2 Copyright (C) 1996-1997 Id Software, Inc.
4 This program is free software; you can redistribute it and/or
5 modify it under the terms of the GNU General Public License
6 as published by the Free Software Foundation; either version 2
7 of the License, or (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 See the GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program; if not, write to the Free Software
17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
28 #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
32 typedef vec_t vec2_t[2];
33 typedef vec_t vec3_t[3];
34 typedef vec_t vec4_t[4];
35 typedef vec_t vec5_t[5];
36 typedef vec_t vec6_t[6];
37 typedef vec_t vec7_t[7];
38 typedef vec_t vec8_t[8];
40 extern vec3_t vec3_origin;
42 #define nanmask (255<<23)
43 #define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask)
45 #define bound(min,num,max) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min))
48 #define min(A,B) ((A) < (B) ? (A) : (B))
49 #define max(A,B) ((A) > (B) ? (A) : (B))
52 /// LordHavoc: this function never returns exactly MIN or exactly MAX, because
53 /// of a QuakeC bug in id1 where the line
54 /// self.nextthink = self.nexthink + random() * 0.5;
55 /// can result in 0 (self.nextthink is 0 at this point in the code to begin
56 /// with), causing "stone monsters" that never spawned properly, also MAX is
57 /// avoided because some people use random() as an index into arrays or for
58 /// loop conditions, where hitting exactly MAX may be a fatal error
59 #define lhrandom(MIN,MAX) (((double)(rand() + 0.5) / ((double)RAND_MAX + 1)) * ((MAX)-(MIN)) + (MIN))
61 #define invpow(base,number) (log(number) / log(base))
63 /// returns log base 2 of "n"
64 /// \WARNING: "n" MUST be a power of 2!
65 #define log2i(n) ((((n) & 0xAAAAAAAA) != 0 ? 1 : 0) | (((n) & 0xCCCCCCCC) != 0 ? 2 : 0) | (((n) & 0xF0F0F0F0) != 0 ? 4 : 0) | (((n) & 0xFF00FF00) != 0 ? 8 : 0) | (((n) & 0xFFFF0000) != 0 ? 16 : 0))
67 /// \TODO: what is this function supposed to do?
68 #define bit2i(n) log2i((n) << 1)
70 /// boolean XOR (why doesn't C have the ^^ operator for this purpose?)
71 #define boolxor(a,b) (!(a) != !(b))
73 /// returns the smallest integer greater than or equal to "value", or 0 if "value" is too big
74 unsigned int CeilPowerOf2(unsigned int value);
76 #define DEG2RAD(a) ((a) * ((float) M_PI / 180.0f))
77 #define RAD2DEG(a) ((a) * (180.0f / (float) M_PI))
78 #define ANGLEMOD(a) ((a) - 360.0 * floor((a) / 360.0))
80 #define DotProduct2(a,b) ((a)[0]*(b)[0]+(a)[1]*(b)[1])
81 #define Vector2Clear(a) ((a)[0]=(a)[1]=0)
82 #define Vector2Compare(a,b) (((a)[0]==(b)[0])&&((a)[1]==(b)[1]))
83 #define Vector2Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1])
84 #define Vector2Negate(a,b) ((b)[0]=-((a)[0]),(b)[1]=-((a)[1]))
85 #define Vector2Set(a,b,c,d,e) ((a)[0]=(b),(a)[1]=(c))
86 #define Vector2Normalize2(v,dest) {float ilength = (float) sqrt(DotProduct2((v),(v)));if (ilength) ilength = 1.0f / ilength;dest[0] = (v)[0] * ilength;dest[1] = (v)[1] * ilength;}
88 #define DotProduct4(a,b) ((a)[0]*(b)[0]+(a)[1]*(b)[1]+(a)[2]*(b)[2]+(a)[3]*(b)[3])
89 #define Vector4Clear(a) ((a)[0]=(a)[1]=(a)[2]=(a)[3]=0)
90 #define Vector4Compare(a,b) (((a)[0]==(b)[0])&&((a)[1]==(b)[1])&&((a)[2]==(b)[2])&&((a)[3]==(b)[3]))
91 #define Vector4Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3])
92 #define Vector4Negate(a,b) ((b)[0]=-((a)[0]),(b)[1]=-((a)[1]),(b)[2]=-((a)[2]),(b)[3]=-((a)[3]))
93 #define Vector4Set(a,b,c,d,e) ((a)[0]=(b),(a)[1]=(c),(a)[2]=(d),(a)[3]=(e))
94 #define Vector4Normalize2(v,dest) {float ilength = (float) sqrt(DotProduct4((v),(v)));if (ilength) ilength = 1.0f / ilength;dest[0] = (v)[0] * ilength;dest[1] = (v)[1] * ilength;dest[2] = (v)[2] * ilength;dest[3] = (v)[3] * ilength;}
95 #define Vector4Subtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2],(c)[3]=(a)[3]-(b)[3])
96 #define Vector4Add(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2],(c)[3]=(a)[3]+(b)[3])
97 #define Vector4Multiply(a,b,c) ((c)[0]=(a)[0]*(b)[0],(c)[1]=(a)[1]*(b)[1],(c)[2]=(a)[2]*(b)[2],(c)[3]=(a)[3]*(b)[3])
98 #define Vector4MA(a, scale, b, c) ((c)[0] = (a)[0] + (scale) * (b)[0],(c)[1] = (a)[1] + (scale) * (b)[1],(c)[2] = (a)[2] + (scale) * (b)[2],(c)[3] = (a)[3] + (scale) * (b)[3])
99 #define Vector4Lerp(v1,lerp,v2,c) ((c)[0] = (v1)[0] + (lerp) * ((v2)[0] - (v1)[0]), (c)[1] = (v1)[1] + (lerp) * ((v2)[1] - (v1)[1]), (c)[2] = (v1)[2] + (lerp) * ((v2)[2] - (v1)[2]), (c)[3] = (v1)[3] + (lerp) * ((v2)[3] - (v1)[3]))
101 #define VectorNegate(a,b) ((b)[0]=-((a)[0]),(b)[1]=-((a)[1]),(b)[2]=-((a)[2]))
102 #define VectorSet(a,b,c,d) ((a)[0]=(b),(a)[1]=(c),(a)[2]=(d))
103 #define VectorClear(a) ((a)[0]=(a)[1]=(a)[2]=0)
104 #define DotProduct(a,b) ((a)[0]*(b)[0]+(a)[1]*(b)[1]+(a)[2]*(b)[2])
105 #define VectorSubtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
106 #define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
107 #define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
108 #define VectorMultiply(a,b,c) ((c)[0]=(a)[0]*(b)[0],(c)[1]=(a)[1]*(b)[1],(c)[2]=(a)[2]*(b)[2])
109 #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])
110 #define VectorNormalize(v) {float ilength = (float) sqrt(DotProduct((v),(v)));if (ilength) ilength = 1.0f / ilength;(v)[0] *= ilength;(v)[1] *= ilength;(v)[2] *= ilength;}
111 #define VectorNormalize2(v,dest) {float ilength = (float) sqrt(DotProduct((v),(v)));if (ilength) ilength = 1.0f / ilength;dest[0] = (v)[0] * ilength;dest[1] = (v)[1] * ilength;dest[2] = (v)[2] * ilength;}
112 #define VectorNormalizeDouble(v) {double ilength = sqrt(DotProduct((v),(v)));if (ilength) ilength = 1.0 / ilength;(v)[0] *= ilength;(v)[1] *= ilength;(v)[2] *= ilength;}
113 #define VectorDistance2(a, b) (((a)[0] - (b)[0]) * ((a)[0] - (b)[0]) + ((a)[1] - (b)[1]) * ((a)[1] - (b)[1]) + ((a)[2] - (b)[2]) * ((a)[2] - (b)[2]))
114 #define VectorDistance(a, b) (sqrt(VectorDistance2(a,b)))
115 #define VectorLength(a) (sqrt((double)DotProduct(a, a)))
116 #define VectorLength2(a) (DotProduct(a, a))
117 #define VectorScale(in, scale, out) ((out)[0] = (in)[0] * (scale),(out)[1] = (in)[1] * (scale),(out)[2] = (in)[2] * (scale))
118 #define VectorScaleCast(in, scale, outtype, out) ((out)[0] = (outtype) ((in)[0] * (scale)),(out)[1] = (outtype) ((in)[1] * (scale)),(out)[2] = (outtype) ((in)[2] * (scale)))
119 #define VectorCompare(a,b) (((a)[0]==(b)[0])&&((a)[1]==(b)[1])&&((a)[2]==(b)[2]))
120 #define VectorMA(a, scale, b, c) ((c)[0] = (a)[0] + (scale) * (b)[0],(c)[1] = (a)[1] + (scale) * (b)[1],(c)[2] = (a)[2] + (scale) * (b)[2])
121 #define VectorM(scale1, b1, c) ((c)[0] = (scale1) * (b1)[0],(c)[1] = (scale1) * (b1)[1],(c)[2] = (scale1) * (b1)[2])
122 #define VectorMAM(scale1, b1, scale2, b2, c) ((c)[0] = (scale1) * (b1)[0] + (scale2) * (b2)[0],(c)[1] = (scale1) * (b1)[1] + (scale2) * (b2)[1],(c)[2] = (scale1) * (b1)[2] + (scale2) * (b2)[2])
123 #define VectorMAMAM(scale1, b1, scale2, b2, scale3, b3, c) ((c)[0] = (scale1) * (b1)[0] + (scale2) * (b2)[0] + (scale3) * (b3)[0],(c)[1] = (scale1) * (b1)[1] + (scale2) * (b2)[1] + (scale3) * (b3)[1],(c)[2] = (scale1) * (b1)[2] + (scale2) * (b2)[2] + (scale3) * (b3)[2])
124 #define VectorMAMAMAM(scale1, b1, scale2, b2, scale3, b3, scale4, b4, c) ((c)[0] = (scale1) * (b1)[0] + (scale2) * (b2)[0] + (scale3) * (b3)[0] + (scale4) * (b4)[0],(c)[1] = (scale1) * (b1)[1] + (scale2) * (b2)[1] + (scale3) * (b3)[1] + (scale4) * (b4)[1],(c)[2] = (scale1) * (b1)[2] + (scale2) * (b2)[2] + (scale3) * (b3)[2] + (scale4) * (b4)[2])
125 #define VectorRandom(v) do{(v)[0] = lhrandom(-1, 1);(v)[1] = lhrandom(-1, 1);(v)[2] = lhrandom(-1, 1);}while(DotProduct(v, v) > 1)
126 #define VectorLerp(v1,lerp,v2,c) ((c)[0] = (v1)[0] + (lerp) * ((v2)[0] - (v1)[0]), (c)[1] = (v1)[1] + (lerp) * ((v2)[1] - (v1)[1]), (c)[2] = (v1)[2] + (lerp) * ((v2)[2] - (v1)[2]))
127 #define VectorReflect(a,r,b,c) do{double d;d = DotProduct((a), (b)) * -(1.0 + (r));VectorMA((a), (d), (b), (c));}while(0)
128 #define BoxesOverlap(a,b,c,d) ((a)[0] <= (d)[0] && (b)[0] >= (c)[0] && (a)[1] <= (d)[1] && (b)[1] >= (c)[1] && (a)[2] <= (d)[2] && (b)[2] >= (c)[2])
129 #define BoxInsideBox(a,b,c,d) ((a)[0] >= (c)[0] && (b)[0] <= (d)[0] && (a)[1] >= (c)[1] && (b)[1] <= (d)[1] && (a)[2] >= (c)[2] && (b)[2] <= (d)[2])
130 #define TriangleOverlapsBox(a,b,c,d,e) (min((a)[0], min((b)[0], (c)[0])) < (e)[0] && max((a)[0], max((b)[0], (c)[0])) > (d)[0] && min((a)[1], min((b)[1], (c)[1])) < (e)[1] && max((a)[1], max((b)[1], (c)[1])) > (d)[1] && min((a)[2], min((b)[2], (c)[2])) < (e)[2] && max((a)[2], max((b)[2], (c)[2])) > (d)[2])
132 #define TriangleNormal(a,b,c,n) ( \
133 (n)[0] = ((a)[1] - (b)[1]) * ((c)[2] - (b)[2]) - ((a)[2] - (b)[2]) * ((c)[1] - (b)[1]), \
134 (n)[1] = ((a)[2] - (b)[2]) * ((c)[0] - (b)[0]) - ((a)[0] - (b)[0]) * ((c)[2] - (b)[2]), \
135 (n)[2] = ((a)[0] - (b)[0]) * ((c)[1] - (b)[1]) - ((a)[1] - (b)[1]) * ((c)[0] - (b)[0]) \
138 /*! Fast PointInfrontOfTriangle.
139 * subtracts v1 from v0 and v2, combined into a crossproduct, combined with a
140 * dotproduct of the light location relative to the first point of the
141 * triangle (any point works, since any triangle is obviously flat), and
142 * finally a comparison to determine if the light is infront of the triangle
143 * (the goal of this statement) we do not need to normalize the surface
144 * normal because both sides of the comparison use it, therefore they are
145 * both multiplied the same amount... furthermore a subtract can be done on
146 * the point to eliminate one dotproduct
147 * this is ((p - a) * cross(a-b,c-b))
149 #define PointInfrontOfTriangle(p,a,b,c) \
150 ( ((p)[0] - (a)[0]) * (((a)[1] - (b)[1]) * ((c)[2] - (b)[2]) - ((a)[2] - (b)[2]) * ((c)[1] - (b)[1])) \
151 + ((p)[1] - (a)[1]) * (((a)[2] - (b)[2]) * ((c)[0] - (b)[0]) - ((a)[0] - (b)[0]) * ((c)[2] - (b)[2])) \
152 + ((p)[2] - (a)[2]) * (((a)[0] - (b)[0]) * ((c)[1] - (b)[1]) - ((a)[1] - (b)[1]) * ((c)[0] - (b)[0])) > 0)
155 // readable version, kept only for explanatory reasons
156 int PointInfrontOfTriangle(const float *p, const float *a, const float *b, const float *c)
158 float dir0[3], dir1[3], normal[3];
160 // calculate two mostly perpendicular edge directions
161 VectorSubtract(a, b, dir0);
162 VectorSubtract(c, b, dir1);
164 // we have two edge directions, we can calculate a third vector from
165 // them, which is the direction of the surface normal (its magnitude
167 CrossProduct(dir0, dir1, normal);
169 // compare distance of light along normal, with distance of any point
170 // of the triangle along the same normal (the triangle is planar,
171 // I.E. flat, so all points give the same answer)
172 return DotProduct(p, normal) > DotProduct(a, normal);
177 // LordHavoc: quaternion math, untested, don't know if these are correct,
178 // need to add conversion to/from matrices
179 // LordHavoc: later note: the matrix faq is useful: http://skal.planet-d.net/demo/matrixfaq.htm
180 // LordHavoc: these are probably very wrong and I'm not sure I care, not used by anything
182 // returns length of quaternion
183 #define qlen(a) ((float) sqrt((a)[0]*(a)[0]+(a)[1]*(a)[1]+(a)[2]*(a)[2]+(a)[3]*(a)[3]))
184 // returns squared length of quaternion
185 #define qlen2(a) ((a)[0]*(a)[0]+(a)[1]*(a)[1]+(a)[2]*(a)[2]+(a)[3]*(a)[3])
186 // makes a quaternion from x, y, z, and a rotation angle (in degrees)
187 #define QuatMake(x,y,z,r,c)\
191 (c)[0]=(float) ((x) * (1.0f / 0.0f));\
192 (c)[1]=(float) ((y) * (1.0f / 0.0f));\
193 (c)[2]=(float) ((z) * (1.0f / 0.0f));\
194 (c)[3]=(float) 1.0f;\
198 float r2 = (r) * 0.5 * (M_PI / 180);\
199 float r2is = 1.0f / sin(r2);\
200 (c)[0]=(float) ((x)/r2is);\
201 (c)[1]=(float) ((y)/r2is);\
202 (c)[2]=(float) ((z)/r2is);\
203 (c)[3]=(float) (cos(r2));\
206 // makes a quaternion from a vector and a rotation angle (in degrees)
207 #define QuatFromVec(a,r,c) QuatMake((a)[0],(a)[1],(a)[2],(r))
208 // copies a quaternion
209 #define QuatCopy(a,c) {(c)[0]=(a)[0];(c)[1]=(a)[1];(c)[2]=(a)[2];(c)[3]=(a)[3];}
210 #define QuatSubtract(a,b,c) {(c)[0]=(a)[0]-(b)[0];(c)[1]=(a)[1]-(b)[1];(c)[2]=(a)[2]-(b)[2];(c)[3]=(a)[3]-(b)[3];}
211 #define QuatAdd(a,b,c) {(c)[0]=(a)[0]+(b)[0];(c)[1]=(a)[1]+(b)[1];(c)[2]=(a)[2]+(b)[2];(c)[3]=(a)[3]+(b)[3];}
212 #define QuatScale(a,b,c) {(c)[0]=(a)[0]*b;(c)[1]=(a)[1]*b;(c)[2]=(a)[2]*b;(c)[3]=(a)[3]*b;}
213 // FIXME: this is wrong, do some more research on quaternions
214 //#define QuatMultiply(a,b,c) {(c)[0]=(a)[0]*(b)[0];(c)[1]=(a)[1]*(b)[1];(c)[2]=(a)[2]*(b)[2];(c)[3]=(a)[3]*(b)[3];}
215 // FIXME: this is wrong, do some more research on quaternions
216 //#define QuatMultiplyAdd(a,b,d,c) {(c)[0]=(a)[0]*(b)[0]+d[0];(c)[1]=(a)[1]*(b)[1]+d[1];(c)[2]=(a)[2]*(b)[2]+d[2];(c)[3]=(a)[3]*(b)[3]+d[3];}
217 #define qdist(a,b) ((float) sqrt(((b)[0]-(a)[0])*((b)[0]-(a)[0])+((b)[1]-(a)[1])*((b)[1]-(a)[1])+((b)[2]-(a)[2])*((b)[2]-(a)[2])+((b)[3]-(a)[3])*((b)[3]-(a)[3])))
218 #define qdist2(a,b) (((b)[0]-(a)[0])*((b)[0]-(a)[0])+((b)[1]-(a)[1])*((b)[1]-(a)[1])+((b)[2]-(a)[2])*((b)[2]-(a)[2])+((b)[3]-(a)[3])*((b)[3]-(a)[3]))
221 #define VectorCopy4(a,b) {(b)[0]=(a)[0];(b)[1]=(a)[1];(b)[2]=(a)[2];(b)[3]=(a)[3];}
223 vec_t Length (vec3_t v);
225 /// returns vector length
226 float VectorNormalizeLength (vec3_t v);
228 /// returns vector length
229 float VectorNormalizeLength2 (vec3_t v, vec3_t dest);
231 #define NUMVERTEXNORMALS 162
232 extern float m_bytenormals[NUMVERTEXNORMALS][3];
234 unsigned char NormalToByte(const vec3_t n);
235 void ByteToNormal(unsigned char num, vec3_t n);
237 void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3]);
238 void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4]);
240 void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
241 /// LordHavoc: proper matrix version of AngleVectors
242 void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up);
243 /// LordHavoc: builds a [3][4] matrix
244 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4]);
245 /// LordHavoc: calculates pitch/yaw/roll angles from forward and up vectors
246 void AnglesFromVectors (vec3_t angles, const vec3_t forward, const vec3_t up, qboolean flippitch);
248 /// LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
249 void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up);
250 void VectorVectorsDouble(const double *forward, double *right, double *up);
252 void PlaneClassify(struct mplane_s *p);
253 int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const struct mplane_s *p);
254 int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist);
255 void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const struct mplane_s *p, vec3_t outnear, vec3_t outfar);
256 void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar);
257 void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const struct mplane_s *p, vec_t *outnear, vec_t *outfar);
258 void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outnear, vec_t *outfar);
260 #define PlaneDist(point,plane) ((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal))
261 #define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist)
263 /// LordHavoc: minimal plane structure
264 typedef struct tinyplane_s
266 float normal[3], dist;
270 typedef struct tinydoubleplane_s
272 double normal[3], dist;
276 void RotatePointAroundVector(vec3_t dst, const vec3_t dir, const vec3_t point, float degrees);
278 float RadiusFromBounds (const vec3_t mins, const vec3_t maxs);
279 float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin);
282 /// print a matrix to the console
283 void Matrix4x4_Print(const struct matrix4x4_s *in);
284 int Math_atov(const char *s, vec3_t out);
286 void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f);