use dynamic eye position-centered bouncegrid when rendering in dynamic
[xonotic/darkplaces.git] / mathlib.c
index 96090b5..d6170d2 100644 (file)
--- a/mathlib.c
+++ b/mathlib.c
@@ -19,9 +19,10 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 */
 // mathlib.c -- math primitives
 
-#include <math.h>
 #include "quakedef.h"
 
+#include <math.h>
+
 vec3_t vec3_origin = {0,0,0};
 float ixtable[4096];
 
@@ -29,66 +30,66 @@ float ixtable[4096];
 
 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}, 
+{-0.525731, 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}, 
+{-0.716567, 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, 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}, 
+{-0.262866, 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}, 
+{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}, 
+{0.850651, -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}, 
+{0.809017, 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}, 
+{0.809017, -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}, 
+{-0.295242, 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}, 
+{0.000000, -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}, 
+{-0.716567, -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},
@@ -112,7 +113,8 @@ float m_bytenormals[NUMVERTEXNORMALS][3] =
 {-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325},
 };
 
-qbyte NormalToByte(const vec3_t n)
+#if 0
+unsigned char NormalToByte(const vec3_t n)
 {
        int i, best;
        float bestdistance, distance;
@@ -132,7 +134,7 @@ qbyte NormalToByte(const vec3_t n)
 }
 
 // note: uses byte partly to force unsigned for the validity check
-void ByteToNormal(qbyte num, vec3_t n)
+void ByteToNormal(unsigned char num, vec3_t n)
 {
        if (num < NUMVERTEXNORMALS)
                VectorCopy(m_bytenormals[num], n);
@@ -140,18 +142,6 @@ void ByteToNormal(qbyte num, vec3_t n)
                VectorClear(n); // FIXME: complain?
 }
 
-float Q_RSqrt(float number)
-{
-       float y;
-
-       if (number == 0.0f)
-               return 0.0f;
-
-       *((int *)&y) = 0x5f3759df - ((* (int *) &number) >> 1);
-       return y * (1.5f - (number * 0.5f * y * y));
-}
-
-
 // assumes "src" is normalized
 void PerpendicularVector( vec3_t dst, const vec3_t src )
 {
@@ -202,6 +192,7 @@ void PerpendicularVector( vec3_t dst, const vec3_t src )
                dst[2] = 0;
        }
 }
+#endif
 
 
 // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
@@ -214,10 +205,8 @@ void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
        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);
+       VectorMA(right, -d, forward, right);
+       VectorNormalize(right);
        CrossProduct(right, forward, up);
 }
 
@@ -230,9 +219,7 @@ void VectorVectorsDouble(const double *forward, double *right, double *up)
        right[2] = forward[1];
 
        d = DotProduct(forward, right);
-       right[0] -= d * forward[0];
-       right[1] -= d * forward[1];
-       right[2] -= d * forward[2];
+       VectorMA(right, -d, forward, right);
        VectorNormalize(right);
        CrossProduct(right, forward, up);
 }
@@ -244,14 +231,9 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
        vec3_t vr, vu, vf;
 
        angle = DEG2RAD(degrees);
-
        c = cos(angle);
        s = sin(angle);
-
-       vf[0] = dir[0];
-       vf[1] = dir[1];
-       vf[2] = dir[2];
-
+       VectorCopy(dir, vf);
        VectorVectors(vf, vr, vu);
 
        t0 = vr[0] *  c + vu[0] * -s;
@@ -275,20 +257,28 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
 
 /*-----------------------------------------------------------------*/
 
-
-void BoxOnPlaneSideClassify(mplane_t *p)
+// returns the smallest integer greater than or equal to "value", or 0 if "value" is too big
+unsigned int CeilPowerOf2(unsigned int value)
 {
-       p->signbits = 0;
-       if (p->normal[0] < 0) // 1
-               p->signbits |= 1;
-       if (p->normal[1] < 0) // 2
-               p->signbits |= 2;
-       if (p->normal[2] < 0) // 4
-               p->signbits |= 4;
+       unsigned int ceilvalue;
+
+       if (value > (1U << (sizeof(int) * 8 - 1)))
+               return 0;
+
+       ceilvalue = 1;
+       while (ceilvalue < value)
+               ceilvalue <<= 1;
+
+       return ceilvalue;
 }
 
+
+/*-----------------------------------------------------------------*/
+
+
 void PlaneClassify(mplane_t *p)
 {
+       // for optimized plane comparisons
        if (p->normal[0] == 1)
                p->type = 0;
        else if (p->normal[1] == 1)
@@ -297,32 +287,126 @@ void PlaneClassify(mplane_t *p)
                p->type = 2;
        else
                p->type = 3;
-       BoxOnPlaneSideClassify(p);
+       // for BoxOnPlaneSide
+       p->signbits = 0;
+       if (p->normal[0] < 0) // 1
+               p->signbits |= 1;
+       if (p->normal[1] < 0) // 2
+               p->signbits |= 2;
+       if (p->normal[2] < 0) // 4
+               p->signbits |= 4;
 }
 
-int BoxOnPlaneSide (const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
+int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
 {
        if (p->type < 3)
                return ((emaxs[p->type] >= p->dist) | ((emins[p->type] < p->dist) << 1));
        switch(p->signbits)
        {
        default:
-       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));
-       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));
-       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));
-       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));
-       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));
-       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));
-       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));
-       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       }
+}
+
+#if 0
+int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist)
+{
+       switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
+       {
+       default:
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       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));
+       }
+}
+#endif
+
+void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar)
+{
+       if (p->type < 3)
+       {
+               outnear[0] = outnear[1] = outnear[2] = outfar[0] = outfar[1] = outfar[2] = 0;
+               outnear[p->type] = emins[p->type];
+               outfar[p->type] = emaxs[p->type];
+               return;
+       }
+       switch(p->signbits)
+       {
+       default:
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       }
+}
+
+void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar)
+{
+       switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
+       {
+       default:
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       }
+}
+
+void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist)
+{
+       if (p->type < 3)
+       {
+               *outneardist = emins[p->type] - p->dist;
+               *outfardist = emaxs[p->type] - p->dist;
+               return;
+       }
+       switch(p->signbits)
+       {
+       default:
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       }
+}
+
+void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outneardist, vec_t *outfardist)
+{
+       switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
+       {
+       default:
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
+       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;
        }
 }
 
@@ -344,20 +428,38 @@ void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
        }
        if (right || up)
        {
-               angle = angles[ROLL] * (M_PI*2 / 360);
-               sr = sin(angle);
-               cr = cos(angle);
-               if (right)
+               if (angles[ROLL])
                {
-                       right[0] = -1*(sr*sp*cy+cr*-sy);
-                       right[1] = -1*(sr*sp*sy+cr*cy);
-                       right[2] = -1*(sr*cp);
+                       angle = angles[ROLL] * (M_PI*2 / 360);
+                       sr = sin(angle);
+                       cr = cos(angle);
+                       if (right)
+                       {
+                               right[0] = -1*(sr*sp*cy+cr*-sy);
+                               right[1] = -1*(sr*sp*sy+cr*cy);
+                               right[2] = -1*(sr*cp);
+                       }
+                       if (up)
+                       {
+                               up[0] = (cr*sp*cy+-sr*-sy);
+                               up[1] = (cr*sp*sy+-sr*cy);
+                               up[2] = cr*cp;
+                       }
                }
-               if (up)
+               else
                {
-                       up[0] = (cr*sp*cy+-sr*-sy);
-                       up[1] = (cr*sp*sy+-sr*cy);
-                       up[2] = cr*cp;
+                       if (right)
+                       {
+                               right[0] = sy;
+                               right[1] = -cy;
+                               right[2] = 0;
+                       }
+                       if (up)
+                       {
+                               up[0] = (sp*cy);
+                               up[1] = (sp*sy);
+                               up[2] = cp;
+                       }
                }
        }
 }
@@ -380,24 +482,119 @@ void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t u
        }
        if (left || up)
        {
-               angle = angles[ROLL] * (M_PI*2 / 360);
-               sr = sin(angle);
-               cr = cos(angle);
-               if (left)
+               if (angles[ROLL])
                {
-                       left[0] = sr*sp*cy+cr*-sy;
-                       left[1] = sr*sp*sy+cr*cy;
-                       left[2] = sr*cp;
+                       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;
+                       }
                }
+               else
+               {
+                       if (left)
+                       {
+                               left[0] = -sy;
+                               left[1] = cy;
+                               left[2] = 0;
+                       }
+                       if (up)
+                       {
+                               up[0] = sp*cy;
+                               up[1] = sp*sy;
+                               up[2] = cp;
+                       }
+               }
+       }
+}
+
+// LordHavoc: calculates pitch/yaw/roll angles from forward and up vectors
+void AnglesFromVectors (vec3_t angles, const vec3_t forward, const vec3_t up, qboolean flippitch)
+{
+       if (forward[0] == 0 && forward[1] == 0)
+       {
+               if(forward[2] > 0)
+               {
+                       angles[PITCH] = -M_PI * 0.5;
+                       angles[YAW] = up ? atan2(-up[1], -up[0]) : 0;
+               }
+               else
+               {
+                       angles[PITCH] = M_PI * 0.5;
+                       angles[YAW] = up ? atan2(up[1], up[0]) : 0;
+               }
+               angles[ROLL] = 0;
+       }
+       else
+       {
+               angles[YAW] = atan2(forward[1], forward[0]);
+               angles[PITCH] = -atan2(forward[2], sqrt(forward[0]*forward[0] + forward[1]*forward[1]));
                if (up)
                {
-                       up[0] = cr*sp*cy+-sr*-sy;
-                       up[1] = cr*sp*sy+-sr*cy;
-                       up[2] = cr*cp;
+                       vec_t cp = cos(angles[PITCH]), sp = sin(angles[PITCH]);
+                       vec_t cy = cos(angles[YAW]), sy = sin(angles[YAW]);
+                       vec3_t tleft, tup;
+                       tleft[0] = -sy;
+                       tleft[1] = cy;
+                       tleft[2] = 0;
+                       tup[0] = sp*cy;
+                       tup[1] = sp*sy;
+                       tup[2] = cp;
+                       angles[ROLL] = -atan2(DotProduct(up, tleft), DotProduct(up, tup));
+               }
+               else
+                       angles[ROLL] = 0;
+       }
+
+       // now convert radians to degrees, and make all values positive
+       VectorScale(angles, 180.0 / M_PI, angles);
+       if (flippitch)
+               angles[PITCH] *= -1;
+       if (angles[PITCH] < 0) angles[PITCH] += 360;
+       if (angles[YAW] < 0) angles[YAW] += 360;
+       if (angles[ROLL] < 0) angles[ROLL] += 360;
+
+#if 0
+{
+       // debugging code
+       vec3_t tforward, tleft, tup, nforward, nup;
+       VectorCopy(forward, nforward);
+       VectorNormalize(nforward);
+       if (up)
+       {
+               VectorCopy(up, nup);
+               VectorNormalize(nup);
+               AngleVectors(angles, tforward, tleft, tup);
+               if (VectorDistance(tforward, nforward) > 0.01 || VectorDistance(tup, nup) > 0.01)
+               {
+                       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]);
+                       Con_Printf("^3But that is '%f %f %f', '%f %f %f'\n", tforward[0], tforward[1], tforward[2], tup[0], tup[1], tup[2]);
+               }
+       }
+       else
+       {
+               AngleVectors(angles, tforward, tleft, tup);
+               if (VectorDistance(tforward, nforward) > 0.01)
+               {
+                       Con_Printf("vectoangles('%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], angles[0], angles[1], angles[2]);
+                       Con_Printf("^3But that is '%f %f %f'\n", tforward[0], tforward[1], tforward[2]);
                }
        }
 }
+#endif
+}
 
+#if 0
 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
 {
        double angle, sr, sp, sy, cr, cp, cy;
@@ -424,6 +621,7 @@ void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4]
        matrix[2][2] = cr*cp;
        matrix[2][3] = translate[2];
 }
+#endif
 
 
 // LordHavoc: renamed this to Length, and made the normal one a #define
@@ -441,7 +639,7 @@ float VectorNormalizeLength (vec3_t v)
                v[1] *= ilength;
                v[2] *= ilength;
        }
-               
+
        return length;
 
 }
@@ -487,6 +685,21 @@ void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3
        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];
 }
 
+float RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
+{
+       vec3_t m1, m2;
+       VectorMultiply(mins, mins, m1);
+       VectorMultiply(maxs, maxs, m2);
+       return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
+}
+
+float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin)
+{
+       vec3_t m1, m2;
+       VectorSubtract(mins, origin, m1);VectorMultiply(m1, m1, m1);
+       VectorSubtract(maxs, origin, m2);VectorMultiply(m2, m2, m2);
+       return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
+}
 
 void Mathlib_Init(void)
 {
@@ -498,3 +711,48 @@ void Mathlib_Init(void)
                ixtable[a] = 1.0f / a;
 }
 
+#include "matrixlib.h"
+
+void Matrix4x4_Print(const matrix4x4_t *in)
+{
+       Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
+       , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
+       , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
+       , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
+       , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
+}
+
+int Math_atov(const char *s, vec3_t out)
+{
+       int i;
+       VectorClear(out);
+       if (*s == '\'')
+               s++;
+       for (i = 0;i < 3;i++)
+       {
+               while (*s == ' ' || *s == '\t')
+                       s++;
+               out[i] = atof (s);
+               if (out[i] == 0 && *s != '-' && *s != '+' && (*s < '0' || *s > '9'))
+                       break; // not a number
+               while (*s && *s != ' ' && *s !='\t' && *s != '\'')
+                       s++;
+               if (*s == '\'')
+                       break;
+       }
+       return i;
+}
+
+void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f)
+{
+       int i;
+       VectorCopy(point3f, mins);
+       VectorCopy(point3f, maxs);
+       for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3)
+       {
+               mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]);
+               mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]);
+               mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]);
+       }
+}
+