X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=mathlib.c;h=3fe396b83b826d45a310b98088860efdd6d0662c;hp=f1bbacff8f25cdb9009bdab5d02b842d27d33542;hb=e24d834dcbcc61f28fdf0e2c1ba75693d9e23ed1;hpb=8dcce44300385b12c46d494c06aadcfa35a8bc14

diff --git a/mathlib.c b/mathlib.c
index f1bbacff..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.
 
@@ -22,328 +22,376 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 #include <math.h>
 #include "quakedef.h"
 
-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},
+};
 
-void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
+#if 0
+qbyte NormalToByte(const vec3_t n)
 {
-	float d;
-	vec3_t n;
-	float inv_denom;
+	int i, best;
+	float bestdistance, distance;
 
-	inv_denom = 1.0F / DotProduct( normal, normal );
+	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;
+}
 
-	d = DotProduct( normal, p ) * inv_denom;
+// note: uses byte partly to force unsigned for the validity check
+void ByteToNormal(qbyte num, vec3_t n)
+{
+	if (num < NUMVERTEXNORMALS)
+		VectorCopy(m_bytenormals[num], n);
+	else
+		VectorClear(n); // FIXME: complain?
+}
 
-	n[0] = normal[0] * inv_denom;
-	n[1] = normal[1] * inv_denom;
-	n[2] = normal[2] * inv_denom;
+float Q_RSqrt(float number)
+{
+	float y;
 
-	dst[0] = p[0] - d * n[0];
-	dst[1] = p[1] - d * n[1];
-	dst[2] = p[2] - d * n[2];
+	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
-*/
+// assumes "src" is normalized
 void PerpendicularVector( vec3_t dst, const vec3_t src )
 {
-	int	pos;
-	int i;
-	float minelem = 1.0F;
-	vec3_t tempvec;
+	// LordHavoc: optimized to death and beyond
+	int pos;
+	float minelem;
 
-	/*
-	** find the smallest magnitude axially aligned vector
-	*/
-	for ( pos = 0, i = 0; i < 3; i++ )
+	if (src[0])
 	{
-		if ( fabs( src[i] ) < minelem )
+		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
 		{
-			pos = i;
-			minelem = fabs( src[i] );
+			dst[1] = 1;
+			dst[2] = 0;
 		}
 	}
-	tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
-	tempvec[pos] = 1.0F;
-
-	/*
-	** project the point onto the plane defined by src
-	*/
-	ProjectPointOnPlane( dst, tempvec, src );
-
-	/*
-	** normalize the result
-	*/
-	VectorNormalize( dst );
+	else
+	{
+		dst[0] = 1;
+		dst[1] = 0;
+		dst[2] = 0;
+	}
 }
-
-#ifdef _WIN32
-#pragma optimize( "", off )
 #endif
 
 
-void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
+// 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	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];
-	}
-}
-
-#ifdef _WIN32
-#pragma optimize( "", on )
-#endif
+	float d;
 
-/*-----------------------------------------------------------------*/
+	right[0] = forward[2];
+	right[1] = -forward[0];
+	right[2] = forward[1];
 
+	d = DotProduct(forward, right);
+	VectorMA(right, -d, forward, right);
+	VectorNormalizeFast(right);
+	CrossProduct(right, forward, up);
+}
 
-float	anglemod(float a)
+void VectorVectorsDouble(const double *forward, double *right, double *up)
 {
-#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;
-}
+	double d;
 
-/*
-==================
-BOPS_Error
+	right[0] = forward[2];
+	right[1] = -forward[0];
+	right[2] = forward[1];
 
-Split out like this for ASM to call.
-==================
-*/
-/*
-void BOPS_Error (void)
-{
-	Sys_Error ("BoxOnPlaneSide:  Bad signbits");
+	d = DotProduct(forward, right);
+	VectorMA(right, -d, forward, right);
+	VectorNormalize(right);
+	CrossProduct(right, forward, up);
 }
 
+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);
+	VectorCopy(dir, vf);
+	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];
+}
 
-#if	!id386
+/*-----------------------------------------------------------------*/
 
-*/
-/*
-==================
-BoxOnPlaneSide
 
-Returns 1, 2, or 1 + 2
-==================
-*/
-/*
-int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p)
+void PlaneClassify(mplane_t *p)
 {
-	float	dist1, dist2;
-	int		sides;
+	// for optimized plane comparisons
+	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;
+	// 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;
+}
 
-#if 0	// this is done by the BOX_ON_PLANE_SIDE macro before calling this
-		// function
-// fast axial cases
+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)
 	{
-		if (p->dist <= emins[p->type])
-			return 1;
-		if (p->dist >= emaxs[p->type])
-			return 2;
-		return 3;
-	}
-#endif
-	
-// general case
-	switch (p->signbits)
-	{
+	default:
 	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;
+		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:
-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;
+		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:
-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;
+		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:
-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;
+		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:
-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;
+		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:
-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;
+		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:
-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;
+		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:
-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;
+		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		i;
-	vec3_t	corners[2];
+void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
+{
+	double angle, sr, sp, sy, cr, cp, cy;
 
-	for (i=0 ; i<3 ; i++)
+	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 (plane->normal[i] < 0)
+		angle = angles[ROLL] * (M_PI*2 / 360);
+		sr = sin(angle);
+		cr = cos(angle);
+		if (right)
 		{
-			corners[0][i] = emins[i];
-			corners[1][i] = emaxs[i];
+			right[0] = -1*(sr*sp*cy+cr*-sy);
+			right[1] = -1*(sr*sp*sy+cr*cy);
+			right[2] = -1*(sr*cp);
 		}
-		else
+		if (up)
 		{
-			corners[1][i] = emins[i];
-			corners[0][i] = emaxs[i];
+			up[0] = (cr*sp*cy+-sr*-sy);
+			up[1] = (cr*sp*sy+-sr*cy);
+			up[2] = cr*cp;
 		}
 	}
-	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;
-
-#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");
-#endif
-
-	return sides;
 }
 
-#endif
-*/
-
-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)
+void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
 {
-	if (p->normal[2] < 0) // 4
+	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)
 	{
-		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;
-		}
+		forward[0] = cp*cy;
+		forward[1] = cp*sy;
+		forward[2] = -sp;
 	}
-	else
+	if (left || up)
 	{
-		if (p->normal[1] < 0) // 2
+		angle = angles[ROLL] * (M_PI*2 / 360);
+		sr = sin(angle);
+		cr = cos(angle);
+		if (left)
 		{
-			if (p->normal[0] < 0) // 1
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
-			else
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
+			left[0] = sr*sp*cy+cr*-sy;
+			left[1] = sr*sp*sy+cr*cy;
+			left[2] = 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)
+#if 0
+void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
 {
-	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);
@@ -353,95 +401,29 @@ void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
 	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;
-}
-
-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];
+	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];
 }
-*/
-
-double sqrt(double x);
-
-vec_t Length(vec3_t v)
-{
-	int		i;
-	float	length;
-	
-	length = 0;
-	for (i=0 ; i< 3 ; i++)
-		length += v[i]*v[i];
-	length = sqrt (length);		// FIXME
+#endif
 
-	return length;
-}
 
-// 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)
 	{
@@ -450,72 +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];
 }
 
 
@@ -524,116 +462,77 @@ 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;
 
-#if	!id386
-
-// TODO: move to nonintel.c
-
-/*
-===================
-Invert24To16
+	// 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;
+}
 
-Inverts an 8.24 value to a 16.16 value
-====================
-*/
+#include "matrixlib.h"
 
-fixed16_t Invert24To16(fixed16_t val)
+void Matrix4x4_Print (const matrix4x4_t *in)
 {
-	if (val < 256)
-		return (0xFFFFFFFF);
+	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]);
+}
 
-	return (fixed16_t)
-			(((double)0x10000 * (double)0x1000000 / (double)val) + 0.5);
+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;
 }
 
-#endif