2 Copyright (C) 1999-2007 id Software, Inc. and contributors.
3 For a list of contributors, see the accompanying CONTRIBUTORS file.
5 This file is part of GtkRadiant.
7 GtkRadiant is free software; you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation; either version 2 of the License, or
10 (at your option) any later version.
12 GtkRadiant is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
17 You should have received a copy of the GNU General Public License
18 along with GtkRadiant; if not, write to the Free Software
19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 // mathlib.c -- math primitives
24 // we use memcpy and memset
27 vec3_t vec3_origin = {0.0f,0.0f,0.0f};
34 qboolean VectorIsOnAxis(vec3_t v)
36 int i, zeroComponentCount;
38 zeroComponentCount = 0;
39 for (i = 0; i < 3; i++)
47 if (zeroComponentCount > 1)
49 // The zero vector will be on axis.
61 qboolean VectorIsOnAxialPlane(vec3_t v)
65 for (i = 0; i < 3; i++)
69 // The zero vector will be on axial plane.
81 Given a normalized forward vector, create two
82 other perpendicular vectors
85 void MakeNormalVectors (vec3_t forward, vec3_t right, vec3_t up)
89 // this rotate and negate guarantees a vector
90 // not colinear with the original
91 right[1] = -forward[0];
92 right[2] = forward[1];
93 right[0] = forward[2];
95 d = DotProduct (right, forward);
96 VectorMA (right, -d, forward, right);
97 VectorNormalize (right, right);
98 CrossProduct (right, forward, up);
101 vec_t VectorLength(vec3_t v)
107 for (i=0 ; i< 3 ; i++)
109 length = (float)sqrt (length);
114 qboolean VectorCompare (vec3_t v1, vec3_t v2)
118 for (i=0 ; i<3 ; i++)
119 if (fabs(v1[i]-v2[i]) > EQUAL_EPSILON)
126 // FIXME TTimo this implementation has to be particular to radiant
127 // through another name I'd say
128 vec_t Q_rint (vec_t in)
130 if (g_PrefsDlg.m_bNoClamp)
133 return (float)floor (in + 0.5);
137 void VectorMA( const vec3_t va, vec_t scale, const vec3_t vb, vec3_t vc )
139 vc[0] = va[0] + scale*vb[0];
140 vc[1] = va[1] + scale*vb[1];
141 vc[2] = va[2] + scale*vb[2];
144 void _CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross)
146 cross[0] = v1[1]*v2[2] - v1[2]*v2[1];
147 cross[1] = v1[2]*v2[0] - v1[0]*v2[2];
148 cross[2] = v1[0]*v2[1] - v1[1]*v2[0];
151 vec_t _DotProduct (vec3_t v1, vec3_t v2)
153 return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
156 void _VectorSubtract (vec3_t va, vec3_t vb, vec3_t out)
158 out[0] = va[0]-vb[0];
159 out[1] = va[1]-vb[1];
160 out[2] = va[2]-vb[2];
163 void _VectorAdd (vec3_t va, vec3_t vb, vec3_t out)
165 out[0] = va[0]+vb[0];
166 out[1] = va[1]+vb[1];
167 out[2] = va[2]+vb[2];
170 void _VectorCopy (vec3_t in, vec3_t out)
177 vec_t VectorNormalize( const vec3_t in, vec3_t out ) {
179 #if MATHLIB_VECTOR_NORMALIZE_PRECISION_FIX
181 // The sqrt() function takes double as an input and returns double as an
182 // output according the the man pages on Debian and on FreeBSD. Therefore,
183 // I don't see a reason why using a double outright (instead of using the
184 // vec_accu_t alias for example) could possibly be frowned upon.
186 double x, y, z, length;
192 length = sqrt((x * x) + (y * y) + (z * z));
199 out[0] = (vec_t) (x / length);
200 out[1] = (vec_t) (y / length);
201 out[2] = (vec_t) (z / length);
203 return (vec_t) length;
207 vec_t length, ilength;
209 length = (vec_t)sqrt (in[0]*in[0] + in[1]*in[1] + in[2]*in[2]);
216 ilength = 1.0f/length;
217 out[0] = in[0]*ilength;
218 out[1] = in[1]*ilength;
219 out[2] = in[2]*ilength;
227 vec_t ColorNormalize( const vec3_t in, vec3_t out ) {
237 out[0] = out[1] = out[2] = 1.0;
243 VectorScale (in, scale, out);
248 void VectorInverse (vec3_t v)
256 void VectorScale (vec3_t v, vec_t scale, vec3_t out)
258 out[0] = v[0] * scale;
259 out[1] = v[1] * scale;
260 out[2] = v[2] * scale;
264 void VectorRotate (vec3_t vIn, vec3_t vRotation, vec3_t out)
271 VectorCopy(va, vWork);
272 nIndex[0][0] = 1; nIndex[0][1] = 2;
273 nIndex[1][0] = 2; nIndex[1][1] = 0;
274 nIndex[2][0] = 0; nIndex[2][1] = 1;
276 for (i = 0; i < 3; i++)
278 if (vRotation[i] != 0)
280 float dAngle = vRotation[i] * Q_PI / 180.0f;
281 float c = (vec_t)cos(dAngle);
282 float s = (vec_t)sin(dAngle);
283 vWork[nIndex[i][0]] = va[nIndex[i][0]] * c - va[nIndex[i][1]] * s;
284 vWork[nIndex[i][1]] = va[nIndex[i][0]] * s + va[nIndex[i][1]] * c;
286 VectorCopy(vWork, va);
288 VectorCopy(vWork, out);
291 void VectorRotateOrigin (vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out)
293 vec3_t vTemp, vTemp2;
295 VectorSubtract(vIn, vOrigin, vTemp);
296 VectorRotate(vTemp, vRotation, vTemp2);
297 VectorAdd(vTemp2, vOrigin, out);
300 void VectorPolar(vec3_t v, float radius, float theta, float phi)
302 v[0]=(float)(radius * cos(theta) * cos(phi));
303 v[1]=(float)(radius * sin(theta) * cos(phi));
304 v[2]=(float)(radius * sin(phi));
307 void VectorSnap(vec3_t v)
310 for (i = 0; i < 3; i++)
312 v[i] = (vec_t)floor (v[i] + 0.5);
316 void VectorISnap(vec3_t point, int snap)
319 for (i = 0 ;i < 3 ; i++)
321 point[i] = (vec_t)floor (point[i] / snap + 0.5) * snap;
325 void VectorFSnap(vec3_t point, float snap)
328 for (i = 0 ;i < 3 ; i++)
330 point[i] = (vec_t)floor (point[i] / snap + 0.5) * snap;
334 void _Vector5Add (vec5_t va, vec5_t vb, vec5_t out)
336 out[0] = va[0]+vb[0];
337 out[1] = va[1]+vb[1];
338 out[2] = va[2]+vb[2];
339 out[3] = va[3]+vb[3];
340 out[4] = va[4]+vb[4];
343 void _Vector5Scale (vec5_t v, vec_t scale, vec5_t out)
345 out[0] = v[0] * scale;
346 out[1] = v[1] * scale;
347 out[2] = v[2] * scale;
348 out[3] = v[3] * scale;
349 out[4] = v[4] * scale;
352 void _Vector53Copy (vec5_t in, vec3_t out)
359 // NOTE: added these from Ritual's Q3Radiant
360 void ClearBounds (vec3_t mins, vec3_t maxs)
362 mins[0] = mins[1] = mins[2] = 99999;
363 maxs[0] = maxs[1] = maxs[2] = -99999;
366 void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs)
371 for (i=0 ; i<3 ; i++)
381 #define PITCH 0 // up / down
382 #define YAW 1 // left / right
383 #define ROLL 2 // fall over
385 #define M_PI 3.14159265358979323846f // matches value in gcc v2 math.h
388 void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
391 static float sr, sp, sy, cr, cp, cy;
392 // static to help MS compiler fp bugs
394 angle = angles[YAW] * (M_PI*2.0f / 360.0f);
395 sy = (vec_t)sin(angle);
396 cy = (vec_t)cos(angle);
397 angle = angles[PITCH] * (M_PI*2.0f / 360.0f);
398 sp = (vec_t)sin(angle);
399 cp = (vec_t)cos(angle);
400 angle = angles[ROLL] * (M_PI*2.0f / 360.0f);
401 sr = (vec_t)sin(angle);
402 cr = (vec_t)cos(angle);
412 right[0] = -sr*sp*cy+cr*sy;
413 right[1] = -sr*sp*sy-cr*cy;
418 up[0] = cr*sp*cy+sr*sy;
419 up[1] = cr*sp*sy-sr*cy;
424 void VectorToAngles( vec3_t vec, vec3_t angles )
429 if ( ( vec[ 0 ] == 0 ) && ( vec[ 1 ] == 0 ) )
443 yaw = (vec_t)atan2( vec[ 1 ], vec[ 0 ] ) * 180 / M_PI;
449 forward = ( float )sqrt( vec[ 0 ] * vec[ 0 ] + vec[ 1 ] * vec[ 1 ] );
450 pitch = (vec_t)atan2( vec[ 2 ], forward ) * 180 / M_PI;
463 =====================
466 Returns false if the triangle is degenrate.
467 The normal will point out of the clock for clockwise ordered points
468 =====================
470 qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c ) {
473 VectorSubtract( b, a, d1 );
474 VectorSubtract( c, a, d2 );
475 CrossProduct( d2, d1, plane );
476 if ( VectorNormalize( plane, plane ) == 0 ) {
480 plane[3] = DotProduct( a, plane );
487 ** We use two byte encoded normals in some space critical applications.
488 ** Lat = 0 at (1,0,0) to 360 (-1,0,0), encoded in 8-bit sine table format
489 ** Lng = 0 at (0,0,1) to 180 (0,0,-1), encoded in 8-bit sine table format
492 void NormalToLatLong( const vec3_t normal, byte bytes[2] ) {
493 // check for singularities
494 if ( normal[0] == 0 && normal[1] == 0 ) {
495 if ( normal[2] > 0 ) {
497 bytes[1] = 0; // lat = 0, long = 0
500 bytes[1] = 0; // lat = 0, long = 128
505 a = (int)( RAD2DEG( atan2( normal[1], normal[0] ) ) * (255.0f / 360.0f ) );
508 b = (int)( RAD2DEG( acos( normal[2] ) ) * ( 255.0f / 360.0f ) );
511 bytes[0] = b; // longitude
512 bytes[1] = a; // lattitude
521 int PlaneTypeForNormal (vec3_t normal) {
522 if (normal[0] == 1.0 || normal[0] == -1.0)
524 if (normal[1] == 1.0 || normal[1] == -1.0)
526 if (normal[2] == 1.0 || normal[2] == -1.0)
529 return PLANE_NON_AXIAL;
537 void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]) {
538 out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
539 in1[0][2] * in2[2][0];
540 out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
541 in1[0][2] * in2[2][1];
542 out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
543 in1[0][2] * in2[2][2];
544 out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
545 in1[1][2] * in2[2][0];
546 out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
547 in1[1][2] * in2[2][1];
548 out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
549 in1[1][2] * in2[2][2];
550 out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
551 in1[2][2] * in2[2][0];
552 out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
553 in1[2][2] * in2[2][1];
554 out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
555 in1[2][2] * in2[2][2];
558 void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
564 inv_denom = 1.0F / DotProduct( normal, normal );
566 d = DotProduct( normal, p ) * inv_denom;
568 n[0] = normal[0] * inv_denom;
569 n[1] = normal[1] * inv_denom;
570 n[2] = normal[2] * inv_denom;
572 dst[0] = p[0] - d * n[0];
573 dst[1] = p[1] - d * n[1];
574 dst[2] = p[2] - d * n[2];
578 ** assumes "src" is normalized
580 void PerpendicularVector( vec3_t dst, const vec3_t src )
584 vec_t minelem = 1.0F;
588 ** find the smallest magnitude axially aligned vector
590 for ( pos = 0, i = 0; i < 3; i++ )
592 if ( fabs( src[i] ) < minelem )
595 minelem = (vec_t)fabs( src[i] );
598 tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
602 ** project the point onto the plane defined by src
604 ProjectPointOnPlane( dst, tempvec, src );
607 ** normalize the result
609 VectorNormalize( dst, dst );
614 RotatePointAroundVector
616 This is not implemented very well...
619 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
634 PerpendicularVector( vr, dir );
635 CrossProduct( vr, vf, vup );
649 memcpy( im, m, sizeof( im ) );
658 memset( zrot, 0, sizeof( zrot ) );
659 zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
661 rad = DEG2RAD( degrees );
662 zrot[0][0] = (vec_t)cos( rad );
663 zrot[0][1] = (vec_t)sin( rad );
664 zrot[1][0] = (vec_t)-sin( rad );
665 zrot[1][1] = (vec_t)cos( rad );
667 MatrixMultiply( m, zrot, tmpmat );
668 MatrixMultiply( tmpmat, im, rot );
670 for ( i = 0; i < 3; i++ ) {
671 dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
676 ////////////////////////////////////////////////////////////////////////////////
677 // Below is double-precision math stuff. This was initially needed by the new
678 // "base winding" code in q3map2 brush processing in order to fix the famous
679 // "disappearing triangles" issue. These definitions can be used wherever extra
680 // precision is needed.
681 ////////////////////////////////////////////////////////////////////////////////
688 vec_accu_t VectorLengthAccu(const vec3_accu_t v)
690 return (vec_accu_t) sqrt((v[0] * v[0]) + (v[1] * v[1]) + (v[2] * v[2]));
698 vec_accu_t DotProductAccu(const vec3_accu_t a, const vec3_accu_t b)
700 return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);
708 void VectorSubtractAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
710 out[0] = a[0] - b[0];
711 out[1] = a[1] - b[1];
712 out[2] = a[2] - b[2];
720 void VectorAddAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
722 out[0] = a[0] + b[0];
723 out[1] = a[1] + b[1];
724 out[2] = a[2] + b[2];
732 void VectorCopyAccu(const vec3_accu_t in, vec3_accu_t out)
744 void VectorScaleAccu(const vec3_accu_t in, vec_accu_t scaleFactor, vec3_accu_t out)
746 out[0] = in[0] * scaleFactor;
747 out[1] = in[1] * scaleFactor;
748 out[2] = in[2] * scaleFactor;
756 void CrossProductAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
758 out[0] = (a[1] * b[2]) - (a[2] * b[1]);
759 out[1] = (a[2] * b[0]) - (a[0] * b[2]);
760 out[2] = (a[0] * b[1]) - (a[1] * b[0]);
768 vec_accu_t Q_rintAccu(vec_accu_t val)
770 return (vec_accu_t) floor(val + 0.5);
775 VectorCopyAccuToRegular
778 void VectorCopyAccuToRegular(const vec3_accu_t in, vec3_t out)
780 out[0] = (vec_t) in[0];
781 out[1] = (vec_t) in[1];
782 out[2] = (vec_t) in[2];
787 VectorCopyRegularToAccu
790 void VectorCopyRegularToAccu(const vec3_t in, vec3_accu_t out)
792 out[0] = (vec_accu_t) in[0];
793 out[1] = (vec_accu_t) in[1];
794 out[2] = (vec_accu_t) in[2];
802 vec_accu_t VectorNormalizeAccu(const vec3_accu_t in, vec3_accu_t out)
804 // The sqrt() function takes double as an input and returns double as an
805 // output according the the man pages on Debian and on FreeBSD. Therefore,
806 // I don't see a reason why using a double outright (instead of using the
807 // vec_accu_t alias for example) could possibly be frowned upon.
811 length = (vec_accu_t) sqrt((in[0] * in[0]) + (in[1] * in[1]) + (in[2] * in[2]));
818 out[0] = in[0] / length;
819 out[1] = in[1] / length;
820 out[2] = in[2] / length;