changed most #define macros to use (,,,) format instead of {;;;} so they will gobble...
[xonotic/darkplaces.git] / mathlib.c
index f1bbacf..ab50923 100644 (file)
--- a/mathlib.c
+++ b/mathlib.c
@@ -26,13 +26,155 @@ void Sys_Error (char *error, ...);
 
 vec3_t vec3_origin = {0,0,0};
 int nanmask = 255<<23;
+float ixtable[4096];
 
 /*-----------------------------------------------------------------*/
 
-#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
+float m_bytenormals[NUMVERTEXNORMALS][3] =
+{
+{-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188}, 
+{-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017}, 
+{-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000}, 
+{0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718}, 
+{0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651}, 
+{0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651}, 
+{0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188}, 
+{0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567}, 
+{-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191}, 
+{-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856},
+{-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325}, 
+{-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863}, 
+{-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621}, 
+{-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000}, 
+{0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863}, 
+{0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460}, 
+{0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242}, 
+{-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863}, 
+{0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017}, 
+{0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460}, 
+{0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000}, 
+{0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621}, 
+{0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785}, 
+{0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325}, 
+{0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567}, 
+{0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000}, 
+{1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866}, 
+{0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000}, 
+{0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866}, 
+{0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567},
+{0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856},
+{0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866}, 
+{0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567}, 
+{0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731},
+{0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856}, 
+{0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718}, 
+{0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785}, 
+{0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191}, 
+{0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718}, 
+{-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651}, 
+{-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188}, 
+{-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056}, 
+{0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423}, 
+{0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188}, 
+{-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056}, 
+{0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718}, 
+{0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651}, 
+{0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188}, 
+{0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863}, 
+{0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785}, 
+{0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325}, 
+{0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242},
+{0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460}, 
+{0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242}, 
+{0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460}, 
+{0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621}, 
+{0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863}, 
+{-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460}, 
+{-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621}, 
+{-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000}, 
+{-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863},
+{-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856}, 
+{-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325},
+{-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188}, 
+{-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017}, 
+{-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785}, 
+{-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188}, 
+{0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017}, 
+{0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651}, 
+{0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191}, 
+{0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000}, 
+{-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000}, 
+{-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000}, 
+{-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856}, 
+{-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000}, 
+{-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866},
+{-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567}, 
+{-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731}, 
+{-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191}, 
+{-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785}, 
+{-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325}, 
+};
+
+byte NormalToByte(vec3_t n)
+{
+       int i, best;
+       float bestdistance, distance;
+
+       best = 0;
+       bestdistance = DotProduct (n, m_bytenormals[0]);
+       for (i = 1;i < NUMVERTEXNORMALS;i++)
+       {
+               distance = DotProduct (n, m_bytenormals[i]);
+               if (distance > bestdistance)
+               {
+                       bestdistance = distance;
+                       best = i;
+               }
+       }
+       return best;
+}
+
+// note: uses byte partly to force unsigned for the validity check
+void ByteToNormal(byte num, vec3_t n)
+{
+       if (num < NUMVERTEXNORMALS)
+               VectorCopy(m_bytenormals[num], n);
+       else
+               VectorClear(n); // FIXME: complain?
+}
+
+float Q_RSqrt(float number)
+{
+       float y;
+
+       if (number == 0.0f)
+               return 0.0f;
+
+       *((long *)&y) = 0x5f3759df - ((* (long *) &number) >> 1);
+       return y * (1.5f - (number * 0.5f * y * y));
+}
+
+void _VectorNormalizeFast(vec3_t 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);
+       }
+}
 
+#if 0
+// LordHavoc: no longer used at all
 void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
 {
+#if 0
+       // LordHavoc: the old way...
        float d;
        vec3_t n;
        float inv_denom;
@@ -48,21 +190,32 @@ void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
        dst[0] = p[0] - d * n[0];
        dst[1] = p[1] - d * n[1];
        dst[2] = p[2] - d * n[2];
+#else
+       // LordHavoc: optimized to death and beyond
+       float d;
+
+       // LordHavoc: the normal is a unit vector by definition,
+       //            therefore inv_denom was pointless.
+       d = DotProduct(normal, p);
+       dst[0] = p[0] - d * normal[0];
+       dst[1] = p[1] - d * normal[1];
+       dst[2] = p[2] - d * normal[2];
+#endif
 }
+#endif
 
-/*
-** assumes "src" is normalized
-*/
+// assumes "src" is normalized
 void PerpendicularVector( vec3_t dst, const vec3_t src )
 {
+#if 0
+       // LordHavoc: the old way...
        int     pos;
        int i;
-       float minelem = 1.0F;
+       float minelem, d;
        vec3_t tempvec;
 
-       /*
-       ** find the smallest magnitude axially aligned vector
-       */
+       // find the smallest magnitude axially aligned vector
+       minelem = 1.0F;
        for ( pos = 0, i = 0; i < 3; i++ )
        {
                if ( fabs( src[i] ) < minelem )
@@ -71,27 +224,107 @@ void PerpendicularVector( vec3_t dst, const vec3_t src )
                        minelem = fabs( src[i] );
                }
        }
-       tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
+       VectorClear(tempvec);
        tempvec[pos] = 1.0F;
 
-       /*
-       ** project the point onto the plane defined by src
-       */
+       // project the point onto the plane defined by src
        ProjectPointOnPlane( dst, tempvec, src );
 
-       /*
-       ** normalize the result
-       */
-       VectorNormalize( dst );
+       // normalize the result
+       VectorNormalize(dst);
+#else
+       // LordHavoc: optimized to death and beyond
+       int     pos;
+       float minelem;
+
+       if (src[0])
+       {
+               dst[0] = 0;
+               if (src[1])
+               {
+                       dst[1] = 0;
+                       if (src[2])
+                       {
+                               dst[2] = 0;
+                               pos = 0;
+                               minelem = fabs(src[0]);
+                               if (fabs(src[1]) < minelem)
+                               {
+                                       pos = 1;
+                                       minelem = fabs(src[1]);
+                               }
+                               if (fabs(src[2]) < minelem)
+                                       pos = 2;
+
+                               dst[pos] = 1;
+                               dst[0] -= src[pos] * src[0];
+                               dst[1] -= src[pos] * src[1];
+                               dst[2] -= src[pos] * src[2];
+
+                               // normalize the result
+                               VectorNormalize(dst);
+                       }
+                       else
+                               dst[2] = 1;
+               }
+               else
+               {
+                       dst[1] = 1;
+                       dst[2] = 0;
+               }
+       }
+       else
+       {
+               dst[0] = 1;
+               dst[1] = 0;
+               dst[2] = 0;
+       }
+#endif
 }
 
+
 #ifdef _WIN32
 #pragma optimize( "", off )
 #endif
 
 
+// LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
+void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
+{
+       float d;
+
+       right[0] = forward[2];
+       right[1] = -forward[0];
+       right[2] = forward[1];
+
+       d = DotProduct(forward, right);
+       right[0] -= d * forward[0];
+       right[1] -= d * forward[1];
+       right[2] -= d * forward[2];
+       VectorNormalizeFast(right);
+       CrossProduct(right, forward, up);
+}
+
+void VectorVectorsDouble(const double *forward, double *right, double *up)
+{
+       double d;
+
+       right[0] = forward[2];
+       right[1] = -forward[0];
+       right[2] = forward[1];
+
+       d = DotProduct(forward, right);
+       right[0] -= d * forward[0];
+       right[1] -= d * forward[1];
+       right[2] -= d * forward[2];
+       VectorNormalize(right);
+       CrossProduct(right, forward, up);
+}
+
 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
 {
+#if 0
+       // LordHavoc: the old way, cryptic brute force...
        float   m[3][3];
        float   im[3][3];
        float   zrot[3][3];
@@ -140,158 +373,153 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
        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
+#elif 0
+       // LordHavoc: on the path to unintelligible code...
+//     float   m[3][3];
+//     float   im[3][3];
+//     float   zrot[3][3];
+       float   tmpmat[3][3];
+//     float   rot[3][3];
+       float   angle, c, s;
+//     int     i;
+       vec3_t vr, vu, vf;
 
-*/
-/*
-==================
-BoxOnPlaneSide
+       angle = DEG2RAD(degrees);
 
-Returns 1, 2, or 1 + 2
-==================
-*/
-/*
-int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p)
-{
-       float   dist1, dist2;
-       int             sides;
+       c = cos(angle);
+       s = sin(angle);
 
-#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;
-       }
+       vf[0] = dir[0];
+       vf[1] = dir[1];
+       vf[2] = dir[2];
 
-#if 0
-       int             i;
-       vec3_t  corners[2];
+       PerpendicularVector(vr, dir);
+       CrossProduct(vr, vf, vu);
+
+//     m   [0][0] = vr[0];m   [0][1] = vu[0];m   [0][2] = vf[0];
+//     m   [1][0] = vr[1];m   [1][1] = vu[1];m   [1][2] = vf[1];
+//     m   [2][0] = vr[2];m   [2][1] = vu[2];m   [2][2] = vf[2];
+//     im  [0][0] = vr[0];im  [0][1] = vr[1];im  [0][2] = vr[2];
+//     im  [1][0] = vu[0];im  [1][1] = vu[1];im  [1][2] = vu[2];
+//     im  [2][0] = vf[0];im  [2][1] = vf[1];im  [2][2] = vf[2];
+//     zrot[0][0] =     c;zrot[0][1] =     s;zrot[0][2] =     0;
+//     zrot[1][0] =    -s;zrot[1][1] =     c;zrot[1][2] =     0;
+//     zrot[2][0] =     0;zrot[2][1] =     0;zrot[2][2] =     1;
+
+//     tmpmat[0][0] = m[0][0] * zrot[0][0] + m[0][1] * zrot[1][0] + m[0][2] * zrot[2][0];
+//     tmpmat[0][1] = m[0][0] * zrot[0][1] + m[0][1] * zrot[1][1] + m[0][2] * zrot[2][1];
+//     tmpmat[0][2] = m[0][0] * zrot[0][2] + m[0][1] * zrot[1][2] + m[0][2] * zrot[2][2];
+//     tmpmat[1][0] = m[1][0] * zrot[0][0] + m[1][1] * zrot[1][0] + m[1][2] * zrot[2][0];
+//     tmpmat[1][1] = m[1][0] * zrot[0][1] + m[1][1] * zrot[1][1] + m[1][2] * zrot[2][1];
+//     tmpmat[1][2] = m[1][0] * zrot[0][2] + m[1][1] * zrot[1][2] + m[1][2] * zrot[2][2];
+//     tmpmat[2][0] = m[2][0] * zrot[0][0] + m[2][1] * zrot[1][0] + m[2][2] * zrot[2][0];
+//     tmpmat[2][1] = m[2][0] * zrot[0][1] + m[2][1] * zrot[1][1] + m[2][2] * zrot[2][1];
+//     tmpmat[2][2] = m[2][0] * zrot[0][2] + m[2][1] * zrot[1][2] + m[2][2] * zrot[2][2];
+
+       tmpmat[0][0] = vr[0] *  c + vu[0] * -s;
+       tmpmat[0][1] = vr[0] *  s + vu[0] *  c;
+//     tmpmat[0][2] =                           vf[0];
+       tmpmat[1][0] = vr[1] *  c + vu[1] * -s;
+       tmpmat[1][1] = vr[1] *  s + vu[1] *  c;
+//     tmpmat[1][2] =                           vf[1];
+       tmpmat[2][0] = vr[2] *  c + vu[2] * -s;
+       tmpmat[2][1] = vr[2] *  s + vu[2] *  c;
+//     tmpmat[2][2] =                           vf[2];
+
+//     rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + tmpmat[0][2] * vf[0];
+//     rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + tmpmat[0][2] * vf[1];
+//     rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + tmpmat[0][2] * vf[2];
+//     rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + tmpmat[1][2] * vf[0];
+//     rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + tmpmat[1][2] * vf[1];
+//     rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + tmpmat[1][2] * vf[2];
+//     rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + tmpmat[2][2] * vf[0];
+//     rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + tmpmat[2][2] * vf[1];
+//     rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + tmpmat[2][2] * vf[2];
+
+//     rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0];
+//     rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1];
+//     rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2];
+//     rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0];
+//     rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1];
+//     rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2];
+//     rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0];
+//     rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1];
+//     rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2];
+
+//     dst[0] = rot[0][0] * point[0] + rot[0][1] * point[1] + rot[0][2] * point[2];
+//     dst[1] = rot[1][0] * point[0] + rot[1][1] * point[1] + rot[1][2] * point[2];
+//     dst[2] = rot[2][0] * point[0] + rot[2][1] * point[1] + rot[2][2] * point[2];
+
+       dst[0] = (tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0]) * point[0]
+              + (tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1]) * point[1]
+              + (tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2]) * point[2];
+       dst[1] = (tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0]) * point[0]
+              + (tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1]) * point[1]
+              + (tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2]) * point[2];
+       dst[2] = (tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0]) * point[0]
+              + (tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1]) * point[1]
+              + (tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2]) * point[2];
+#else
+       // LordHavoc: optimized to death and beyond, cryptic in an entirely new way
+       float   t0, t1;
+       float   angle, c, s;
+       vec3_t  vr, vu, vf;
+
+       angle = DEG2RAD(degrees);
+
+       c = cos(angle);
+       s = sin(angle);
 
-       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;
+       vf[0] = dir[0];
+       vf[1] = dir[1];
+       vf[2] = dir[2];
 
+//     PerpendicularVector(vr, dir);
+//     CrossProduct(vr, vf, vu);
+       VectorVectors(vf, vr, vu);
+
+       t0 = vr[0] *  c + vu[0] * -s;
+       t1 = vr[0] *  s + vu[0] *  c;
+       dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
+              + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
+              + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
+
+       t0 = vr[1] *  c + vu[1] * -s;
+       t1 = vr[1] *  s + vu[1] *  c;
+       dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
+              + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
+              + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
+
+       t0 = vr[2] *  c + vu[2] * -s;
+       t1 = vr[2] *  s + vu[2] *  c;
+       dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
+              + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
+              + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[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");
+#ifdef _WIN32
+#pragma optimize( "", on )
 #endif
 
-       return sides;
-}
+/*-----------------------------------------------------------------*/
 
-#endif
-*/
 
+// LordHavoc note 1:
+// BoxOnPlaneSide did a switch on a 'signbits' value and had optimized
+// assembly in an attempt to accelerate it further, very inefficient
+// considering that signbits of the frustum planes only changed each
+// frame, and the world planes changed only at load time.
+// So, to optimize it further I took the obvious route of storing a function
+// pointer in the plane struct itself, and shrunk each of the individual
+// cases to a single return statement.
+// LordHavoc note 2:
+// realized axial cases would be a nice speedup for world geometry, although
+// never useful for the frustum planes.
+int BoxOnPlaneSideX (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[0] ? 1 : (p->dist >= emaxs[0] ? 2 : 3);}
+int BoxOnPlaneSideY (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[1] ? 1 : (p->dist >= emaxs[1] ? 2 : 3);}
+int BoxOnPlaneSideZ (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[2] ? 1 : (p->dist >= emaxs[2] ? 2 : 3);}
 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));}
 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));}
 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));}
@@ -303,80 +531,169 @@ int BoxOnPlaneSide7 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->norm
 
 void BoxOnPlaneSideClassify(mplane_t *p)
 {
-       if (p->normal[2] < 0) // 4
+       switch(p->type)
        {
-               if (p->normal[1] < 0) // 2
+       case 0: // x axis
+               p->BoxOnPlaneSideFunc = BoxOnPlaneSideX;
+               break;
+       case 1: // y axis
+               p->BoxOnPlaneSideFunc = BoxOnPlaneSideY;
+               break;
+       case 2: // z axis
+               p->BoxOnPlaneSideFunc = BoxOnPlaneSideZ;
+               break;
+       default:
+               if (p->normal[2] < 0) // 4
                {
-                       if (p->normal[0] < 0) // 1
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide7;
+                       if (p->normal[1] < 0) // 2
+                       {
+                               if (p->normal[0] < 0) // 1
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide7;
+                               else
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide6;
+                       }
                        else
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide6;
+                       {
+                               if (p->normal[0] < 0) // 1
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide5;
+                               else
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide4;
+                       }
                }
                else
                {
-                       if (p->normal[0] < 0) // 1
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide5;
+                       if (p->normal[1] < 0) // 2
+                       {
+                               if (p->normal[0] < 0) // 1
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
+                               else
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
+                       }
                        else
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide4;
+                       {
+                               if (p->normal[0] < 0) // 1
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide1;
+                               else
+                                       p->BoxOnPlaneSideFunc = BoxOnPlaneSide0;
+                       }
                }
+               break;
        }
+}
+
+void PlaneClassify(mplane_t *p)
+{
+       if (p->normal[0] == 1)
+               p->type = 0;
+       else if (p->normal[1] == 1)
+               p->type = 1;
+       else if (p->normal[2] == 1)
+               p->type = 2;
        else
+               p->type = 3;
+       BoxOnPlaneSideClassify(p);
+}
+
+void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
+{
+       double angle, 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);
+       if (forward)
+       {
+               forward[0] = cp*cy;
+               forward[1] = cp*sy;
+               forward[2] = -sp;
+       }
+       if (right || up)
        {
-               if (p->normal[1] < 0) // 2
+               angle = angles[ROLL] * (M_PI*2 / 360);
+               sr = sin(angle);
+               cr = cos(angle);
+               if (right)
                {
-                       if (p->normal[0] < 0) // 1
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
-                       else
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
+                       right[0] = -1*(sr*sp*cy+cr*-sy);
+                       right[1] = -1*(sr*sp*sy+cr*cy);
+                       right[2] = -1*(sr*cp);
                }
-               else
+               if (up)
                {
-                       if (p->normal[0] < 0) // 1
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide1;
-                       else
-                               p->BoxOnPlaneSideFunc = BoxOnPlaneSide0;
+                       up[0] = (cr*sp*cy+-sr*-sy);
+                       up[1] = (cr*sp*sy+-sr*cy);
+                       up[2] = cr*cp;
                }
        }
 }
 
-void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
+void AngleVectorsFLU (vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
 {
-       float           angle;
-       float           sr, sp, sy, cr, cp, cy;
-       
+       double angle, 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;
+       if (forward)
+       {
+               forward[0] = cp*cy;
+               forward[1] = cp*sy;
+               forward[2] = -sp;
+       }
+       if (left || up)
+       {
+               angle = angles[ROLL] * (M_PI*2 / 360);
+               sr = sin(angle);
+               cr = cos(angle);
+               if (left)
+               {
+                       left[0] = sr*sp*cy+cr*-sy;
+                       left[1] = sr*sp*sy+cr*cy;
+                       left[2] = sr*cp;
+               }
+               if (up)
+               {
+                       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)
+void AngleMatrix (vec3_t angles, vec3_t translate, vec_t matrix[][4])
 {
-       int             i;
-       
-       for (i=0 ; i<3 ; i++)
-               if (v1[i] != v2[i])
-                       return 0;
-                       
-       return 1;
+       double angle, 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);
+       matrix[0][0] = cp*cy;
+       matrix[0][1] = sr*sp*cy+cr*-sy;
+       matrix[0][2] = cr*sp*cy+-sr*-sy;
+       matrix[0][3] = translate[0];
+       matrix[1][0] = cp*sy;
+       matrix[1][1] = sr*sp*sy+cr*cy;
+       matrix[1][2] = cr*sp*sy+-sr*cy;
+       matrix[1][3] = translate[1];
+       matrix[2][0] = -sp;
+       matrix[2][1] = sr*cp;
+       matrix[2][2] = cr*cp;
+       matrix[2][3] = translate[2];
 }
 
-void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc)
+void VectorMASlow (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];
@@ -426,7 +743,7 @@ vec_t Length(vec3_t v)
 {
        int             i;
        float   length;
-       
+
        length = 0;
        for (i=0 ; i< 3 ; i++)
                length += v[i]*v[i];
@@ -435,6 +752,27 @@ vec_t Length(vec3_t v)
        return length;
 }
 
+/*
+// LordHavoc: fixme: do more research on gcc assembly so that qftol_minushalf and result will not be considered unused
+static double qftol_minushalf = -0.5;
+
+int qftol(double v)
+{
+       int result;
+#ifdef _MSC_VER
+       __asm
+       {
+               fld             v
+               fadd    qftol_minushalf
+               fistp   result
+       }
+#else // gcc hopefully
+       asm("fldl v\n\tfaddl qftol_minushalf\n\tfistpl result");
+#endif
+       return result;
+}
+*/
+
 // LordHavoc: renamed these to Length, and made the normal ones #define
 float VectorNormalizeLength (vec3_t v)
 {
@@ -476,14 +814,14 @@ float VectorNormalizeLength2 (vec3_t v, vec3_t dest) // LordHavoc: added to allo
 
 }
 
-void VectorInverse (vec3_t v)
+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)
+void _VectorScale (vec3_t in, vec_t scale, vec3_t out)
 {
        out[0] = in[0]*scale;
        out[1] = in[1]*scale;
@@ -615,25 +953,12 @@ int GreatestCommonDivisor (int i1, int i2)
 }
 
 
-#if    !id386
-
-// TODO: move to nonintel.c
-
-/*
-===================
-Invert24To16
-
-Inverts an 8.24 value to a 16.16 value
-====================
-*/
-
-fixed16_t Invert24To16(fixed16_t val)
+void Mathlib_Init(void)
 {
-       if (val < 256)
-               return (0xFFFFFFFF);
+       int a;
 
-       return (fixed16_t)
-                       (((double)0x10000 * (double)0x1000000 / (double)val) + 0.5);
+       // LordHavoc: setup 1.0f / N table for quick recipricols of integers
+       ixtable[0] = 0;
+       for (a = 1;a < 4096;a++)
+               ixtable[a] = 1.0f / a;
 }
-
-#endif