*/
// mathlib.c -- math primitives
-#include <math.h>
#include "quakedef.h"
+#include <math.h>
+
vec3_t vec3_origin = {0,0,0};
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;
}
// 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);
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 )
{
// 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 )
+ (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;
+}
+
+
/*-----------------------------------------------------------------*/
}
}
+#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))
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)
{
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)
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)
}
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;
+ }
}
}
}
}
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])
#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]
, 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);
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;
+}
+
projects / xonotic / darkplaces.git / blobdiff