X-Git-Url: https://de.git.xonotic.org/?a=blobdiff_plain;f=mathlib.c;h=738965a0491b5beb305f4cf7c6dc64189b11cacb;hb=ad37bc7de1dce1d858f74df2d70dc214983fb934;hp=8fb29b21840368c5142bd418be6171c15e67896c;hpb=fb70c042c37a9778e1ef2b8cc96b3807c3c994bb;p=xonotic%2Fdarkplaces.git diff --git a/mathlib.c b/mathlib.c index 8fb29b21..738965a0 100644 --- a/mathlib.c +++ b/mathlib.c @@ -19,9 +19,10 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ // mathlib.c -- math primitives -#include #include "quakedef.h" +#include + vec3_t vec3_origin = {0,0,0}; float ixtable[4096]; @@ -29,91 +30,91 @@ float ixtable[4096]; float m_bytenormals[NUMVERTEXNORMALS][3] = { -{-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188}, -{-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017}, -{-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000}, -{0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718}, -{0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651}, -{0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651}, -{0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188}, -{0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567}, -{-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191}, -{-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856}, -{-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325}, -{-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863}, -{-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621}, -{-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000}, -{0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863}, -{0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460}, -{0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242}, -{-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863}, -{0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017}, -{0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460}, -{0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000}, -{0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621}, -{0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785}, -{0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325}, -{0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567}, -{0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000}, -{1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866}, -{0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000}, -{0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866}, -{0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567}, -{0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856}, -{0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866}, -{0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567}, -{0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731}, -{0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856}, -{0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718}, -{0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785}, -{0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191}, -{0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718}, -{-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651}, -{-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188}, -{-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056}, -{0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423}, -{0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188}, -{-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056}, -{0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718}, -{0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651}, -{0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188}, -{0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863}, -{0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785}, -{0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325}, -{0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242}, -{0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460}, -{0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242}, -{0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460}, -{0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621}, -{0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863}, -{-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460}, -{-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621}, -{-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000}, -{-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863}, -{-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856}, -{-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325}, -{-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188}, -{-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017}, -{-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785}, -{-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188}, -{0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017}, -{0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651}, -{0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191}, -{0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000}, -{-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000}, -{-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000}, -{-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856}, -{-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000}, -{-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866}, -{-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567}, -{-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731}, -{-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191}, -{-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785}, -{-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325}, +{-0.525731f, 0.000000f, 0.850651f}, {-0.442863f, 0.238856f, 0.864188f}, +{-0.295242f, 0.000000f, 0.955423f}, {-0.309017f, 0.500000f, 0.809017f}, +{-0.162460f, 0.262866f, 0.951056f}, {0.000000f, 0.000000f, 1.000000f}, +{0.000000f, 0.850651f, 0.525731f}, {-0.147621f, 0.716567f, 0.681718f}, +{0.147621f, 0.716567f, 0.681718f}, {0.000000f, 0.525731f, 0.850651f}, +{0.309017f, 0.500000f, 0.809017f}, {0.525731f, 0.000000f, 0.850651f}, +{0.295242f, 0.000000f, 0.955423f}, {0.442863f, 0.238856f, 0.864188f}, +{0.162460f, 0.262866f, 0.951056f}, {-0.681718f, 0.147621f, 0.716567f}, +{-0.809017f, 0.309017f, 0.500000f}, {-0.587785f, 0.425325f, 0.688191f}, +{-0.850651f, 0.525731f, 0.000000f}, {-0.864188f, 0.442863f, 0.238856f}, +{-0.716567f, 0.681718f, 0.147621f}, {-0.688191f, 0.587785f, 0.425325f}, +{-0.500000f, 0.809017f, 0.309017f}, {-0.238856f, 0.864188f, 0.442863f}, +{-0.425325f, 0.688191f, 0.587785f}, {-0.716567f, 0.681718f, -0.147621f}, +{-0.500000f, 0.809017f, -0.309017f}, {-0.525731f, 0.850651f, 0.000000f}, +{0.000000f, 0.850651f, -0.525731f}, {-0.238856f, 0.864188f, -0.442863f}, +{0.000000f, 0.955423f, -0.295242f}, {-0.262866f, 0.951056f, -0.162460f}, +{0.000000f, 1.000000f, 0.000000f}, {0.000000f, 0.955423f, 0.295242f}, +{-0.262866f, 0.951056f, 0.162460f}, {0.238856f, 0.864188f, 0.442863f}, +{0.262866f, 0.951056f, 0.162460f}, {0.500000f, 0.809017f, 0.309017f}, +{0.238856f, 0.864188f, -0.442863f}, {0.262866f, 0.951056f, -0.162460f}, +{0.500000f, 0.809017f, -0.309017f}, {0.850651f, 0.525731f, 0.000000f}, +{0.716567f, 0.681718f, 0.147621f}, {0.716567f, 0.681718f, -0.147621f}, +{0.525731f, 0.850651f, 0.000000f}, {0.425325f, 0.688191f, 0.587785f}, +{0.864188f, 0.442863f, 0.238856f}, {0.688191f, 0.587785f, 0.425325f}, +{0.809017f, 0.309017f, 0.500000f}, {0.681718f, 0.147621f, 0.716567f}, +{0.587785f, 0.425325f, 0.688191f}, {0.955423f, 0.295242f, 0.000000f}, +{1.000000f, 0.000000f, 0.000000f}, {0.951056f, 0.162460f, 0.262866f}, +{0.850651f, -0.525731f, 0.000000f}, {0.955423f, -0.295242f, 0.000000f}, +{0.864188f, -0.442863f, 0.238856f}, {0.951056f, -0.162460f, 0.262866f}, +{0.809017f, -0.309017f, 0.500000f}, {0.681718f, -0.147621f, 0.716567f}, +{0.850651f, 0.000000f, 0.525731f}, {0.864188f, 0.442863f, -0.238856f}, +{0.809017f, 0.309017f, -0.500000f}, {0.951056f, 0.162460f, -0.262866f}, +{0.525731f, 0.000000f, -0.850651f}, {0.681718f, 0.147621f, -0.716567f}, +{0.681718f, -0.147621f, -0.716567f}, {0.850651f, 0.000000f, -0.525731f}, +{0.809017f, -0.309017f, -0.500000f}, {0.864188f, -0.442863f, -0.238856f}, +{0.951056f, -0.162460f, -0.262866f}, {0.147621f, 0.716567f, -0.681718f}, +{0.309017f, 0.500000f, -0.809017f}, {0.425325f, 0.688191f, -0.587785f}, +{0.442863f, 0.238856f, -0.864188f}, {0.587785f, 0.425325f, -0.688191f}, +{0.688191f, 0.587785f, -0.425325f}, {-0.147621f, 0.716567f, -0.681718f}, +{-0.309017f, 0.500000f, -0.809017f}, {0.000000f, 0.525731f, -0.850651f}, +{-0.525731f, 0.000000f, -0.850651f}, {-0.442863f, 0.238856f, -0.864188f}, +{-0.295242f, 0.000000f, -0.955423f}, {-0.162460f, 0.262866f, -0.951056f}, +{0.000000f, 0.000000f, -1.000000f}, {0.295242f, 0.000000f, -0.955423f}, +{0.162460f, 0.262866f, -0.951056f}, {-0.442863f, -0.238856f, -0.864188f}, +{-0.309017f, -0.500000f, -0.809017f}, {-0.162460f, -0.262866f, -0.951056f}, +{0.000000f, -0.850651f, -0.525731f}, {-0.147621f, -0.716567f, -0.681718f}, +{0.147621f, -0.716567f, -0.681718f}, {0.000000f, -0.525731f, -0.850651f}, +{0.309017f, -0.500000f, -0.809017f}, {0.442863f, -0.238856f, -0.864188f}, +{0.162460f, -0.262866f, -0.951056f}, {0.238856f, -0.864188f, -0.442863f}, +{0.500000f, -0.809017f, -0.309017f}, {0.425325f, -0.688191f, -0.587785f}, +{0.716567f, -0.681718f, -0.147621f}, {0.688191f, -0.587785f, -0.425325f}, +{0.587785f, -0.425325f, -0.688191f}, {0.000000f, -0.955423f, -0.295242f}, +{0.000000f, -1.000000f, 0.000000f}, {0.262866f, -0.951056f, -0.162460f}, +{0.000000f, -0.850651f, 0.525731f}, {0.000000f, -0.955423f, 0.295242f}, +{0.238856f, -0.864188f, 0.442863f}, {0.262866f, -0.951056f, 0.162460f}, +{0.500000f, -0.809017f, 0.309017f}, {0.716567f, -0.681718f, 0.147621f}, +{0.525731f, -0.850651f, 0.000000f}, {-0.238856f, -0.864188f, -0.442863f}, +{-0.500000f, -0.809017f, -0.309017f}, {-0.262866f, -0.951056f, -0.162460f}, +{-0.850651f, -0.525731f, 0.000000f}, {-0.716567f, -0.681718f, -0.147621f}, +{-0.716567f, -0.681718f, 0.147621f}, {-0.525731f, -0.850651f, 0.000000f}, +{-0.500000f, -0.809017f, 0.309017f}, {-0.238856f, -0.864188f, 0.442863f}, +{-0.262866f, -0.951056f, 0.162460f}, {-0.864188f, -0.442863f, 0.238856f}, +{-0.809017f, -0.309017f, 0.500000f}, {-0.688191f, -0.587785f, 0.425325f}, +{-0.681718f, -0.147621f, 0.716567f}, {-0.442863f, -0.238856f, 0.864188f}, +{-0.587785f, -0.425325f, 0.688191f}, {-0.309017f, -0.500000f, 0.809017f}, +{-0.147621f, -0.716567f, 0.681718f}, {-0.425325f, -0.688191f, 0.587785f}, +{-0.162460f, -0.262866f, 0.951056f}, {0.442863f, -0.238856f, 0.864188f}, +{0.162460f, -0.262866f, 0.951056f}, {0.309017f, -0.500000f, 0.809017f}, +{0.147621f, -0.716567f, 0.681718f}, {0.000000f, -0.525731f, 0.850651f}, +{0.425325f, -0.688191f, 0.587785f}, {0.587785f, -0.425325f, 0.688191f}, +{0.688191f, -0.587785f, 0.425325f}, {-0.955423f, 0.295242f, 0.000000f}, +{-0.951056f, 0.162460f, 0.262866f}, {-1.000000f, 0.000000f, 0.000000f}, +{-0.850651f, 0.000000f, 0.525731f}, {-0.955423f, -0.295242f, 0.000000f}, +{-0.951056f, -0.162460f, 0.262866f}, {-0.864188f, 0.442863f, -0.238856f}, +{-0.951056f, 0.162460f, -0.262866f}, {-0.809017f, 0.309017f, -0.500000f}, +{-0.864188f, -0.442863f, -0.238856f}, {-0.951056f, -0.162460f, -0.262866f}, +{-0.809017f, -0.309017f, -0.500000f}, {-0.681718f, 0.147621f, -0.716567f}, +{-0.681718f, -0.147621f, -0.716567f}, {-0.850651f, 0.000000f, -0.525731f}, +{-0.688191f, 0.587785f, -0.425325f}, {-0.587785f, 0.425325f, -0.688191f}, +{-0.425325f, 0.688191f, -0.587785f}, {-0.425325f, -0.688191f, -0.587785f}, +{-0.587785f, -0.425325f, -0.688191f}, {-0.688191f, -0.587785f, -0.425325f}, }; #if 0 -qbyte NormalToByte(const vec3_t n) +unsigned char NormalToByte(const vec3_t n) { int i, best; float bestdistance, distance; @@ -133,7 +134,7 @@ qbyte NormalToByte(const vec3_t n) } // note: uses byte partly to force unsigned for the validity check -void ByteToNormal(qbyte num, vec3_t n) +void ByteToNormal(unsigned char num, vec3_t n) { if (num < NUMVERTEXNORMALS) VectorCopy(m_bytenormals[num], n); @@ -141,17 +142,6 @@ void ByteToNormal(qbyte num, vec3_t n) VectorClear(n); // FIXME: complain? } -float Q_RSqrt(float number) -{ - float y; - - if (number == 0.0f) - return 0.0f; - - *((int *)&y) = 0x5f3759df - ((* (int *) &number) >> 1); - return y * (1.5f - (number * 0.5f * y * y)); -} - // assumes "src" is normalized void PerpendicularVector( vec3_t dst, const vec3_t src ) { @@ -208,30 +198,61 @@ void PerpendicularVector( vec3_t dst, const vec3_t src ) // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful! void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up) { - float d; - - right[0] = forward[2]; - right[1] = -forward[0]; - right[2] = forward[1]; - - d = DotProduct(forward, right); - VectorMA(right, -d, forward, right); - VectorNormalizeFast(right); - CrossProduct(right, forward, up); + // NOTE: this is consistent to AngleVectors applied to AnglesFromVectors + if (forward[0] == 0 && forward[1] == 0) + { + if(forward[2] > 0) + { + VectorSet(right, 0, -1, 0); + VectorSet(up, -1, 0, 0); + } + else + { + VectorSet(right, 0, -1, 0); + VectorSet(up, 1, 0, 0); + } + } + else + { + right[0] = forward[1]; + right[1] = -forward[0]; + right[2] = 0; + VectorNormalize(right); + + up[0] = (-forward[2]*forward[0]); + up[1] = (-forward[2]*forward[1]); + up[2] = (forward[0]*forward[0] + forward[1]*forward[1]); + VectorNormalize(up); + } } void VectorVectorsDouble(const double *forward, double *right, double *up) { - double d; - - right[0] = forward[2]; - right[1] = -forward[0]; - right[2] = forward[1]; - - d = DotProduct(forward, right); - VectorMA(right, -d, forward, right); - VectorNormalize(right); - CrossProduct(right, forward, up); + if (forward[0] == 0 && forward[1] == 0) + { + if(forward[2] > 0) + { + VectorSet(right, 0, -1, 0); + VectorSet(up, -1, 0, 0); + } + else + { + VectorSet(right, 0, -1, 0); + VectorSet(up, 1, 0, 0); + } + } + else + { + right[0] = forward[1]; + right[1] = -forward[0]; + right[2] = 0; + VectorNormalize(right); + + up[0] = (-forward[2]*forward[0]); + up[1] = (-forward[2]*forward[1]); + up[2] = (forward[0]*forward[0] + forward[1]*forward[1]); + VectorNormalize(up); + } } void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees ) @@ -265,6 +286,24 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2]; } +/*-----------------------------------------------------------------*/ + +// returns the smallest integer greater than or equal to "value", or 0 if "value" is too big +unsigned int CeilPowerOf2(unsigned int value) +{ + unsigned int ceilvalue; + + if (value > (1U << (sizeof(int) * 8 - 1))) + return 0; + + ceilvalue = 1; + while (ceilvalue < value) + ceilvalue <<= 1; + + return ceilvalue; +} + + /*-----------------------------------------------------------------*/ @@ -307,6 +346,7 @@ int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p) } } +#if 0 int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist) { switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2)) @@ -322,6 +362,7 @@ int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t case 7: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1)); } } +#endif void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar) { @@ -343,7 +384,7 @@ void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break; case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break; case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break; - } + } } void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar) @@ -359,7 +400,7 @@ void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3 case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break; case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break; case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break; - } + } } void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist) @@ -418,20 +459,38 @@ void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) } if (right || up) { - angle = angles[ROLL] * (M_PI*2 / 360); - sr = sin(angle); - cr = cos(angle); - if (right) + if (angles[ROLL]) { - right[0] = -1*(sr*sp*cy+cr*-sy); - right[1] = -1*(sr*sp*sy+cr*cy); - right[2] = -1*(sr*cp); + angle = angles[ROLL] * (M_PI*2 / 360); + sr = sin(angle); + cr = cos(angle); + if (right) + { + right[0] = -1*(sr*sp*cy+cr*-sy); + right[1] = -1*(sr*sp*sy+cr*cy); + right[2] = -1*(sr*cp); + } + if (up) + { + up[0] = (cr*sp*cy+-sr*-sy); + up[1] = (cr*sp*sy+-sr*cy); + up[2] = cr*cp; + } } - if (up) + else { - up[0] = (cr*sp*cy+-sr*-sy); - up[1] = (cr*sp*sy+-sr*cy); - up[2] = cr*cp; + if (right) + { + right[0] = sy; + right[1] = -cy; + right[2] = 0; + } + if (up) + { + up[0] = (sp*cy); + up[1] = (sp*sy); + up[2] = cp; + } } } } @@ -454,23 +513,221 @@ void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t u } if (left || up) { - angle = angles[ROLL] * (M_PI*2 / 360); - sr = sin(angle); - cr = cos(angle); - if (left) + if (angles[ROLL]) { - left[0] = sr*sp*cy+cr*-sy; - left[1] = sr*sp*sy+cr*cy; - left[2] = sr*cp; + angle = angles[ROLL] * (M_PI*2 / 360); + sr = sin(angle); + cr = cos(angle); + if (left) + { + left[0] = sr*sp*cy+cr*-sy; + left[1] = sr*sp*sy+cr*cy; + left[2] = sr*cp; + } + if (up) + { + up[0] = cr*sp*cy+-sr*-sy; + up[1] = cr*sp*sy+-sr*cy; + up[2] = cr*cp; + } } + else + { + if (left) + { + left[0] = -sy; + left[1] = cy; + left[2] = 0; + } + if (up) + { + up[0] = sp*cy; + up[1] = sp*sy; + up[2] = cp; + } + } + } +} + +void AngleVectorsDuke3DFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up, double maxShearAngle) +{ + double angle, sr, sy, cr, cy; + double sxx, sxz, szx, szz; + double cosMaxShearAngle = cos(maxShearAngle * (M_PI*2 / 360)); + double tanMaxShearAngle = tan(maxShearAngle * (M_PI*2 / 360)); + + angle = angles[YAW] * (M_PI*2 / 360); + sy = sin(angle); + cy = cos(angle); + angle = angles[PITCH] * (M_PI*2 / 360); + + // We will calculate a shear matrix pitch = [[sxx sxz][szx szz]]. + + if (fabs(cos(angle)) > cosMaxShearAngle) + { + // Pure shear. Keep the original sign of the coefficients. + sxx = 1; + sxz = 0; + szx = -tan(angle); + szz = 1; + // Covering angle per screen coordinate: + // d/dt arctan((sxz + t*szz) / (sxx + t*szx)) @ t=0 + // d_angle = det(S) / (sxx*sxx + szx*szx) + // = 1 / (1 + tan^2 angle) + // = cos^2 angle. + } + else + { + // A mix of shear and rotation. Implementation-wise, we're + // looking at a capsule, and making the screen surface + // tangential to it... and if we get here, we're looking at the + // two half-spheres of the capsule (and the cylinder part is + // handled above). + double x, y, h, t, d, f; + h = tanMaxShearAngle; + x = cos(angle); + y = sin(angle); + t = h * fabs(y) + sqrt(1 - (h * x) * (h * x)); + sxx = x * t; + sxz = y * t - h * (y > 0 ? 1.0 : -1.0); + szx = -y * t; + szz = x * t; + // BUT: keep the amount of a sphere we see in pitch direction + // invariant. + // Covering angle per screen coordinate: + // d_angle = det(S) / (sxx*sxx + szx*szx) + d = (sxx * szz - sxz * szx) / (sxx * sxx + szx * szx); + f = cosMaxShearAngle * cosMaxShearAngle / d; + sxz *= f; + szz *= f; + } + + if (forward) + { + forward[0] = sxx*cy; + forward[1] = sxx*sy; + forward[2] = szx; + } + if (left || up) + { + if (angles[ROLL]) + { + angle = angles[ROLL] * (M_PI*2 / 360); + sr = sin(angle); + cr = cos(angle); + if (left) + { + left[0] = sr*sxz*cy+cr*-sy; + left[1] = sr*sxz*sy+cr*cy; + left[2] = sr*szz; + } + if (up) + { + up[0] = cr*sxz*cy+-sr*-sy; + up[1] = cr*sxz*sy+-sr*cy; + up[2] = cr*szz; + } + } + else + { + if (left) + { + left[0] = -sy; + left[1] = cy; + left[2] = 0; + } + if (up) + { + up[0] = sxz*cy; + up[1] = sxz*sy; + up[2] = szz; + } + } + } +} + +// LordHavoc: calculates pitch/yaw/roll angles from forward and up vectors +void AnglesFromVectors (vec3_t angles, const vec3_t forward, const vec3_t up, qboolean flippitch) +{ + if (forward[0] == 0 && forward[1] == 0) + { + if(forward[2] > 0) + { + angles[PITCH] = -M_PI * 0.5; + angles[YAW] = up ? atan2(-up[1], -up[0]) : 0; + } + else + { + angles[PITCH] = M_PI * 0.5; + angles[YAW] = up ? atan2(up[1], up[0]) : 0; + } + angles[ROLL] = 0; + } + else + { + angles[YAW] = atan2(forward[1], forward[0]); + angles[PITCH] = -atan2(forward[2], sqrt(forward[0]*forward[0] + forward[1]*forward[1])); + // note: we know that angles[PITCH] is in ]-pi/2..pi/2[ due to atan2(anything, positive) if (up) { - up[0] = cr*sp*cy+-sr*-sy; - up[1] = cr*sp*sy+-sr*cy; - up[2] = cr*cp; + vec_t cp = cos(angles[PITCH]), sp = sin(angles[PITCH]); + // note: we know cp > 0, due to the range angles[pitch] is in + vec_t cy = cos(angles[YAW]), sy = sin(angles[YAW]); + vec3_t tleft, tup; + tleft[0] = -sy; + tleft[1] = cy; + tleft[2] = 0; + tup[0] = sp*cy; + tup[1] = sp*sy; + tup[2] = cp; + angles[ROLL] = -atan2(DotProduct(up, tleft), DotProduct(up, tup)); + // for up == '0 0 1', this is + // angles[ROLL] = -atan2(0, cp); + // which is 0 + } + else + angles[ROLL] = 0; + + // so no up vector is equivalent to '1 0 0'! + } + + // now convert radians to degrees, and make all values positive + VectorScale(angles, 180.0 / M_PI, angles); + if (flippitch) + angles[PITCH] *= -1; + if (angles[PITCH] < 0) angles[PITCH] += 360; + if (angles[YAW] < 0) angles[YAW] += 360; + if (angles[ROLL] < 0) angles[ROLL] += 360; + +#if 0 +{ + // debugging code + vec3_t tforward, tleft, tup, nforward, nup; + VectorCopy(forward, nforward); + VectorNormalize(nforward); + if (up) + { + VectorCopy(up, nup); + VectorNormalize(nup); + AngleVectors(angles, tforward, tleft, tup); + if (VectorDistance(tforward, nforward) > 0.01 || VectorDistance(tup, nup) > 0.01) + { + Con_Printf("vectoangles('%f %f %f', '%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], nup[0], nup[1], nup[2], angles[0], angles[1], angles[2]); + Con_Printf("^3But that is '%f %f %f', '%f %f %f'\n", tforward[0], tforward[1], tforward[2], tup[0], tup[1], tup[2]); + } + } + else + { + AngleVectors(angles, tforward, tleft, tup); + if (VectorDistance(tforward, nforward) > 0.01) + { + Con_Printf("vectoangles('%f %f %f') = %f %f %f\n", nforward[0], nforward[1], nforward[2], angles[0], angles[1], angles[2]); + Con_Printf("^3But that is '%f %f %f'\n", tforward[0], tforward[1], tforward[2]); } } } +#endif +} #if 0 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4]) @@ -591,7 +848,7 @@ void Mathlib_Init(void) #include "matrixlib.h" -void Matrix4x4_Print (const matrix4x4_t *in) +void Matrix4x4_Print(const matrix4x4_t *in) { Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n" , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3] @@ -600,7 +857,7 @@ void Matrix4x4_Print (const matrix4x4_t *in) , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]); } -int Math_atov(const char *s, vec3_t out) +int Math_atov(const char *s, prvm_vec3_t out) { int i; VectorClear(out); @@ -621,3 +878,25 @@ int Math_atov(const char *s, vec3_t out) return i; } +void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f) +{ + int i; + VectorCopy(point3f, mins); + VectorCopy(point3f, maxs); + for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3) + { + mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]); + mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]); + mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]); + } +} + +// LordHavoc: this has to be done right or you get severe precision breakdown +int LoopingFrameNumberFromDouble(double t, int loopframes) +{ + if (loopframes) + return (int)(t - floor(t/loopframes)*loopframes); + else + return (int)t; +} +