 / 360);
590 angle = angles[ROLL] * (M_PI*2 / 360);
595 right[0] = -1*(sr*sp*cy+cr*-sy);
596 right[1] = -1*(sr*sp*sy+cr*cy);
597 right[2] = -1*(sr*cp);
601 up[0] = (cr*sp*cy+-sr*-sy);
602 up[1] = (cr*sp*sy+-sr*cy);
608 void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
610 double angle, sr, sp, sy, cr, cp, cy;
612 angle = angles[YAW] * (M_PI*2 / 360);
615 angle = angles[PITCH] * (M_PI*2 / 360);
626 angle = angles[ROLL] * (M_PI*2 / 360);
631 left[0] = sr*sp*cy+cr*-sy;
632 left[1] = sr*sp*sy+cr*cy;
637 up[0] = cr*sp*cy+-sr*-sy;
638 up[1] = cr*sp*sy+-sr*cy;
644 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
646 double angle, sr, sp, sy, cr, cp, cy;
648 angle = angles[YAW] * (M_PI*2 / 360);
651 angle = angles[PITCH] * (M_PI*2 / 360);
654 angle = angles[ROLL] * (M_PI*2 / 360);
657 matrix[0][0] = cp*cy;
658 matrix[0][1] = sr*sp*cy+cr*-sy;
659 matrix[0][2] = cr*sp*cy+-sr*-sy;
660 matrix[0][3] = translate[0];
661 matrix[1][0] = cp*sy;
662 matrix[1][1] = sr*sp*sy+cr*cy;
663 matrix[1][2] = cr*sp*sy+-sr*cy;
664 matrix[1][3] = translate[1];
666 matrix[2][1] = sr*cp;
667 matrix[2][2] = cr*cp;
668 matrix[2][3] = translate[2];
671 // LordHavoc: changed CrossProduct to a #define
673 void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross)
675 cross[0] = v1[1]*v2[2] - v1[2]*v2[1];
676 cross[1] = v1[2]*v2[0] - v1[0]*v2[2];
677 cross[2] = v1[0]*v2[1] - v1[1]*v2[0];
682 // LordHavoc: fixme: do more research on gcc assembly so that qftol_minushalf and result will not be considered unused
683 static double qftol_minushalf = -0.5;
695 #else // gcc hopefully
696 asm("fldl v\n\tfaddl qftol_minushalf\n\tfistpl result");
702 // LordHavoc: renamed these to Length, and made the normal ones #define
703 float VectorNormalizeLength (vec3_t v)
705 float length, ilength;
707 length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
708 length = sqrt (length); // FIXME
723 float VectorNormalizeLength2 (vec3_t v, vec3_t dest) // LordHavoc: added to allow copying while doing the calculation...
725 float length, ilength;
727 length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
728 length = sqrt (length); // FIXME
733 dest[0] = v[0] * ilength;
734 dest[1] = v[1] * ilength;
735 dest[2] = v[2] * ilength;
738 dest[0] = dest[1] = dest[2] = 0;
749 void R_ConcatRotations (const float in1[3][3], const float in2[3][3], float out[3][3])
751 out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0];
752 out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1];
753 out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2];
754 out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0];
755 out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1];
756 out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2];
757 out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0];
758 out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1];
759 out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2];
768 void R_ConcatTransforms (const float in1[3][4], const float in2[3][4], float out[3][4])
770 out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0];
771 out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1];
772 out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2];
773 out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + in1[0][2] * in2[2][3] + in1[0][3];
774 out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0];
775 out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1];
776 out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2];
777 out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + in1[1][2] * in2[2][3] + in1[1][3];
778 out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0];
779 out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1];
780 out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2];
781 out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + in1[2][2] * in2[2][3] + in1[2][3];
785 void Mathlib_Init(void)
789 // LordHavoc: setup 1.0f / N table for quick recipricols of integers
791 for (a = 1;a < 4096;a++)
792 ixtable[a] = 1.0f / a;