X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=mathlib.c;h=3fe396b83b826d45a310b98088860efdd6d0662c;hp=6709b1e54b478dfdeb15513334804c4dc658d4f8;hb=e24d834dcbcc61f28fdf0e2c1ba75693d9e23ed1;hpb=2c2ad190786472746d7ef3b07fa276e8c732bdc6 diff --git a/mathlib.c b/mathlib.c index 6709b1e5..3fe396b8 100644 --- a/mathlib.c +++ b/mathlib.c @@ -8,7 +8,7 @@ of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. @@ -22,100 +22,98 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. #include #include "quakedef.h" -void Sys_Error (char *error, ...); - vec3_t vec3_origin = {0,0,0}; -int nanmask = 255<<23; 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}, -{0.000000, 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}, +{-0.716567, 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}, +{0.850651, 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}, +{0.809017, -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}, +{0.000000, -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}, +{-0.262866, -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}, +{-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) +#if 0 +qbyte NormalToByte(const vec3_t n) { int i, best; float bestdistance, distance; @@ -135,12 +133,12 @@ byte NormalToByte(vec3_t n) } // note: uses byte partly to force unsigned for the validity check -void ByteToNormal(byte num, vec3_t n) +void ByteToNormal(qbyte num, vec3_t n) { if (num < NUMVERTEXNORMALS) - VectorCopy(m_bytenormals[num], n) + VectorCopy(m_bytenormals[num], n); else - VectorClear(n) // FIXME: complain? + VectorClear(n); // FIXME: complain? } float Q_RSqrt(float number) @@ -150,91 +148,15 @@ float Q_RSqrt(float number) if (number == 0.0f) return 0.0f; - *((long *)&y) = 0x5f3759df - ((* (long *) &number) >> 1); + *((int *)&y) = 0x5f3759df - ((* (int *) &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; - - inv_denom = 1.0F / DotProduct( normal, normal ); - - d = DotProduct( normal, p ) * inv_denom; - - n[0] = normal[0] * inv_denom; - n[1] = normal[1] * inv_denom; - n[2] = normal[2] * inv_denom; - - 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 void PerpendicularVector( vec3_t dst, const vec3_t src ) { -#if 0 - // LordHavoc: the old way... - int pos; - int i; - float minelem, d; - vec3_t tempvec; - - // find the smallest magnitude axially aligned vector - minelem = 1.0F; - for ( pos = 0, i = 0; i < 3; i++ ) - { - if ( fabs( src[i] ) < minelem ) - { - pos = i; - minelem = fabs( src[i] ); - } - } - VectorClear(tempvec); - tempvec[pos] = 1.0F; - - // project the point onto the plane defined by src - ProjectPointOnPlane( dst, tempvec, src ); - - // normalize the result - VectorNormalize(dst); -#else // LordHavoc: optimized to death and beyond - int pos; + int pos; float minelem; if (src[0]) @@ -279,12 +201,7 @@ void PerpendicularVector( vec3_t dst, const vec3_t src ) dst[1] = 0; dst[2] = 0; } -#endif } - - -#ifdef _WIN32 -#pragma optimize( "", off ) #endif @@ -298,169 +215,35 @@ 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]; - VectorNormalize(right); + VectorMA(right, -d, forward, right); + VectorNormalizeFast(right); CrossProduct(right, forward, up); } -void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ) +void VectorVectorsDouble(const double *forward, double *right, double *up) { -#if 0 - // LordHavoc: the old way, cryptic brute force... - float m[3][3]; - float im[3][3]; - float zrot[3][3]; - float tmpmat[3][3]; - float rot[3][3]; - int i; - vec3_t vr, vup, vf; - - vf[0] = dir[0]; - vf[1] = dir[1]; - vf[2] = dir[2]; - - PerpendicularVector( vr, dir ); - CrossProduct( vr, vf, vup ); - - m[0][0] = vr[0]; - m[1][0] = vr[1]; - m[2][0] = vr[2]; - - m[0][1] = vup[0]; - m[1][1] = vup[1]; - m[2][1] = vup[2]; - - m[0][2] = vf[0]; - m[1][2] = vf[1]; - m[2][2] = vf[2]; - - memcpy( im, m, sizeof( im ) ); - - im[0][1] = m[1][0]; - im[0][2] = m[2][0]; - im[1][0] = m[0][1]; - im[1][2] = m[2][1]; - im[2][0] = m[0][2]; - im[2][1] = m[1][2]; - - memset( zrot, 0, sizeof( zrot ) ); - zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; - - zrot[0][0] = cos( DEG2RAD( degrees ) ); - zrot[0][1] = sin( DEG2RAD( degrees ) ); - zrot[1][0] = -sin( DEG2RAD( degrees ) ); - zrot[1][1] = cos( DEG2RAD( degrees ) ); - - R_ConcatRotations( m, zrot, tmpmat ); - 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]; -#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; + double d; - angle = DEG2RAD(degrees); + right[0] = forward[2]; + right[1] = -forward[0]; + right[2] = forward[1]; - c = cos(angle); - s = sin(angle); + d = DotProduct(forward, right); + VectorMA(right, -d, forward, right); + VectorNormalize(right); + CrossProduct(right, forward, up); +} - vf[0] = dir[0]; - vf[1] = dir[1]; - vf[2] = dir[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; +void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ) +{ + float t0, t1; + float angle, c, s; + 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]; - -// PerpendicularVector(vr, dir); -// CrossProduct(vr, vf, vu); + VectorCopy(dir, vf); VectorVectors(vf, vr, vu); t0 = vr[0] * c + vu[0] * -s; @@ -480,93 +263,14 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, 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 } -#ifdef _WIN32 -#pragma optimize( "", on ) -#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));} -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));} -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));} -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));} -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));} -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));} - -void BoxOnPlaneSideClassify(mplane_t *p) -{ - switch(p->type) - { - 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[1] < 0) // 2 - { - if (p->normal[0] < 0) // 1 - p->BoxOnPlaneSideFunc = BoxOnPlaneSide7; - else - p->BoxOnPlaneSideFunc = BoxOnPlaneSide6; - } - else - { - if (p->normal[0] < 0) // 1 - p->BoxOnPlaneSideFunc = BoxOnPlaneSide5; - else - p->BoxOnPlaneSideFunc = BoxOnPlaneSide4; - } - } - else - { - if (p->normal[1] < 0) // 2 - { - if (p->normal[0] < 0) // 1 - p->BoxOnPlaneSideFunc = BoxOnPlaneSide3; - else - p->BoxOnPlaneSideFunc = BoxOnPlaneSide2; - } - else - { - if (p->normal[0] < 0) // 1 - p->BoxOnPlaneSideFunc = BoxOnPlaneSide1; - else - p->BoxOnPlaneSideFunc = BoxOnPlaneSide0; - } - } - break; - } -} - void PlaneClassify(mplane_t *p) { + // for optimized plane comparisons if (p->normal[0] == 1) p->type = 0; else if (p->normal[1] == 1) @@ -575,149 +279,151 @@ 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; } -void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) +int BoxOnPlaneSide (const vec3_t emins, const vec3_t emaxs, const mplane_t *p) { - float angle; - float sr, sp, sy, cr, cp, cy; - + 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)); + } +} + +void AngleVectors (const 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); - // LordHavoc: this is only to hush up gcc complaining about 'might be used uninitialized' variables - // (they are NOT used uninitialized, but oh well) - cr = 0; - sr = 0; + if (forward) + { + forward[0] = cp*cy; + forward[1] = cp*sy; + forward[2] = -sp; + } if (right || up) { 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; + } } +} + +void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, 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) + if (left || up) { - right[0] = (-1*sr*sp*cy+-1*cr*-sy); - right[1] = (-1*sr*sp*sy+-1*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; + 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) -{ - int i; - - for (i=0 ; i<3 ; i++) - if (v1[i] != v2[i]) - return 0; - - return 1; -} - -void VectorMA (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]; - vecc[2] = veca[2] + scale*vecb[2]; -} - - -vec_t _DotProduct (vec3_t v1, vec3_t v2) -{ - return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; -} - -void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out) -{ - out[0] = veca[0]-vecb[0]; - out[1] = veca[1]-vecb[1]; - out[2] = veca[2]-vecb[2]; -} - -void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out) -{ - out[0] = veca[0]+vecb[0]; - out[1] = veca[1]+vecb[1]; - out[2] = veca[2]+vecb[2]; -} - -void _VectorCopy (vec3_t in, vec3_t out) -{ - out[0] = in[0]; - out[1] = in[1]; - out[2] = in[2]; -} - -// LordHavoc: changed CrossProduct to a #define -/* -void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross) -{ - cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; - cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; - cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} -*/ - -double sqrt(double x); - -vec_t Length(vec3_t v) +#if 0 +void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4]) { - int i; - float length; + double angle, sr, sp, sy, cr, cp, cy; - length = 0; - for (i=0 ; i< 3 ; i++) - length += v[i]*v[i]; - length = sqrt (length); // FIXME - - return length; + 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]; } - -/* -// 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 + +// LordHavoc: renamed this to Length, and made the normal one a #define float VectorNormalizeLength (vec3_t v) { - float length, ilength; + float length, ilength; length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; - length = sqrt (length); // FIXME + length = sqrt (length); if (length) { @@ -726,72 +432,28 @@ float VectorNormalizeLength (vec3_t v) v[1] *= ilength; v[2] *= ilength; } - - return length; - -} -float VectorNormalizeLength2 (vec3_t v, vec3_t dest) // LordHavoc: added to allow copying while doing the calculation... -{ - float length, ilength; - - length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; - length = sqrt (length); // FIXME - - if (length) - { - ilength = 1/length; - dest[0] = v[0] * ilength; - dest[1] = v[1] * ilength; - dest[2] = v[2] * ilength; - } - else - dest[0] = dest[1] = dest[2] = 0; - return length; } -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) -{ - out[0] = in[0]*scale; - out[1] = in[1]*scale; - out[2] = in[2]*scale; -} - - -int Q_log2(int val) -{ - int answer=0; - while (val>>=1) - answer++; - return answer; -} - /* ================ R_ConcatRotations ================ */ -void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]) +void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3]) { - out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0]; - out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1]; - out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2]; - out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0]; - out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1]; - out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2]; - out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0]; - out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1]; - out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2]; + out[0*3+0] = in1[0*3+0] * in2[0*3+0] + in1[0*3+1] * in2[1*3+0] + in1[0*3+2] * in2[2*3+0]; + out[0*3+1] = in1[0*3+0] * in2[0*3+1] + in1[0*3+1] * in2[1*3+1] + in1[0*3+2] * in2[2*3+1]; + out[0*3+2] = in1[0*3+0] * in2[0*3+2] + in1[0*3+1] * in2[1*3+2] + in1[0*3+2] * in2[2*3+2]; + out[1*3+0] = in1[1*3+0] * in2[0*3+0] + in1[1*3+1] * in2[1*3+0] + in1[1*3+2] * in2[2*3+0]; + out[1*3+1] = in1[1*3+0] * in2[0*3+1] + in1[1*3+1] * in2[1*3+1] + in1[1*3+2] * in2[2*3+1]; + out[1*3+2] = in1[1*3+0] * in2[0*3+2] + in1[1*3+1] * in2[1*3+2] + in1[1*3+2] * in2[2*3+2]; + out[2*3+0] = in1[2*3+0] * in2[0*3+0] + in1[2*3+1] * in2[1*3+0] + in1[2*3+2] * in2[2*3+0]; + out[2*3+1] = in1[2*3+0] * in2[0*3+1] + in1[2*3+1] * in2[1*3+1] + in1[2*3+2] * in2[2*3+1]; + out[2*3+2] = in1[2*3+0] * in2[0*3+2] + in1[2*3+1] * in2[1*3+2] + in1[2*3+2] * in2[2*3+2]; } @@ -800,97 +462,38 @@ void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]) R_ConcatTransforms ================ */ -void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4]) +void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4]) { - out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0]; - out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1]; - out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2]; - out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + in1[0][2] * in2[2][3] + in1[0][3]; - out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0]; - out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1]; - out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2]; - out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + in1[1][2] * in2[2][3] + in1[1][3]; - out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0]; - out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1]; - out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2]; - out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + in1[2][2] * in2[2][3] + in1[2][3]; + out[0*4+0] = in1[0*4+0] * in2[0*4+0] + in1[0*4+1] * in2[1*4+0] + in1[0*4+2] * in2[2*4+0]; + out[0*4+1] = in1[0*4+0] * in2[0*4+1] + in1[0*4+1] * in2[1*4+1] + in1[0*4+2] * in2[2*4+1]; + out[0*4+2] = in1[0*4+0] * in2[0*4+2] + in1[0*4+1] * in2[1*4+2] + in1[0*4+2] * in2[2*4+2]; + out[0*4+3] = in1[0*4+0] * in2[0*4+3] + in1[0*4+1] * in2[1*4+3] + in1[0*4+2] * in2[2*4+3] + in1[0*4+3]; + out[1*4+0] = in1[1*4+0] * in2[0*4+0] + in1[1*4+1] * in2[1*4+0] + in1[1*4+2] * in2[2*4+0]; + out[1*4+1] = in1[1*4+0] * in2[0*4+1] + in1[1*4+1] * in2[1*4+1] + in1[1*4+2] * in2[2*4+1]; + out[1*4+2] = in1[1*4+0] * in2[0*4+2] + in1[1*4+1] * in2[1*4+2] + in1[1*4+2] * in2[2*4+2]; + out[1*4+3] = in1[1*4+0] * in2[0*4+3] + in1[1*4+1] * in2[1*4+3] + in1[1*4+2] * in2[2*4+3] + in1[1*4+3]; + out[2*4+0] = in1[2*4+0] * in2[0*4+0] + in1[2*4+1] * in2[1*4+0] + in1[2*4+2] * in2[2*4+0]; + out[2*4+1] = in1[2*4+0] * in2[0*4+1] + in1[2*4+1] * in2[1*4+1] + in1[2*4+2] * in2[2*4+1]; + out[2*4+2] = in1[2*4+0] * in2[0*4+2] + in1[2*4+1] * in2[1*4+2] + in1[2*4+2] * in2[2*4+2]; + 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]; } - -/* -=================== -FloorDivMod - -Returns mathematically correct (floor-based) quotient and remainder for -numer and denom, both of which should contain no fractional part. The -quotient must fit in 32 bits. -==================== -*/ - -void FloorDivMod (double numer, double denom, int *quotient, - int *rem) +float RadiusFromBounds (const vec3_t mins, const vec3_t maxs) { - int q, r; - double x; - -#ifndef PARANOID - if (denom <= 0.0) - Sys_Error ("FloorDivMod: bad denominator %d\n", denom); - -// if ((floor(numer) != numer) || (floor(denom) != denom)) -// Sys_Error ("FloorDivMod: non-integer numer or denom %f %f\n", -// numer, denom); -#endif - - if (numer >= 0.0) - { - - x = floor(numer / denom); - q = (int)x; - r = (int)floor(numer - (x * denom)); - } - else - { - // - // perform operations with positive values, and fix mod to make floor-based - // - x = floor(-numer / denom); - q = -(int)x; - r = (int)floor(-numer - (x * denom)); - if (r != 0) - { - q--; - r = (int)denom - r; - } - } - - *quotient = q; - *rem = r; + 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])); } - -/* -=================== -GreatestCommonDivisor -==================== -*/ -int GreatestCommonDivisor (int i1, int i2) +float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin) { - if (i1 > i2) - { - if (i2 == 0) - return (i1); - return GreatestCommonDivisor (i2, i1 % i2); - } - else - { - if (i1 == 0) - return (i2); - return GreatestCommonDivisor (i1, i2 % i1); - } + 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) { int a; @@ -900,3 +503,36 @@ void Mathlib_Init(void) for (a = 1;a < 4096;a++) 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; +} +