/*
-Copyright (C) 1999-2007 id Software, Inc. and contributors.
-For a list of contributors, see the accompanying CONTRIBUTORS file.
+ Copyright (C) 1999-2006 Id Software, Inc. and contributors.
+ For a list of contributors, see the accompanying CONTRIBUTORS file.
-This file is part of GtkRadiant.
+ This file is part of GtkRadiant.
-GtkRadiant is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
+ GtkRadiant is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
-GtkRadiant 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. See the
-GNU General Public License for more details.
+ GtkRadiant 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. See the
+ GNU General Public License for more details.
-You should have received a copy of the GNU General Public License
-along with GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
+ You should have received a copy of the GNU General Public License
+ along with GtkRadiant; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
#ifndef __MATHLIB__
#define __MATHLIB__
// mathlib.h
#include <math.h>
-
-#include "bytebool.h"
+#include <float.h>
#ifdef __cplusplus
+
+// start declarations of functions defined in C library.
extern "C"
{
+
#endif
+#include "bytebool.h"
+
typedef float vec_t;
typedef vec_t vec3_t[3];
typedef vec_t vec5_t[5];
typedef vec_t vec4_t[4];
-#define SIDE_FRONT 0
-#define SIDE_ON 2
-#define SIDE_BACK 1
-#define SIDE_CROSS -2
+// Smallest positive value for vec_t such that 1.0 + VEC_SMALLEST_EPSILON_AROUND_ONE != 1.0.
+// In the case of 32 bit floats (which is almost certainly the case), it's 0.00000011921.
+// Don't forget that your epsilons should depend on the possible range of values,
+// because for example adding VEC_SMALLEST_EPSILON_AROUND_ONE to 1024.0 will have no effect.
+#define VEC_SMALLEST_EPSILON_AROUND_ONE FLT_EPSILON
+
+#define SIDE_FRONT 0
+#define SIDE_ON 2
+#define SIDE_BACK 1
+#define SIDE_CROSS -2
// plane types are used to speed some tests
// 0-2 are axial planes
-#define PLANE_X 0
-#define PLANE_Y 1
-#define PLANE_Z 2
-#define PLANE_NON_AXIAL 3
+#define PLANE_X 0
+#define PLANE_Y 1
+#define PLANE_Z 2
+#define PLANE_NON_AXIAL 3
-#define Q_PI 3.14159265358979323846f
+#define Q_PI 3.14159265358979323846f
-extern vec3_t vec3_origin;
+extern const vec3_t vec3_origin;
-#define EQUAL_EPSILON 0.001
+extern const vec3_t g_vec3_axis_x;
+extern const vec3_t g_vec3_axis_y;
+extern const vec3_t g_vec3_axis_z;
-#ifndef VEC_MAX
-#define VEC_MAX 3.402823466e+38F
-#endif
+#define EQUAL_EPSILON 0.001
+
+#define DotProduct( x,y ) ( ( x )[0] * ( y )[0] + ( x )[1] * ( y )[1] + ( x )[2] * ( y )[2] )
+#define VectorSubtract( a,b,c ) ( ( c )[0] = ( a )[0] - ( b )[0],( c )[1] = ( a )[1] - ( b )[1],( c )[2] = ( a )[2] - ( b )[2] )
+#define VectorAdd( a,b,c ) ( ( c )[0] = ( a )[0] + ( b )[0],( c )[1] = ( a )[1] + ( b )[1],( c )[2] = ( a )[2] + ( b )[2] )
+#define VectorIncrement( a,b ) ( ( b )[0] += ( a )[0],( b )[1] += ( a )[1],( b )[2] += ( a )[2] )
+#define VectorCopy( a,b ) ( ( b )[0] = ( a )[0],( b )[1] = ( a )[1],( b )[2] = ( a )[2] )
+#define VectorSet( v, a, b, c ) ( ( v )[0] = ( a ),( v )[1] = ( b ),( v )[2] = ( c ) )
+#define VectorScale( a,b,c ) ( ( c )[0] = ( b ) * ( a )[0],( c )[1] = ( b ) * ( a )[1],( c )[2] = ( b ) * ( a )[2] )
+#define VectorMid( a,b,c ) ( ( c )[0] = ( ( a )[0] + ( b )[0] ) * 0.5f,( c )[1] = ( ( a )[1] + ( b )[1] ) * 0.5f,( c )[2] = ( ( a )[2] + ( b )[2] ) * 0.5f )
+#define VectorNegate( a,b ) ( ( b )[0] = -( a )[0],( b )[1] = -( a )[1],( b )[2] = -( a )[2] )
+#define CrossProduct( a,b,c ) ( ( c )[0] = ( a )[1] * ( b )[2] - ( a )[2] * ( b )[1],( c )[1] = ( a )[2] * ( b )[0] - ( a )[0] * ( b )[2],( c )[2] = ( a )[0] * ( b )[1] - ( a )[1] * ( b )[0] )
+#define VectorClear( x ) ( ( x )[0] = ( x )[1] = ( x )[2] = 0 )
-qboolean VectorCompare (vec3_t v1, vec3_t v2);
+#define FLOAT_SNAP( f,snap ) ( (float)( floor( ( f ) / ( snap ) + 0.5 ) * ( snap ) ) )
+#define FLOAT_TO_INTEGER( f ) ( (float)( floor( ( f ) + 0.5 ) ) )
-#define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2])
-#define VectorSubtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
-#define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
-#define VectorIncrement(a,b) ((b)[0]+=(a)[0],(b)[1]+=(a)[1],(b)[2]+=(a)[2])
-#define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
-#define VectorSet(v, a, b, c) ((v)[0]=(a),(v)[1]=(b),(v)[2]=(c))
-#define VectorScale(a,b,c) ((c)[0]=(b)*(a)[0],(c)[1]=(b)*(a)[1],(c)[2]=(b)*(a)[2])
-#define VectorMid(a,b,c) ((c)[0]=((a)[0]+(b)[0])*0.5f,(c)[1]=((a)[1]+(b)[1])*0.5f,(c)[2]=((a)[2]+(b)[2])*0.5f)
-#define VectorNegative(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2])
-#define CrossProduct(a,b,c) ((c)[0]=(a)[1]*(b)[2]-(a)[2]*(b)[1],(c)[1]=(a)[2]*(b)[0]-(a)[0]*(b)[2],(c)[2]=(a)[0]*(b)[1]-(a)[1]*(b)[0])
-#define VectorClear(x) ((x)[0]=(x)[1]=(x)[2]=0)
+#define RGBTOGRAY( x ) ( (float)( ( x )[0] ) * 0.2989f + (float)( ( x )[1] ) * 0.5870f + (float)( ( x )[2] ) * 0.1140f )
-#define Q_rint(in) ((vec_t)floor(in+0.5))
+#define Q_rint( in ) ( (vec_t)floor( in + 0.5 ) )
-vec_t VectorLength(vec3_t v);
+qboolean VectorCompare( const vec3_t v1, const vec3_t v2 );
+
+qboolean VectorIsOnAxis( vec3_t v );
+qboolean VectorIsOnAxialPlane( vec3_t v );
+
+vec_t VectorLength( const vec3_t v );
void VectorMA( const vec3_t va, vec_t scale, const vec3_t vb, vec3_t vc );
-void _CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross);
-vec_t VectorNormalize (const vec3_t in, vec3_t out);
-vec_t VectorSetLength (const vec3_t in, vec_t length, vec3_t out);
+void _CrossProduct( vec3_t v1, vec3_t v2, vec3_t cross );
+// I need this define in order to test some of the regression tests from time to time.
+// This define affect the precision of VectorNormalize() function only.
+#define MATHLIB_VECTOR_NORMALIZE_PRECISION_FIX 1
+vec_t VectorNormalize( const vec3_t in, vec3_t out );
vec_t ColorNormalize( const vec3_t in, vec3_t out );
-void VectorInverse (vec3_t v);
-void VectorPolar(vec3_t v, float radius, float theta, float phi);
+void VectorInverse( vec3_t v );
+void VectorPolar( vec3_t v, float radius, float theta, float phi );
// default snapping, to 1
-void VectorSnap(vec3_t v);
+void VectorSnap( vec3_t v );
// integer snapping
-void VectorISnap(vec3_t point, int snap);
+void VectorISnap( vec3_t point, int snap );
// Gef: added snap to float for sub-integer grid sizes
// TTimo: we still use the int version of VectorSnap when possible
// to avoid potential rounding issues
// TTimo: renaming to VectorFSnap for C implementation
-void VectorFSnap(vec3_t point, float snap);
+void VectorFSnap( vec3_t point, float snap );
// NOTE: added these from Ritual's Q3Radiant
-void ClearBounds (vec3_t mins, vec3_t maxs);
-void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs);
+void ClearBounds( vec3_t mins, vec3_t maxs );
+void AddPointToBounds( vec3_t v, vec3_t mins, vec3_t maxs );
+
-void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
+#define PITCH 0 // up / down
+#define YAW 1 // left / right
+#define ROLL 2 // fall over
+
+void AngleVectors( vec3_t angles, vec3_t forward, vec3_t right, vec3_t up );
void VectorToAngles( vec3_t vec, vec3_t angles );
#define ZERO_EPSILON 1.0E-6
#define RAD2DEGMULT 57.29577951308232f
#define DEG2RADMULT 0.01745329251994329f
-#define RAD2DEG( a ) ( (a) * RAD2DEGMULT )
-#define DEG2RAD( a ) ( (a) * DEG2RADMULT )
+#define RAD2DEG( a ) ( ( a ) * RAD2DEGMULT )
+#define DEG2RAD( a ) ( ( a ) * DEG2RADMULT )
-void VectorRotate (vec3_t vIn, vec3_t vRotation, vec3_t out);
-void VectorRotateOrigin (vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out);
+void VectorRotate( vec3_t vIn, vec3_t vRotation, vec3_t out );
+void VectorRotateOrigin( vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out );
// some function merged from tools mathlib code
qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c );
void NormalToLatLong( const vec3_t normal, byte bytes[2] );
-int PlaneTypeForNormal (vec3_t normal);
+int PlaneTypeForNormal( vec3_t normal );
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
-// Spog
-// code imported from geomlib
/*!
-\todo
-FIXME test calls such as intersect tests should be named test_
-*/
+ \todo
+ FIXME test calls such as intersect tests should be named test_
+ */
typedef vec_t m3x3_t[9];
-/*!NOTE
-m4x4 looks like this..
+/*!NOTE
+ m4x4 looks like this..
x y z
-x axis ( 0 1 2)
-y axis ( 4 5 6)
-z axis ( 8 9 10)
-translation (12 13 14)
-scale ( 0 5 10)
-*/
+ x axis ( 0 1 2)
+ y axis ( 4 5 6)
+ z axis ( 8 9 10)
+ translation (12 13 14)
+ scale ( 0 5 10)
+ */
typedef vec_t m4x4_t[16];
-#define M4X4_INDEX(m,row,col) (m[(col<<2)+row])
-
-typedef enum { TRANSLATE, SCALE, ROTATE } transformtype; // legacy, used only in pmesh.cpp
+#define M4X4_INDEX( m,row,col ) ( m[( col << 2 ) + row] )
typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t;
+#define CLIP_PASS 0x00 // 000000
+#define CLIP_LT_X 0x01 // 000001
+#define CLIP_GT_X 0x02 // 000010
+#define CLIP_LT_Y 0x04 // 000100
+#define CLIP_GT_Y 0x08 // 001000
+#define CLIP_LT_Z 0x10 // 010000
+#define CLIP_GT_Z 0x20 // 100000
+#define CLIP_FAIL 0x3F // 111111
+typedef unsigned char clipmask_t;
+
+extern const m4x4_t g_m4x4_identity;
+
+#define M4X4_COPY( dst,src ) ( \
+ ( dst )[0] = ( src )[0], \
+ ( dst )[1] = ( src )[1], \
+ ( dst )[2] = ( src )[2], \
+ ( dst )[3] = ( src )[3], \
+ ( dst )[4] = ( src )[4], \
+ ( dst )[5] = ( src )[5], \
+ ( dst )[6] = ( src )[6], \
+ ( dst )[7] = ( src )[7], \
+ ( dst )[8] = ( src )[8], \
+ ( dst )[9] = ( src )[9], \
+ ( dst )[10] = ( src )[10], \
+ ( dst )[11] = ( src )[11], \
+ ( dst )[12] = ( src )[12], \
+ ( dst )[13] = ( src )[13], \
+ ( dst )[14] = ( src )[14], \
+ ( dst )[15] = ( src )[15] )
+
+typedef enum
+{
+ eRightHanded = 0,
+ eLeftHanded = 1,
+}
+m4x4Handedness_t;
+
+m4x4Handedness_t m4x4_handedness( const m4x4_t matrix );
+
+/*! assign other m4x4 to this m4x4 */
+void m4x4_assign( m4x4_t matrix, const m4x4_t other );
+
// constructors
/*! create m4x4 as identity matrix */
-void m4x4_identity(m4x4_t matrix);
+void m4x4_identity( m4x4_t matrix );
/*! create m4x4 as a translation matrix, for a translation vec3 */
-void m4x4_translation_for_vec3(m4x4_t matrix, const vec3_t translation);
+void m4x4_translation_for_vec3( m4x4_t matrix, const vec3_t translation );
/*! create m4x4 as a rotation matrix, for an euler angles (degrees) vec3 */
-void m4x4_rotation_for_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
+void m4x4_rotation_for_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order );
/*! create m4x4 as a scaling matrix, for a scale vec3 */
-void m4x4_scale_for_vec3(m4x4_t matrix, const vec3_t scale);
+void m4x4_scale_for_vec3( m4x4_t matrix, const vec3_t scale );
/*! create m4x4 as a rotation matrix, for a quaternion vec4 */
-void m4x4_rotation_for_quat(m4x4_t matrix, const vec4_t rotation);
+void m4x4_rotation_for_quat( m4x4_t matrix, const vec4_t rotation );
/*! create m4x4 as a rotation matrix, for an axis vec3 and an angle (radians) */
-void m4x4_rotation_for_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle);
+void m4x4_rotation_for_axisangle( m4x4_t matrix, const vec3_t axis, double angle );
+/*! generate a perspective matrix by specifying the view frustum */
+void m4x4_frustum( m4x4_t matrix, vec_t left, vec_t right, vec_t bottom, vec_t top, vec_t nearval, vec_t farval );
+
+// a valid m4x4 to access is always first argument
+/*! extract translation vec3 from matrix */
+void m4x4_get_translation_vec3( const m4x4_t matrix, vec3_t translation );
+/*! extract euler rotation angles from a rotation-only matrix */
+void m4x4_get_rotation_vec3( const m4x4_t matrix, vec3_t euler, eulerOrder_t order );
+/*! extract scale vec3 from matrix */
+void m4x4_get_scale_vec3( const m4x4_t matrix, vec3_t scale );
+/*! extract translation/euler/scale from an orthogonal matrix. NOTE: requires right-handed axis-base */
+void m4x4_get_transform_vec3( const m4x4_t matrix, vec3_t translation, vec3_t euler, eulerOrder_t order, vec3_t scale );
// a valid m4x4 to be modified is always first argument
/*! translate m4x4 by a translation vec3 */
-void m4x4_translate_by_vec3(m4x4_t matrix, const vec3_t translation);
+void m4x4_translate_by_vec3( m4x4_t matrix, const vec3_t translation );
/*! rotate m4x4 by a euler (degrees) vec3 */
-void m4x4_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order);
+void m4x4_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order );
/*! scale m4x4 by a scaling vec3 */
-void m4x4_scale_by_vec3(m4x4_t matrix, const vec3_t scale);
+void m4x4_scale_by_vec3( m4x4_t matrix, const vec3_t scale );
/*! rotate m4x4 by a quaternion vec4 */
-void m4x4_rotate_by_quat(m4x4_t matrix, const vec4_t rotation);
+void m4x4_rotate_by_quat( m4x4_t matrix, const vec4_t rotation );
/*! rotate m4x4 by an axis vec3 and an angle (radians) */
-void m4x4_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle);
-/*! transform m4x4 by translation/euler/scaling vec3 (transform = translation.euler.scale) */
-void m4x4_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale);
-/*! rotate m4x4 around a pivot point by euler(degrees) vec3 */
-void m4x4_pivoted_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint);
+void m4x4_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, double angle );
+/*! transform m4x4 by translation/eulerZYX/scaling vec3 (transform = scale * eulerZ * eulerY * eulerX * translation) */
+void m4x4_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale );
+/*! rotate m4x4 around a pivot point by eulerZYX vec3 */
+void m4x4_pivoted_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint );
/*! scale m4x4 around a pivot point by scaling vec3 */
-void m4x4_pivoted_scale_by_vec3(m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint);
-/*! transform m4x4 around a pivot point by translation/euler/scaling vec3 */
-void m4x4_pivoted_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint);
+void m4x4_pivoted_scale_by_vec3( m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint );
+/*! transform m4x4 around a pivot point by translation/eulerZYX/scaling vec3 */
+void m4x4_pivoted_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint );
+/*! transform m4x4 around a pivot point by translation/rotation/scaling vec3 */
+void m4x4_pivoted_transform_by_rotation( m4x4_t matrix, const vec3_t translation, const m4x4_t rotation, const vec3_t scale, const vec3_t pivotpoint );
/*! rotate m4x4 around a pivot point by quaternion vec4 */
-void m4x4_pivoted_rotate_by_quat(m4x4_t matrix, const vec4_t rotation, const vec3_t pivotpoint);
+void m4x4_pivoted_rotate_by_quat( m4x4_t matrix, const vec4_t quat, const vec3_t pivotpoint );
/*! rotate m4x4 around a pivot point by axis vec3 and angle (radians) */
-void m4x4_pivoted_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle, const vec3_t pivotpoint);
-/*! post-multiply m4x4 by another m4x4 */
-void m4x4_multiply_by_m4x4(m4x4_t matrix, const m4x4_t other);
-/*! pre-multiply m4x4 by another m4x4 */
-void m4x4_premultiply_by_m4x4(m4x4_t matrix, const m4x4_t other);
+void m4x4_pivoted_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, double angle, const vec3_t pivotpoint );
+
+/*! postmultiply m4x4 by another m4x4 */
+void m4x4_multiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
+/*! premultiply m4x4 by another m4x4 */
+void m4x4_premultiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
+/*! postmultiply orthogonal m4x4 by another orthogonal m4x4 */
+void m4x4_orthogonal_multiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
+/*! premultiply orthogonal m4x4 by another orthogonal m4x4 */
+void m4x4_orthogonal_premultiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
/*! multiply a point (x,y,z,1) by matrix */
-void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
+void m4x4_transform_point( const m4x4_t matrix, vec3_t point );
/*! multiply a normal (x,y,z,0) by matrix */
-void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
+void m4x4_transform_normal( const m4x4_t matrix, vec3_t normal );
/*! multiply a vec4 (x,y,z,w) by matrix */
-void m4x4_transform_vec4(const m4x4_t matrix, vec4_t vector);
+void m4x4_transform_vec4( const m4x4_t matrix, vec4_t vector );
/*! multiply a point (x,y,z,1) by matrix */
-void m4x4_transform_point(const m4x4_t matrix, vec3_t point);
+void m4x4_transform_point( const m4x4_t matrix, vec3_t point );
/*! multiply a normal (x,y,z,0) by matrix */
-void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal);
+void m4x4_transform_normal( const m4x4_t matrix, vec3_t normal );
/*! transpose a m4x4 */
-void m4x4_transpose(m4x4_t matrix);
+void m4x4_transpose( m4x4_t matrix );
/*! invert an orthogonal 4x3 subset of a 4x4 matrix */
-void m4x4_orthogonal_invert(m4x4_t matrix);
+int m4x4_orthogonal_invert( m4x4_t matrix );
+/*! m4_det */
+float m4_det( m4x4_t mr );
/*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */
-int m4x4_invert(m4x4_t matrix);
+int m4x4_invert( m4x4_t matrix );
+
+/*! clip a point (x,y,z,1) by canonical matrix */
+clipmask_t m4x4_clip_point( const m4x4_t matrix, const vec3_t point, vec4_t clipped );
+/*! device-space polygon for clipped triangle */
+unsigned int m4x4_clip_triangle( const m4x4_t matrix, const vec3_t p0, const vec3_t p1, const vec3_t p2, vec4_t clipped[9] );
+/*! device-space line for clipped line */
+unsigned int m4x4_clip_line( const m4x4_t matrix, const vec3_t p0, const vec3_t p1, vec4_t clipped[2] );
+
+
+//! quaternion identity
+void quat_identity( vec4_t quat );
+//! quaternion from two unit vectors
+void quat_for_unit_vectors( vec4_t quat, const vec3_t from, const vec3_t to );
+//! quaternion from axis and angle (radians)
+void quat_for_axisangle( vec4_t quat, const vec3_t axis, double angle );
+//! concatenates two rotations.. equivalent to m4x4_multiply_by_m4x4 .. postmultiply.. the right-hand side is the first rotation performed
+void quat_multiply_by_quat( vec4_t quat, const vec4_t other );
+//! negate a quaternion
+void quat_conjugate( vec4_t quat );
+//! normalise a quaternion
+void quat_normalise( vec4_t quat );
+
+
/*!
-\todo object/ray intersection functions should maybe return a point rather than a distance?
-*/
+ \todo object/ray intersection functions should maybe return a point rather than a distance?
+ */
/*!
-aabb_t - "axis-aligned" bounding box...
- origin: centre of bounding box...
- extents: +/- extents of box from origin...
- radius: cached length of extents vector...
-*/
+ aabb_t - "axis-aligned" bounding box...
+ origin: centre of bounding box...
+ extents: +/- extents of box from origin...
+ */
typedef struct aabb_s
{
- vec3_t origin;
- vec3_t extents;
- vec_t radius;
+ vec3_t origin;
+ vec3_t extents;
} aabb_t;
+extern const aabb_t g_aabb_null;
+
/*!
-bbox_t - oriented bounding box...
- aabb: axis-aligned bounding box...
- axes: orientation axes...
-*/
+ bbox_t - oriented bounding box...
+ aabb: axis-aligned bounding box...
+ axes: orientation axes...
+ */
typedef struct bbox_s
{
- aabb_t aabb;
- vec3_t axes[3];
+ aabb_t aabb;
+ vec3_t axes[3];
+ vec_t radius;
} bbox_t;
/*!
-ray_t - origin point and direction unit-vector
-*/
+ ray_t - origin point and direction unit-vector
+ */
typedef struct ray_s
{
- vec3_t origin;
- vec3_t direction;
+ vec3_t origin;
+ vec3_t direction;
} ray_t;
+/*!
+ line_t - centre point and displacement of end point from centre
+ */
+typedef struct line_s
+{
+ vec3_t origin;
+ vec3_t extents;
+} line_t;
+
+
+/*! Generate line from start/end points. */
+void line_construct_for_vec3( line_t* line, const vec3_t start, const vec3_t end );
+/*! Return 2 if line is behind plane, else return 1 if line intersects plane, else return 0. */
+int line_test_plane( const line_t* line, const vec4_t plane );
/*! Generate AABB from min/max. */
-void aabb_construct_for_vec3(aabb_t *aabb, const vec3_t min, const vec3_t max);
-/*! Update bounding-sphere radius. */
-void aabb_update_radius(aabb_t *aabb);
+void aabb_construct_for_vec3( aabb_t* aabb, const vec3_t min, const vec3_t max );
/*! Initialise AABB to negative size. */
-void aabb_clear(aabb_t *aabb);
+void aabb_clear( aabb_t* aabb );
/*! Extend AABB to include point. */
-void aabb_extend_by_point(aabb_t *aabb, const vec3_t point);
+void aabb_extend_by_point( aabb_t* aabb, const vec3_t point );
/*! Extend AABB to include aabb_src. */
-void aabb_extend_by_aabb(aabb_t *aabb, const aabb_t *aabb_src);
+void aabb_extend_by_aabb( aabb_t* aabb, const aabb_t* aabb_src );
/*! Extend AABB by +/- extension vector. */
-void aabb_extend_by_vec3(aabb_t *aabb, vec3_t extension);
+void aabb_extend_by_vec3( aabb_t* aabb, vec3_t extension );
/*! Return 2 if point is inside, else 1 if point is on surface, else 0. */
-int aabb_intersect_point(const aabb_t *aabb, const vec3_t point);
+int aabb_test_point( const aabb_t* aabb, const vec3_t point );
/*! Return 2 if aabb_src intersects, else 1 if aabb_src touches exactly, else 0. */
-int aabb_intersect_aabb(const aabb_t *aabb, const aabb_t *aabb_src);
+int aabb_test_aabb( const aabb_t* aabb, const aabb_t* aabb_src );
/*! Return 2 if aabb is behind plane, else 1 if aabb intersects plane, else 0. */
-int aabb_intersect_plane(const aabb_t *aabb, const float *plane);
+int aabb_test_plane( const aabb_t* aabb, const float* plane );
/*! Return 1 if aabb intersects ray, else 0... dist = closest intersection. */
-int aabb_intersect_ray(const aabb_t *aabb, const ray_t *ray, vec_t *dist);
+int aabb_intersect_ray( const aabb_t* aabb, const ray_t* ray, vec3_t intersection );
/*! Return 1 if aabb intersects ray, else 0. Faster, but does not provide point of intersection */
-int aabb_test_ray(const aabb_t* aabb, const ray_t* ray);
+int aabb_test_ray( const aabb_t* aabb, const ray_t* ray );
-/*! Generate AABB from oriented bounding box. */
-void aabb_for_bbox(aabb_t *aabb, const bbox_t *bbox);
-/*! Generate AABB from 2-dimensions of min/max, specified by axis. */
-void aabb_for_area(aabb_t *aabb, vec3_t area_tl, vec3_t area_br, int axis);
-/*! Generate AABB to contain src * transform. NOTE: transform must be orthogonal */
-void aabb_for_transformed_aabb(aabb_t* dst, const aabb_t* src, const m4x4_t transform);
+/*! Return 2 if oriented aabb is behind plane, else 1 if aabb intersects plane, else 0. */
+int aabb_oriented_intersect_plane( const aabb_t* aabb, const m4x4_t transform, const vec_t* plane );
+/*! Calculate the corners of the aabb. */
+void aabb_corners( const aabb_t * aabb, vec3_t corners[8] );
+/*! (deprecated) Generate AABB from oriented bounding box. */
+void aabb_for_bbox( aabb_t* aabb, const bbox_t* bbox );
+/*! (deprecated) Generate AABB from 2-dimensions of min/max, specified by axis. */
+void aabb_for_area( aabb_t* aabb, vec3_t area_tl, vec3_t area_br, int axis );
+/*! Generate AABB to contain src* transform. NOTE: transform must be orthogonal */
+void aabb_for_transformed_aabb( aabb_t* dst, const aabb_t* src, const m4x4_t transform );
+
+/*! Update bounding-sphere radius. */
+void bbox_update_radius( bbox_t* bbox );
/*! Generate oriented bounding box from AABB and transformation matrix. */
-/*!\todo Remove need to specify euler/scale. */
-void bbox_for_oriented_aabb(bbox_t *bbox, const aabb_t *aabb,
- const m4x4_t matrix, const vec3_t euler, const vec3_t scale);
-/*! Return 2 is bbox is behind plane, else return 1 if bbox intersects plane, else return 0. */
-int bbox_intersect_plane(const bbox_t *bbox, const vec_t* plane);
+/*!\todo Remove need to specify eulerZYX/scale. */
+void bbox_for_oriented_aabb( bbox_t* bbox, const aabb_t* aabb,
+ const m4x4_t matrix, const vec3_t eulerZYX, const vec3_t scale );
+/*! Return 2 if bbox is behind plane, else return 1 if bbox intersects plane, else return 0. */
+int bbox_intersect_plane( const bbox_t* bbox, const vec_t* plane );
/*! Generate a ray from an origin point and a direction unit-vector */
-void ray_construct_for_vec3(ray_t *ray, const vec3_t origin, const vec3_t direction);
-
-/*! Transform a ray */
-void ray_transform(ray_t *ray, const m4x4_t matrix);
+void ray_construct_for_vec3( ray_t* ray, const vec3_t origin, const vec3_t direction );
-/*! return true if point intersects cone formed by ray, divergence and epsilon */
-vec_t ray_intersect_point(const ray_t *ray, const vec3_t point, vec_t epsilon, vec_t divergence);
-/*! return true if triangle intersects ray... dist = dist from intersection point to ray-origin */
-vec_t ray_intersect_triangle(const ray_t *ray, qboolean bCullBack, const vec3_t vert0, const vec3_t vert1, const vec3_t vert2);
+/*! Transform a ray */
+void ray_transform( ray_t* ray, const m4x4_t matrix );
+
+/*! distance from ray origin in ray direction to point. FLT_MAX if no intersection. */
+vec_t ray_intersect_point( const ray_t* ray, const vec3_t point, vec_t epsilon, vec_t divergence );
+/*! distance from ray origin in ray direction to triangle. FLT_MAX if no intersection. */
+vec_t ray_intersect_triangle( const ray_t* ray, qboolean bCullBack, const vec3_t vert0, const vec3_t vert1, const vec3_t vert2 );
+/*! distance from ray origin in ray direction to plane. */
+vec_t ray_intersect_plane( const ray_t* ray, const vec3_t normal, vec_t dist );
+
+
+int plane_intersect_planes( const vec4_t plane1, const vec4_t plane2, const vec4_t plane3, vec3_t intersection );
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Below is double-precision math stuff. This was initially needed by the new
+// "base winding" code in q3map2 brush processing in order to fix the famous
+// "disappearing triangles" issue. These definitions can be used wherever extra
+// precision is needed.
+////////////////////////////////////////////////////////////////////////////////
+
+typedef double vec_accu_t;
+typedef vec_accu_t vec3_accu_t[3];
+
+// Smallest positive value for vec_accu_t such that 1.0 + VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE != 1.0.
+// In the case of 64 bit doubles (which is almost certainly the case), it's 0.00000000000000022204.
+// Don't forget that your epsilons should depend on the possible range of values,
+// because for example adding VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE to 1024.0 will have no effect.
+#define VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE DBL_EPSILON
+
+vec_accu_t VectorLengthAccu( const vec3_accu_t v );
+
+// I have a feeling it may be safer to break these #define functions out into actual functions
+// in order to avoid accidental loss of precision. For example, say you call
+// VectorScaleAccu(vec3_t, vec_t, vec3_accu_t). The scale would take place in 32 bit land
+// and the result would be cast to 64 bit, which would cause total loss of precision when
+// scaling by a large factor.
+//#define DotProductAccu(x, y) ((x)[0] * (y)[0] + (x)[1] * (y)[1] + (x)[2] * (y)[2])
+//#define VectorSubtractAccu(a, b, c) ((c)[0] = (a)[0] - (b)[0], (c)[1] = (a)[1] - (b)[1], (c)[2] = (a)[2] - (b)[2])
+//#define VectorAddAccu(a, b, c) ((c)[0] = (a)[0] + (b)[0], (c)[1] = (a)[1] + (b)[1], (c)[2] = (a)[2] + (b)[2])
+//#define VectorCopyAccu(a, b) ((b)[0] = (a)[0], (b)[1] = (a)[1], (b)[2] = (a)[2])
+//#define VectorScaleAccu(a, b, c) ((c)[0] = (b) * (a)[0], (c)[1] = (b) * (a)[1], (c)[2] = (b) * (a)[2])
+//#define CrossProductAccu(a, b, c) ((c)[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1], (c)[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2], (c)[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0])
+//#define Q_rintAccu(in) ((vec_accu_t) floor(in + 0.5))
+
+vec_accu_t DotProductAccu( const vec3_accu_t a, const vec3_accu_t b );
+void VectorSubtractAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
+void VectorAddAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
+void VectorCopyAccu( const vec3_accu_t in, vec3_accu_t out );
+void VectorScaleAccu( const vec3_accu_t in, vec_accu_t scaleFactor, vec3_accu_t out );
+void CrossProductAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
+vec_accu_t Q_rintAccu( vec_accu_t val );
+
+void VectorCopyAccuToRegular( const vec3_accu_t in, vec3_t out );
+void VectorCopyRegularToAccu( const vec3_t in, vec3_accu_t out );
+vec_accu_t VectorNormalizeAccu( const vec3_accu_t in, vec3_accu_t out );
#ifdef __cplusplus
}
projects / xonotic / netradiant.git / blobdiff