X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fnetradiant.git;a=blobdiff_plain;f=libs%2Fmathlib.h;h=85afacf29cd84c36b0090d3e32b999dd427bcb8d;hp=97fcf461d4c9724006772f853f6505a3d786b495;hb=f62ab305fc8ac4d6ab5bc50965d6b9e3816ed244;hpb=80378101101ca1762bbf5638a9e3566893096d8a diff --git a/libs/mathlib.h b/libs/mathlib.h index 97fcf461..85afacf2 100644 --- a/libs/mathlib.h +++ b/libs/mathlib.h @@ -1,305 +1,306 @@ -/* -Copyright (C) 1999-2007 id Software, Inc. and contributors. -For a list of contributors, see the accompanying CONTRIBUTORS file. - -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 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 -*/ - -#ifndef __MATHLIB__ -#define __MATHLIB__ - -// mathlib.h -#include - -#include "bytebool.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - -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 - -// 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 Q_PI 3.14159265358979323846f - -extern vec3_t vec3_origin; - -#define EQUAL_EPSILON 0.001 - -#ifndef VEC_MAX -#define VEC_MAX 3.402823466e+38F -#endif - -qboolean VectorCompare (vec3_t v1, vec3_t v2); - -#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 Q_rint(in) ((vec_t)floor(in+0.5)) - -vec_t VectorLength(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 ColorNormalize( const vec3_t in, vec3_t out ); -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); - -// integer snapping -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); - -// 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 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 ) - -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); -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_ -*/ - -typedef vec_t m3x3_t[9]; -/*!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) -*/ -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 - -typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t; - -// constructors -/*! create m4x4 as identity 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); -/*! 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); -/*! create m4x4 as a scaling matrix, for a scale vec3 */ -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); -/*! 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); - -// 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); -/*! rotate m4x4 by a euler (degrees) vec3 */ -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); -/*! rotate m4x4 by a quaternion vec4 */ -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); -/*! 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); -/*! 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); -/*! 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); - -/*! multiply a point (x,y,z,1) by matrix */ -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); -/*! multiply a vec4 (x,y,z,w) by matrix */ -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); -/*! multiply a normal (x,y,z,0) by matrix */ -void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal); - -/*! transpose a m4x4 */ -void m4x4_transpose(m4x4_t matrix); -/*! invert an orthogonal 4x3 subset of a 4x4 matrix */ -void m4x4_orthogonal_invert(m4x4_t matrix); -/*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */ -int m4x4_invert(m4x4_t matrix); - -/*! -\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... -*/ -typedef struct aabb_s -{ - vec3_t origin; - vec3_t extents; - vec_t radius; -} aabb_t; - -/*! -bbox_t - oriented bounding box... - aabb: axis-aligned bounding box... - axes: orientation axes... -*/ -typedef struct bbox_s -{ - aabb_t aabb; - vec3_t axes[3]; -} bbox_t; - -/*! -ray_t - origin point and direction unit-vector -*/ -typedef struct ray_s -{ - vec3_t origin; - vec3_t direction; -} ray_t; - - -/*! 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); -/*! Initialise AABB to negative size. */ -void aabb_clear(aabb_t *aabb); - -/*! Extend AABB to include 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); -/*! Extend AABB by +/- extension vector. */ -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); -/*! 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); -/*! 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); -/*! 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); -/*! 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); - -/*! 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); - - -/*! 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); - - -/*! 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); - -/*! 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); - -#ifdef __cplusplus -} -#endif - -#endif /* __MATHLIB__ */ +/* +Copyright (C) 1999-2007 id Software, Inc. and contributors. +For a list of contributors, see the accompanying CONTRIBUTORS file. + +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 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 +*/ + +#ifndef __MATHLIB__ +#define __MATHLIB__ + +// mathlib.h +#include + +#include "bytebool.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +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 + +// 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 Q_PI 3.14159265358979323846f + +extern vec3_t vec3_origin; + +#define EQUAL_EPSILON 0.001 + +#ifndef VEC_MAX +#define VEC_MAX 3.402823466e+38F +#endif + +qboolean VectorCompare (vec3_t v1, vec3_t v2); + +#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 Q_rint(in) ((vec_t)floor(in+0.5)) + +vec_t VectorLength(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); +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); + +// default snapping, to 1 +void VectorSnap(vec3_t v); + +// integer snapping +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); + +// 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 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 ) + +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); +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_ +*/ + +typedef vec_t m3x3_t[9]; +/*!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) +*/ +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 + +typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t; + +// constructors +/*! create m4x4 as identity 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); +/*! 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); +/*! create m4x4 as a scaling matrix, for a scale vec3 */ +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); +/*! 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); + +// 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); +/*! rotate m4x4 by a euler (degrees) vec3 */ +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); +/*! rotate m4x4 by a quaternion vec4 */ +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); +/*! 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); +/*! 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); +/*! 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); + +/*! multiply a point (x,y,z,1) by matrix */ +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); +/*! multiply a vec4 (x,y,z,w) by matrix */ +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); +/*! multiply a normal (x,y,z,0) by matrix */ +void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal); + +/*! transpose a m4x4 */ +void m4x4_transpose(m4x4_t matrix); +/*! invert an orthogonal 4x3 subset of a 4x4 matrix */ +void m4x4_orthogonal_invert(m4x4_t matrix); +/*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */ +int m4x4_invert(m4x4_t matrix); + +/*! +\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... +*/ +typedef struct aabb_s +{ + vec3_t origin; + vec3_t extents; + vec_t radius; +} aabb_t; + +/*! +bbox_t - oriented bounding box... + aabb: axis-aligned bounding box... + axes: orientation axes... +*/ +typedef struct bbox_s +{ + aabb_t aabb; + vec3_t axes[3]; +} bbox_t; + +/*! +ray_t - origin point and direction unit-vector +*/ +typedef struct ray_s +{ + vec3_t origin; + vec3_t direction; +} ray_t; + + +/*! 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); +/*! Initialise AABB to negative size. */ +void aabb_clear(aabb_t *aabb); + +/*! Extend AABB to include 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); +/*! Extend AABB by +/- extension vector. */ +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); +/*! 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); +/*! 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); +/*! 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); +/*! 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); + +/*! 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); + + +/*! 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); + + +/*! 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); + +/*! 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); + +#ifdef __cplusplus +} +#endif + +#endif /* __MATHLIB__ */