X-Git-Url: https://de.git.xonotic.org/?a=blobdiff_plain;f=mathlib.c;h=8f73d5eab2476072ebb21ede62645bfab358a93d;hb=44c9a08f2c4035bf5798e663bd4fbad506fd152e;hp=f1bbacff8f25cdb9009bdab5d02b842d27d33542;hpb=8dcce44300385b12c46d494c06aadcfa35a8bc14;p=xonotic%2Fdarkplaces.git

diff --git a/mathlib.c b/mathlib.c
index f1bbacff..8f73d5ea 100644
--- a/mathlib.c
+++ b/mathlib.c
@@ -8,7 +8,7 @@ of the License, or (at your option) any later version.
 
 This program 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.  
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 
 See the GNU General Public License for more details.
 
@@ -25,14 +25,155 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 void Sys_Error (char *error, ...);
 
 vec3_t vec3_origin = {0,0,0};
-int nanmask = 255<<23;
+float ixtable[4096];
 
 /*-----------------------------------------------------------------*/
 
-#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
+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}, 
+};
+
+byte NormalToByte(vec3_t n)
+{
+	int i, best;
+	float bestdistance, distance;
+
+	best = 0;
+	bestdistance = DotProduct (n, m_bytenormals[0]);
+	for (i = 1;i < NUMVERTEXNORMALS;i++)
+	{
+		distance = DotProduct (n, m_bytenormals[i]);
+		if (distance > bestdistance)
+		{
+			bestdistance = distance;
+			best = i;
+		}
+	}
+	return best;
+}
+
+// note: uses byte partly to force unsigned for the validity check
+void ByteToNormal(byte num, vec3_t n)
+{
+	if (num < NUMVERTEXNORMALS)
+		VectorCopy(m_bytenormals[num], n);
+	else
+		VectorClear(n); // FIXME: complain?
+}
+
+float Q_RSqrt(float number)
+{
+	float y;
+
+	if (number == 0.0f)
+		return 0.0f;
+
+	*((long *)&y) = 0x5f3759df - ((* (long *) &number) >> 1);
+	return y * (1.5f - (number * 0.5f * y * y));
+}
+
+void _VectorNormalizeFast(vec3_t v)
+{
+	float y, number;
+
+	number = DotProduct(v, v);
+
+	if (number != 0.0)
+	{
+		*((long *)&y) = 0x5f3759df - ((* (long *) &number) >> 1);
+		y = y * (1.5f - (number * 0.5f * y * y));
+
+		VectorScale(v, y, v);
+	}
+}
 
+#if 0
+// LordHavoc: no longer used at all
 void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
 {
+#if 0
+	// LordHavoc: the old way...
 	float d;
 	vec3_t n;
 	float inv_denom;
@@ -48,21 +189,32 @@ void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
 	dst[0] = p[0] - d * n[0];
 	dst[1] = p[1] - d * n[1];
 	dst[2] = p[2] - d * n[2];
+#else
+	// LordHavoc: optimized to death and beyond
+	float d;
+
+	// LordHavoc: the normal is a unit vector by definition,
+	//            therefore inv_denom was pointless.
+	d = DotProduct(normal, p);
+	dst[0] = p[0] - d * normal[0];
+	dst[1] = p[1] - d * normal[1];
+	dst[2] = p[2] - d * normal[2];
+#endif
 }
+#endif
 
-/*
-** assumes "src" is normalized
-*/
+// assumes "src" is normalized
 void PerpendicularVector( vec3_t dst, const vec3_t src )
 {
+#if 0
+	// LordHavoc: the old way...
 	int	pos;
 	int i;
-	float minelem = 1.0F;
+	float minelem, d;
 	vec3_t tempvec;
 
-	/*
-	** find the smallest magnitude axially aligned vector
-	*/
+	// find the smallest magnitude axially aligned vector
+	minelem = 1.0F;
 	for ( pos = 0, i = 0; i < 3; i++ )
 	{
 		if ( fabs( src[i] ) < minelem )
@@ -71,27 +223,102 @@ void PerpendicularVector( vec3_t dst, const vec3_t src )
 			minelem = fabs( src[i] );
 		}
 	}
-	tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
+	VectorClear(tempvec);
 	tempvec[pos] = 1.0F;
 
-	/*
-	** project the point onto the plane defined by src
-	*/
+	// project the point onto the plane defined by src
 	ProjectPointOnPlane( dst, tempvec, src );
 
-	/*
-	** normalize the result
-	*/
-	VectorNormalize( dst );
-}
+	// normalize the result
+	VectorNormalize(dst);
+#else
+	// LordHavoc: optimized to death and beyond
+	int	pos;
+	float minelem;
 
-#ifdef _WIN32
-#pragma optimize( "", off )
+	if (src[0])
+	{
+		dst[0] = 0;
+		if (src[1])
+		{
+			dst[1] = 0;
+			if (src[2])
+			{
+				dst[2] = 0;
+				pos = 0;
+				minelem = fabs(src[0]);
+				if (fabs(src[1]) < minelem)
+				{
+					pos = 1;
+					minelem = fabs(src[1]);
+				}
+				if (fabs(src[2]) < minelem)
+					pos = 2;
+
+				dst[pos] = 1;
+				dst[0] -= src[pos] * src[0];
+				dst[1] -= src[pos] * src[1];
+				dst[2] -= src[pos] * src[2];
+
+				// normalize the result
+				VectorNormalize(dst);
+			}
+			else
+				dst[2] = 1;
+		}
+		else
+		{
+			dst[1] = 1;
+			dst[2] = 0;
+		}
+	}
+	else
+	{
+		dst[0] = 1;
+		dst[1] = 0;
+		dst[2] = 0;
+	}
 #endif
+}
 
 
+// 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);
+	right[0] -= d * forward[0];
+	right[1] -= d * forward[1];
+	right[2] -= d * forward[2];
+	VectorNormalizeFast(right);
+	CrossProduct(right, forward, 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);
+	right[0] -= d * forward[0];
+	right[1] -= d * forward[1];
+	right[2] -= d * forward[2];
+	VectorNormalize(right);
+	CrossProduct(right, forward, up);
+}
+
 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
 {
+#if 0
+	// LordHavoc: the old way, cryptic brute force...
 	float	m[3][3];
 	float	im[3][3];
 	float	zrot[3][3];
@@ -140,210 +367,299 @@ void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point,
 	R_ConcatRotations( tmpmat, im, rot );
 
 	for ( i = 0; i < 3; i++ )
-	{
 		dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
-	}
-}
+#elif 0
+	// LordHavoc: on the path to unintelligible code...
+//	float	m[3][3];
+//	float	im[3][3];
+//	float	zrot[3][3];
+	float	tmpmat[3][3];
+//	float	rot[3][3];
+	float	angle, c, s;
+//	int	i;
+	vec3_t vr, vu, vf;
 
-#ifdef _WIN32
-#pragma optimize( "", on )
-#endif
+	angle = DEG2RAD(degrees);
 
-/*-----------------------------------------------------------------*/
+	c = cos(angle);
+	s = sin(angle);
 
+	vf[0] = dir[0];
+	vf[1] = dir[1];
+	vf[2] = dir[2];
 
-float	anglemod(float a)
-{
-#if 0
-	if (a >= 0)
-		a -= 360*(int)(a/360);
-	else
-		a += 360*( 1 + (int)(-a/360) );
-#endif
-	a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535);
-	return a;
-}
+	PerpendicularVector(vr, dir);
+	CrossProduct(vr, vf, vu);
+
+//	m   [0][0] = vr[0];m   [0][1] = vu[0];m   [0][2] = vf[0];
+//	m   [1][0] = vr[1];m   [1][1] = vu[1];m   [1][2] = vf[1];
+//	m   [2][0] = vr[2];m   [2][1] = vu[2];m   [2][2] = vf[2];
+//	im  [0][0] = vr[0];im  [0][1] = vr[1];im  [0][2] = vr[2];
+//	im  [1][0] = vu[0];im  [1][1] = vu[1];im  [1][2] = vu[2];
+//	im  [2][0] = vf[0];im  [2][1] = vf[1];im  [2][2] = vf[2];
+//	zrot[0][0] =     c;zrot[0][1] =     s;zrot[0][2] =     0;
+//	zrot[1][0] =    -s;zrot[1][1] =     c;zrot[1][2] =     0;
+//	zrot[2][0] =     0;zrot[2][1] =     0;zrot[2][2] =     1;
+
+//	tmpmat[0][0] = m[0][0] * zrot[0][0] + m[0][1] * zrot[1][0] + m[0][2] * zrot[2][0];
+//	tmpmat[0][1] = m[0][0] * zrot[0][1] + m[0][1] * zrot[1][1] + m[0][2] * zrot[2][1];
+//	tmpmat[0][2] = m[0][0] * zrot[0][2] + m[0][1] * zrot[1][2] + m[0][2] * zrot[2][2];
+//	tmpmat[1][0] = m[1][0] * zrot[0][0] + m[1][1] * zrot[1][0] + m[1][2] * zrot[2][0];
+//	tmpmat[1][1] = m[1][0] * zrot[0][1] + m[1][1] * zrot[1][1] + m[1][2] * zrot[2][1];
+//	tmpmat[1][2] = m[1][0] * zrot[0][2] + m[1][1] * zrot[1][2] + m[1][2] * zrot[2][2];
+//	tmpmat[2][0] = m[2][0] * zrot[0][0] + m[2][1] * zrot[1][0] + m[2][2] * zrot[2][0];
+//	tmpmat[2][1] = m[2][0] * zrot[0][1] + m[2][1] * zrot[1][1] + m[2][2] * zrot[2][1];
+//	tmpmat[2][2] = m[2][0] * zrot[0][2] + m[2][1] * zrot[1][2] + m[2][2] * zrot[2][2];
+
+	tmpmat[0][0] = vr[0] *  c + vu[0] * -s;
+	tmpmat[0][1] = vr[0] *  s + vu[0] *  c;
+//	tmpmat[0][2] =                           vf[0];
+	tmpmat[1][0] = vr[1] *  c + vu[1] * -s;
+	tmpmat[1][1] = vr[1] *  s + vu[1] *  c;
+//	tmpmat[1][2] =                           vf[1];
+	tmpmat[2][0] = vr[2] *  c + vu[2] * -s;
+	tmpmat[2][1] = vr[2] *  s + vu[2] *  c;
+//	tmpmat[2][2] =                           vf[2];
+
+//	rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + tmpmat[0][2] * vf[0];
+//	rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + tmpmat[0][2] * vf[1];
+//	rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + tmpmat[0][2] * vf[2];
+//	rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + tmpmat[1][2] * vf[0];
+//	rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + tmpmat[1][2] * vf[1];
+//	rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + tmpmat[1][2] * vf[2];
+//	rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + tmpmat[2][2] * vf[0];
+//	rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + tmpmat[2][2] * vf[1];
+//	rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + tmpmat[2][2] * vf[2];
+
+//	rot[0][0] = tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0];
+//	rot[0][1] = tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1];
+//	rot[0][2] = tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2];
+//	rot[1][0] = tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0];
+//	rot[1][1] = tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1];
+//	rot[1][2] = tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2];
+//	rot[2][0] = tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0];
+//	rot[2][1] = tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1];
+//	rot[2][2] = tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2];
+
+//	dst[0] = rot[0][0] * point[0] + rot[0][1] * point[1] + rot[0][2] * point[2];
+//	dst[1] = rot[1][0] * point[0] + rot[1][1] * point[1] + rot[1][2] * point[2];
+//	dst[2] = rot[2][0] * point[0] + rot[2][1] * point[1] + rot[2][2] * point[2];
+
+	dst[0] = (tmpmat[0][0] * vr[0] + tmpmat[0][1] * vu[0] + vf[0] * vf[0]) * point[0]
+	       + (tmpmat[0][0] * vr[1] + tmpmat[0][1] * vu[1] + vf[0] * vf[1]) * point[1]
+	       + (tmpmat[0][0] * vr[2] + tmpmat[0][1] * vu[2] + vf[0] * vf[2]) * point[2];
+	dst[1] = (tmpmat[1][0] * vr[0] + tmpmat[1][1] * vu[0] + vf[1] * vf[0]) * point[0]
+	       + (tmpmat[1][0] * vr[1] + tmpmat[1][1] * vu[1] + vf[1] * vf[1]) * point[1]
+	       + (tmpmat[1][0] * vr[2] + tmpmat[1][1] * vu[2] + vf[1] * vf[2]) * point[2];
+	dst[2] = (tmpmat[2][0] * vr[0] + tmpmat[2][1] * vu[0] + vf[2] * vf[0]) * point[0]
+	       + (tmpmat[2][0] * vr[1] + tmpmat[2][1] * vu[1] + vf[2] * vf[1]) * point[1]
+	       + (tmpmat[2][0] * vr[2] + tmpmat[2][1] * vu[2] + vf[2] * vf[2]) * point[2];
+#else
+	// LordHavoc: optimized to death and beyond, cryptic in an entirely new way
+	float	t0, t1;
+	float	angle, c, s;
+	vec3_t	vr, vu, vf;
+
+	angle = DEG2RAD(degrees);
+
+	c = cos(angle);
+	s = sin(angle);
 
-/*
-==================
-BOPS_Error
+	vf[0] = dir[0];
+	vf[1] = dir[1];
+	vf[2] = dir[2];
 
-Split out like this for ASM to call.
-==================
-*/
-/*
-void BOPS_Error (void)
-{
-	Sys_Error ("BoxOnPlaneSide:  Bad signbits");
+//	PerpendicularVector(vr, dir);
+//	CrossProduct(vr, vf, vu);
+	VectorVectors(vf, vr, vu);
+
+	t0 = vr[0] *  c + vu[0] * -s;
+	t1 = vr[0] *  s + vu[0] *  c;
+	dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
+	       + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
+	       + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
+
+	t0 = vr[1] *  c + vu[1] * -s;
+	t1 = vr[1] *  s + vu[1] *  c;
+	dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
+	       + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
+	       + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
+
+	t0 = vr[2] *  c + vu[2] * -s;
+	t1 = vr[2] *  s + vu[2] *  c;
+	dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
+	       + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
+	       + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
+#endif
 }
 
+/*-----------------------------------------------------------------*/
 
-#if	!id386
 
-*/
-/*
-==================
-BoxOnPlaneSide
+// LordHavoc note 1:
+// BoxOnPlaneSide did a switch on a 'signbits' value and had optimized
+// assembly in an attempt to accelerate it further, very inefficient
+// considering that signbits of the frustum planes only changed each
+// frame, and the world planes changed only at load time.
+// So, to optimize it further I took the obvious route of storing a function
+// pointer in the plane struct itself, and shrunk each of the individual
+// cases to a single return statement.
+// LordHavoc note 2:
+// realized axial cases would be a nice speedup for world geometry, although
+// never useful for the frustum planes.
+int BoxOnPlaneSideX (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[0] ? 1 : (p->dist >= emaxs[0] ? 2 : 3);}
+int BoxOnPlaneSideY (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[1] ? 1 : (p->dist >= emaxs[1] ? 2 : 3);}
+int BoxOnPlaneSideZ (vec3_t emins, vec3_t emaxs, mplane_t *p) {return p->dist <= emins[2] ? 1 : (p->dist >= emaxs[2] ? 2 : 3);}
+int BoxOnPlaneSide0 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
+int BoxOnPlaneSide1 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
+int BoxOnPlaneSide2 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
+int BoxOnPlaneSide3 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
+int BoxOnPlaneSide4 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
+int BoxOnPlaneSide5 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
+int BoxOnPlaneSide6 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
+int BoxOnPlaneSide7 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
 
-Returns 1, 2, or 1 + 2
-==================
-*/
-/*
-int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p)
+void BoxOnPlaneSideClassify(mplane_t *p)
 {
-	float	dist1, dist2;
-	int		sides;
-
-#if 0	// this is done by the BOX_ON_PLANE_SIDE macro before calling this
-		// function
-// fast axial cases
-	if (p->type < 3)
+	switch(p->type)
 	{
-		if (p->dist <= emins[p->type])
-			return 1;
-		if (p->dist >= emaxs[p->type])
-			return 2;
-		return 3;
-	}
-#endif
-	
-// general case
-	switch (p->signbits)
-	{
-	case 0:
-dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
-dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
-		break;
-	case 1:
-dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
-dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
-		break;
-	case 2:
-dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
-dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
-		break;
-	case 3:
-dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
-dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
+	case 0: // x axis
+		p->BoxOnPlaneSideFunc = BoxOnPlaneSideX;
 		break;
-	case 4:
-dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
-dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
+	case 1: // y axis
+		p->BoxOnPlaneSideFunc = BoxOnPlaneSideY;
 		break;
-	case 5:
-dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
-dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
-		break;
-	case 6:
-dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
-dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
-		break;
-	case 7:
-dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
-dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
+	case 2: // z axis
+		p->BoxOnPlaneSideFunc = BoxOnPlaneSideZ;
 		break;
 	default:
-		dist1 = dist2 = 0;		// shut up compiler
-		BOPS_Error ();
-		break;
-	}
-
-#if 0
-	int		i;
-	vec3_t	corners[2];
-
-	for (i=0 ; i<3 ; i++)
-	{
-		if (plane->normal[i] < 0)
+		if (p->normal[2] < 0) // 4
 		{
-			corners[0][i] = emins[i];
-			corners[1][i] = emaxs[i];
+			if (p->normal[1] < 0) // 2
+			{
+				if (p->normal[0] < 0) // 1
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide7;
+				else
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide6;
+			}
+			else
+			{
+				if (p->normal[0] < 0) // 1
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide5;
+				else
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide4;
+			}
 		}
 		else
 		{
-			corners[1][i] = emins[i];
-			corners[0][i] = emaxs[i];
+			if (p->normal[1] < 0) // 2
+			{
+				if (p->normal[0] < 0) // 1
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
+				else
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
+			}
+			else
+			{
+				if (p->normal[0] < 0) // 1
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide1;
+				else
+					p->BoxOnPlaneSideFunc = BoxOnPlaneSide0;
+			}
 		}
+		break;
 	}
-	dist = DotProduct (plane->normal, corners[0]) - plane->dist;
-	dist2 = DotProduct (plane->normal, corners[1]) - plane->dist;
-	sides = 0;
-	if (dist1 >= 0)
-		sides = 1;
-	if (dist2 < 0)
-		sides |= 2;
-
-#endif
-
-	sides = 0;
-	if (dist1 >= p->dist)
-		sides = 1;
-	if (dist2 < p->dist)
-		sides |= 2;
-
-#ifdef PARANOID
-if (sides == 0)
-	Sys_Error ("BoxOnPlaneSide: sides==0");
-#endif
-
-	return sides;
 }
 
-#endif
-*/
-
-int BoxOnPlaneSide0 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
-int BoxOnPlaneSide1 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
-int BoxOnPlaneSide2 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
-int BoxOnPlaneSide3 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) < p->dist) << 1));}
-int BoxOnPlaneSide4 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
-int BoxOnPlaneSide5 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
-int BoxOnPlaneSide6 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
-int BoxOnPlaneSide7 (vec3_t emins, vec3_t emaxs, mplane_t *p) {return (((p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2]) >= p->dist) | (((p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2]) < p->dist) << 1));}
+void PlaneClassify(mplane_t *p)
+{
+	if (p->normal[0] == 1)
+		p->type = 0;
+	else if (p->normal[1] == 1)
+		p->type = 1;
+	else if (p->normal[2] == 1)
+		p->type = 2;
+	else
+		p->type = 3;
+	BoxOnPlaneSideClassify(p);
+}
 
-void BoxOnPlaneSideClassify(mplane_t *p)
+void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
 {
-	if (p->normal[2] < 0) // 4
+	double angle, sr, sp, sy, cr, cp, cy;
+
+	angle = angles[YAW] * (M_PI*2 / 360);
+	sy = sin(angle);
+	cy = cos(angle);
+	angle = angles[PITCH] * (M_PI*2 / 360);
+	sp = sin(angle);
+	cp = cos(angle);
+	if (forward)
 	{
-		if (p->normal[1] < 0) // 2
+		forward[0] = cp*cy;
+		forward[1] = cp*sy;
+		forward[2] = -sp;
+	}
+	if (right || up)
+	{
+		angle = angles[ROLL] * (M_PI*2 / 360);
+		sr = sin(angle);
+		cr = cos(angle);
+		if (right)
 		{
-			if (p->normal[0] < 0) // 1
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide7;
-			else
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide6;
+			right[0] = -1*(sr*sp*cy+cr*-sy);
+			right[1] = -1*(sr*sp*sy+cr*cy);
+			right[2] = -1*(sr*cp);
 		}
-		else
+		if (up)
 		{
-			if (p->normal[0] < 0) // 1
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide5;
-			else
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide4;
+			up[0] = (cr*sp*cy+-sr*-sy);
+			up[1] = (cr*sp*sy+-sr*cy);
+			up[2] = cr*cp;
 		}
 	}
-	else
+}
+
+void AngleVectorsFLU (vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
+{
+	double angle, sr, sp, sy, cr, cp, cy;
+
+	angle = angles[YAW] * (M_PI*2 / 360);
+	sy = sin(angle);
+	cy = cos(angle);
+	angle = angles[PITCH] * (M_PI*2 / 360);
+	sp = sin(angle);
+	cp = cos(angle);
+	if (forward)
 	{
-		if (p->normal[1] < 0) // 2
+		forward[0] = cp*cy;
+		forward[1] = cp*sy;
+		forward[2] = -sp;
+	}
+	if (left || up)
+	{
+		angle = angles[ROLL] * (M_PI*2 / 360);
+		sr = sin(angle);
+		cr = cos(angle);
+		if (left)
 		{
-			if (p->normal[0] < 0) // 1
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide3;
-			else
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide2;
+			left[0] = sr*sp*cy+cr*-sy;
+			left[1] = sr*sp*sy+cr*cy;
+			left[2] = sr*cp;
 		}
-		else
+		if (up)
 		{
-			if (p->normal[0] < 0) // 1
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide1;
-			else
-				p->BoxOnPlaneSideFunc = BoxOnPlaneSide0;
+			up[0] = cr*sp*cy+-sr*-sy;
+			up[1] = cr*sp*sy+-sr*cy;
+			up[2] = cr*cp;
 		}
 	}
 }
 
-void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
+void AngleMatrix (vec3_t angles, vec3_t translate, vec_t matrix[][4])
 {
-	float		angle;
-	float		sr, sp, sy, cr, cp, cy;
-	
+	double angle, sr, sp, sy, cr, cp, cy;
+
 	angle = angles[YAW] * (M_PI*2 / 360);
 	sy = sin(angle);
 	cy = cos(angle);
@@ -353,30 +669,21 @@ void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
 	angle = angles[ROLL] * (M_PI*2 / 360);
 	sr = sin(angle);
 	cr = cos(angle);
-
-	forward[0] = cp*cy;
-	forward[1] = cp*sy;
-	forward[2] = -sp;
-	right[0] = (-1*sr*sp*cy+-1*cr*-sy);
-	right[1] = (-1*sr*sp*sy+-1*cr*cy);
-	right[2] = -1*sr*cp;
-	up[0] = (cr*sp*cy+-sr*-sy);
-	up[1] = (cr*sp*sy+-sr*cy);
-	up[2] = cr*cp;
+	matrix[0][0] = cp*cy;
+	matrix[0][1] = sr*sp*cy+cr*-sy;
+	matrix[0][2] = cr*sp*cy+-sr*-sy;
+	matrix[0][3] = translate[0];
+	matrix[1][0] = cp*sy;
+	matrix[1][1] = sr*sp*sy+cr*cy;
+	matrix[1][2] = cr*sp*sy+-sr*cy;
+	matrix[1][3] = translate[1];
+	matrix[2][0] = -sp;
+	matrix[2][1] = sr*cp;
+	matrix[2][2] = cr*cp;
+	matrix[2][3] = translate[2];
 }
 
-int VectorCompare (vec3_t v1, vec3_t v2)
-{
-	int		i;
-	
-	for (i=0 ; i<3 ; i++)
-		if (v1[i] != v2[i])
-			return 0;
-			
-	return 1;
-}
-
-void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc)
+void VectorMASlow (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc)
 {
 	vecc[0] = veca[0] + scale*vecb[0];
 	vecc[1] = veca[1] + scale*vecb[1];
@@ -426,7 +733,7 @@ vec_t Length(vec3_t v)
 {
 	int		i;
 	float	length;
-	
+
 	length = 0;
 	for (i=0 ; i< 3 ; i++)
 		length += v[i]*v[i];
@@ -435,6 +742,27 @@ vec_t Length(vec3_t v)
 	return length;
 }
 
+/*
+// LordHavoc: fixme: do more research on gcc assembly so that qftol_minushalf and result will not be considered unused
+static double qftol_minushalf = -0.5;
+
+int qftol(double v)
+{
+	int result;
+#ifdef _MSC_VER
+	__asm
+	{
+		fld		v
+		fadd	qftol_minushalf
+		fistp	result
+	}
+#else // gcc hopefully
+	asm("fldl v\n\tfaddl qftol_minushalf\n\tfistpl result");
+#endif
+	return result;
+}
+*/
+
 // LordHavoc: renamed these to Length, and made the normal ones #define
 float VectorNormalizeLength (vec3_t v)
 {
@@ -476,14 +804,14 @@ float VectorNormalizeLength2 (vec3_t v, vec3_t dest) // LordHavoc: added to allo
 
 }
 
-void VectorInverse (vec3_t v)
+void _VectorInverse (vec3_t v)
 {
 	v[0] = -v[0];
 	v[1] = -v[1];
 	v[2] = -v[2];
 }
 
-void VectorScale (vec3_t in, vec_t scale, vec3_t out)
+void _VectorScale (vec3_t in, vec_t scale, vec3_t out)
 {
 	out[0] = in[0]*scale;
 	out[1] = in[1]*scale;
@@ -615,25 +943,12 @@ int GreatestCommonDivisor (int i1, int i2)
 }
 
 
-#if	!id386
-
-// TODO: move to nonintel.c
-
-/*
-===================
-Invert24To16
-
-Inverts an 8.24 value to a 16.16 value
-====================
-*/
-
-fixed16_t Invert24To16(fixed16_t val)
+void Mathlib_Init(void)
 {
-	if (val < 256)
-		return (0xFFFFFFFF);
+	int a;
 
-	return (fixed16_t)
-			(((double)0x10000 * (double)0x1000000 / (double)val) + 0.5);
+	// LordHavoc: setup 1.0f / N table for quick recipricols of integers
+	ixtable[0] = 0;
+	for (a = 1;a < 4096;a++)
+		ixtable[a] = 1.0f / a;
 }
-
-#endif