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 // The sqrt() function takes double as an input and returns double as an
180 // output according the the man pages on Debian and on FreeBSD. Therefore,
181 // I don't see a reason why using a double outright (instead of using the
182 // vec_accu_t alias for example) could possibly be frowned upon.
184 double x, y, z, length;
190 length = sqrt((x * x) + (y * y) + (z * z));
197 out[0] = (vec_t) (x / length);
198 out[1] = (vec_t) (y / length);
199 out[2] = (vec_t) (z / length);
201 return (vec_t) length;
204 vec_t ColorNormalize( const vec3_t in, vec3_t out ) {
214 out[0] = out[1] = out[2] = 1.0;
220 VectorScale (in, scale, out);
225 void VectorInverse (vec3_t v)
233 void VectorScale (vec3_t v, vec_t scale, vec3_t out)
235 out[0] = v[0] * scale;
236 out[1] = v[1] * scale;
237 out[2] = v[2] * scale;
241 void VectorRotate (vec3_t vIn, vec3_t vRotation, vec3_t out)
248 VectorCopy(va, vWork);
249 nIndex[0][0] = 1; nIndex[0][1] = 2;
250 nIndex[1][0] = 2; nIndex[1][1] = 0;
251 nIndex[2][0] = 0; nIndex[2][1] = 1;
253 for (i = 0; i < 3; i++)
255 if (vRotation[i] != 0)
257 float dAngle = vRotation[i] * Q_PI / 180.0f;
258 float c = (vec_t)cos(dAngle);
259 float s = (vec_t)sin(dAngle);
260 vWork[nIndex[i][0]] = va[nIndex[i][0]] * c - va[nIndex[i][1]] * s;
261 vWork[nIndex[i][1]] = va[nIndex[i][0]] * s + va[nIndex[i][1]] * c;
263 VectorCopy(vWork, va);
265 VectorCopy(vWork, out);
268 void VectorRotateOrigin (vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out)
270 vec3_t vTemp, vTemp2;
272 VectorSubtract(vIn, vOrigin, vTemp);
273 VectorRotate(vTemp, vRotation, vTemp2);
274 VectorAdd(vTemp2, vOrigin, out);
277 void VectorPolar(vec3_t v, float radius, float theta, float phi)
279 v[0]=(float)(radius * cos(theta) * cos(phi));
280 v[1]=(float)(radius * sin(theta) * cos(phi));
281 v[2]=(float)(radius * sin(phi));
284 void VectorSnap(vec3_t v)
287 for (i = 0; i < 3; i++)
289 v[i] = (vec_t)floor (v[i] + 0.5);
293 void VectorISnap(vec3_t point, int snap)
296 for (i = 0 ;i < 3 ; i++)
298 point[i] = (vec_t)floor (point[i] / snap + 0.5) * snap;
302 void VectorFSnap(vec3_t point, float snap)
305 for (i = 0 ;i < 3 ; i++)
307 point[i] = (vec_t)floor (point[i] / snap + 0.5) * snap;
311 void _Vector5Add (vec5_t va, vec5_t vb, vec5_t out)
313 out[0] = va[0]+vb[0];
314 out[1] = va[1]+vb[1];
315 out[2] = va[2]+vb[2];
316 out[3] = va[3]+vb[3];
317 out[4] = va[4]+vb[4];
320 void _Vector5Scale (vec5_t v, vec_t scale, vec5_t out)
322 out[0] = v[0] * scale;
323 out[1] = v[1] * scale;
324 out[2] = v[2] * scale;
325 out[3] = v[3] * scale;
326 out[4] = v[4] * scale;
329 void _Vector53Copy (vec5_t in, vec3_t out)
336 // NOTE: added these from Ritual's Q3Radiant
337 void ClearBounds (vec3_t mins, vec3_t maxs)
339 mins[0] = mins[1] = mins[2] = 99999;
340 maxs[0] = maxs[1] = maxs[2] = -99999;
343 void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs)
348 for (i=0 ; i<3 ; i++)
358 #define PITCH 0 // up / down
359 #define YAW 1 // left / right
360 #define ROLL 2 // fall over
362 #define M_PI 3.14159265358979323846f // matches value in gcc v2 math.h
365 void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
368 static float sr, sp, sy, cr, cp, cy;
369 // static to help MS compiler fp bugs
371 angle = angles[YAW] * (M_PI*2.0f / 360.0f);
372 sy = (vec_t)sin(angle);
373 cy = (vec_t)cos(angle);
374 angle = angles[PITCH] * (M_PI*2.0f / 360.0f);
375 sp = (vec_t)sin(angle);
376 cp = (vec_t)cos(angle);
377 angle = angles[ROLL] * (M_PI*2.0f / 360.0f);
378 sr = (vec_t)sin(angle);
379 cr = (vec_t)cos(angle);
389 right[0] = -sr*sp*cy+cr*sy;
390 right[1] = -sr*sp*sy-cr*cy;
395 up[0] = cr*sp*cy+sr*sy;
396 up[1] = cr*sp*sy-sr*cy;
401 void VectorToAngles( vec3_t vec, vec3_t angles )
406 if ( ( vec[ 0 ] == 0 ) && ( vec[ 1 ] == 0 ) )
420 yaw = (vec_t)atan2( vec[ 1 ], vec[ 0 ] ) * 180 / M_PI;
426 forward = ( float )sqrt( vec[ 0 ] * vec[ 0 ] + vec[ 1 ] * vec[ 1 ] );
427 pitch = (vec_t)atan2( vec[ 2 ], forward ) * 180 / M_PI;
440 =====================
443 Returns false if the triangle is degenrate.
444 The normal will point out of the clock for clockwise ordered points
445 =====================
447 qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c ) {
450 VectorSubtract( b, a, d1 );
451 VectorSubtract( c, a, d2 );
452 CrossProduct( d2, d1, plane );
453 if ( VectorNormalize( plane, plane ) == 0 ) {
457 plane[3] = DotProduct( a, plane );
464 ** We use two byte encoded normals in some space critical applications.
465 ** Lat = 0 at (1,0,0) to 360 (-1,0,0), encoded in 8-bit sine table format
466 ** Lng = 0 at (0,0,1) to 180 (0,0,-1), encoded in 8-bit sine table format
469 void NormalToLatLong( const vec3_t normal, byte bytes[2] ) {
470 // check for singularities
471 if ( normal[0] == 0 && normal[1] == 0 ) {
472 if ( normal[2] > 0 ) {
474 bytes[1] = 0; // lat = 0, long = 0
477 bytes[1] = 0; // lat = 0, long = 128
482 a = (int)( RAD2DEG( atan2( normal[1], normal[0] ) ) * (255.0f / 360.0f ) );
485 b = (int)( RAD2DEG( acos( normal[2] ) ) * ( 255.0f / 360.0f ) );
488 bytes[0] = b; // longitude
489 bytes[1] = a; // lattitude
498 int PlaneTypeForNormal (vec3_t normal) {
499 if (normal[0] == 1.0 || normal[0] == -1.0)
501 if (normal[1] == 1.0 || normal[1] == -1.0)
503 if (normal[2] == 1.0 || normal[2] == -1.0)
506 return PLANE_NON_AXIAL;
514 void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]) {
515 out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
516 in1[0][2] * in2[2][0];
517 out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
518 in1[0][2] * in2[2][1];
519 out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
520 in1[0][2] * in2[2][2];
521 out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
522 in1[1][2] * in2[2][0];
523 out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
524 in1[1][2] * in2[2][1];
525 out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
526 in1[1][2] * in2[2][2];
527 out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
528 in1[2][2] * in2[2][0];
529 out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
530 in1[2][2] * in2[2][1];
531 out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
532 in1[2][2] * in2[2][2];
535 void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
541 inv_denom = 1.0F / DotProduct( normal, normal );
543 d = DotProduct( normal, p ) * inv_denom;
545 n[0] = normal[0] * inv_denom;
546 n[1] = normal[1] * inv_denom;
547 n[2] = normal[2] * inv_denom;
549 dst[0] = p[0] - d * n[0];
550 dst[1] = p[1] - d * n[1];
551 dst[2] = p[2] - d * n[2];
555 ** assumes "src" is normalized
557 void PerpendicularVector( vec3_t dst, const vec3_t src )
561 vec_t minelem = 1.0F;
565 ** find the smallest magnitude axially aligned vector
567 for ( pos = 0, i = 0; i < 3; i++ )
569 if ( fabs( src[i] ) < minelem )
572 minelem = (vec_t)fabs( src[i] );
575 tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
579 ** project the point onto the plane defined by src
581 ProjectPointOnPlane( dst, tempvec, src );
584 ** normalize the result
586 VectorNormalize( dst, dst );
591 RotatePointAroundVector
593 This is not implemented very well...
596 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
611 PerpendicularVector( vr, dir );
612 CrossProduct( vr, vf, vup );
626 memcpy( im, m, sizeof( im ) );
635 memset( zrot, 0, sizeof( zrot ) );
636 zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
638 rad = DEG2RAD( degrees );
639 zrot[0][0] = (vec_t)cos( rad );
640 zrot[0][1] = (vec_t)sin( rad );
641 zrot[1][0] = (vec_t)-sin( rad );
642 zrot[1][1] = (vec_t)cos( rad );
644 MatrixMultiply( m, zrot, tmpmat );
645 MatrixMultiply( tmpmat, im, rot );
647 for ( i = 0; i < 3; i++ ) {
648 dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
653 ////////////////////////////////////////////////////////////////////////////////
654 // Below is double-precision math stuff. This was initially needed by the new
655 // "base winding" code in q3map2 brush processing in order to fix the famous
656 // "disappearing triangles" issue. These definitions can be used wherever extra
657 // precision is needed.
658 ////////////////////////////////////////////////////////////////////////////////
665 vec_accu_t VectorLengthAccu(const vec3_accu_t v)
667 return (vec_accu_t) sqrt((v[0] * v[0]) + (v[1] * v[1]) + (v[2] * v[2]));
675 vec_accu_t DotProductAccu(const vec3_accu_t a, const vec3_accu_t b)
677 return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);
685 void VectorSubtractAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
687 out[0] = a[0] - b[0];
688 out[1] = a[1] - b[1];
689 out[2] = a[2] - b[2];
697 void VectorAddAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
699 out[0] = a[0] + b[0];
700 out[1] = a[1] + b[1];
701 out[2] = a[2] + b[2];
709 void VectorCopyAccu(const vec3_accu_t in, vec3_accu_t out)
721 void VectorScaleAccu(const vec3_accu_t in, vec_accu_t scaleFactor, vec3_accu_t out)
723 out[0] = in[0] * scaleFactor;
724 out[1] = in[1] * scaleFactor;
725 out[2] = in[2] * scaleFactor;
733 void CrossProductAccu(const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out)
735 out[0] = (a[1] * b[2]) - (a[2] * b[1]);
736 out[1] = (a[2] * b[0]) - (a[0] * b[2]);
737 out[2] = (a[0] * b[1]) - (a[1] * b[0]);
745 vec_accu_t Q_rintAccu(vec_accu_t val)
747 return (vec_accu_t) floor(val + 0.5);
752 VectorCopyAccuToRegular
755 void VectorCopyAccuToRegular(const vec3_accu_t in, vec3_t out)
757 out[0] = (vec_t) in[0];
758 out[1] = (vec_t) in[1];
759 out[2] = (vec_t) in[2];
764 VectorCopyRegularToAccu
767 void VectorCopyRegularToAccu(const vec3_t in, vec3_accu_t out)
769 out[0] = (vec_accu_t) in[0];
770 out[1] = (vec_accu_t) in[1];
771 out[2] = (vec_accu_t) in[2];
779 vec_accu_t VectorNormalizeAccu(const vec3_accu_t in, vec3_accu_t out)
781 // The sqrt() function takes double as an input and returns double as an
782 // output according the the man pages on Debian and on FreeBSD. Therefore,
783 // I don't see a reason why using a double outright (instead of using the
784 // vec_accu_t alias for example) could possibly be frowned upon.
788 length = (vec_accu_t) sqrt((in[0] * in[0]) + (in[1] * in[1]) + (in[2] * in[2]));
795 out[0] = in[0] / length;
796 out[1] = in[1] / length;
797 out[2] = in[2] / length;