From 6bf20c78f5b69d40bcc4931df93d29198435ab67 Mon Sep 17 00:00:00 2001 From: zakk Date: Fri, 26 Aug 2005 17:39:27 +0000 Subject: newlines fixed git-svn-id: svn://svn.icculus.org/quake3/trunk@6 edf5b092-35ff-0310-97b2-ce42778d08ea --- common/mathlib.c | 826 +++++++++++++++++++++++++++---------------------------- 1 file changed, 413 insertions(+), 413 deletions(-) (limited to 'common/mathlib.c') diff --git a/common/mathlib.c b/common/mathlib.c index 1435024..353cd25 100755 --- a/common/mathlib.c +++ b/common/mathlib.c @@ -19,416 +19,416 @@ along with Foobar; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA =========================================================================== */ -// mathlib.c -- math primitives - -#include "cmdlib.h" -#include "mathlib.h" - -#ifdef _WIN32 -//Improve floating-point consistency. -//without this option weird floating point issues occur -#pragma optimize( "p", on ) -#endif - - -vec3_t vec3_origin = {0,0,0}; - -/* -** NormalToLatLong -** -** We use two byte encoded normals in some space critical applications. -** Lat = 0 at (1,0,0) to 360 (-1,0,0), encoded in 8-bit sine table format -** Lng = 0 at (0,0,1) to 180 (0,0,-1), encoded in 8-bit sine table format -** -*/ -void NormalToLatLong( const vec3_t normal, byte bytes[2] ) { - // check for singularities - if ( normal[0] == 0 && normal[1] == 0 ) { - if ( normal[2] > 0 ) { - bytes[0] = 0; - bytes[1] = 0; // lat = 0, long = 0 - } else { - bytes[0] = 128; - bytes[1] = 0; // lat = 0, long = 128 - } - } else { - int a, b; - - a = RAD2DEG( atan2( normal[1], normal[0] ) ) * (255.0f / 360.0f ); - a &= 0xff; - - b = RAD2DEG( acos( normal[2] ) ) * ( 255.0f / 360.0f ); - b &= 0xff; - - bytes[0] = b; // longitude - bytes[1] = a; // lattitude - } -} - -/* -===================== -PlaneFromPoints - -Returns false if the triangle is degenrate. -The normal will point out of the clock for clockwise ordered points -===================== -*/ -qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c ) { - vec3_t d1, d2; - - VectorSubtract( b, a, d1 ); - VectorSubtract( c, a, d2 ); - CrossProduct( d2, d1, plane ); - if ( VectorNormalize( plane, plane ) == 0 ) { - return qfalse; - } - - plane[3] = DotProduct( a, plane ); - return qtrue; -} - -/* -================ -MakeNormalVectors - -Given a normalized forward vector, create two -other perpendicular vectors -================ -*/ -void MakeNormalVectors (vec3_t forward, vec3_t right, vec3_t up) -{ - float d; - - // this rotate and negate guarantees a vector - // not colinear with the original - right[1] = -forward[0]; - right[2] = forward[1]; - right[0] = forward[2]; - - d = DotProduct (right, forward); - VectorMA (right, -d, forward, right); - VectorNormalize (right, right); - CrossProduct (right, forward, up); -} - - -void Vec10Copy( vec_t *in, vec_t *out ) { - out[0] = in[0]; - out[1] = in[1]; - out[2] = in[2]; - out[3] = in[3]; - out[4] = in[4]; - out[5] = in[5]; - out[6] = in[6]; - out[7] = in[7]; - out[8] = in[8]; - out[9] = in[9]; -} - - -void VectorRotate3x3( vec3_t v, float r[3][3], vec3_t d ) -{ - d[0] = v[0] * r[0][0] + v[1] * r[1][0] + v[2] * r[2][0]; - d[1] = v[0] * r[0][1] + v[1] * r[1][1] + v[2] * r[2][1]; - d[2] = v[0] * r[0][2] + v[1] * r[1][2] + v[2] * r[2][2]; -} - -double VectorLength( const vec3_t v ) { - int i; - double length; - - length = 0; - for (i=0 ; i< 3 ; i++) - length += v[i]*v[i]; - length = sqrt (length); // FIXME - - return length; -} - -qboolean VectorCompare( const vec3_t v1, const vec3_t v2 ) { - int i; - - for (i=0 ; i<3 ; i++) - if (fabs(v1[i]-v2[i]) > EQUAL_EPSILON) - return qfalse; - - return qtrue; -} - -vec_t Q_rint (vec_t in) -{ - return floor (in + 0.5); -} - -void VectorMA( const vec3_t va, double scale, const vec3_t vb, vec3_t vc ) { - vc[0] = va[0] + scale*vb[0]; - vc[1] = va[1] + scale*vb[1]; - vc[2] = va[2] + scale*vb[2]; -} - -void CrossProduct( const vec3_t v1, const vec3_t v2, vec3_t cross ) { - cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; - cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; - cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} - -vec_t _DotProduct (vec3_t v1, vec3_t v2) -{ - return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; -} - -void _VectorSubtract (vec3_t va, vec3_t vb, vec3_t out) -{ - out[0] = va[0]-vb[0]; - out[1] = va[1]-vb[1]; - out[2] = va[2]-vb[2]; -} - -void _VectorAdd (vec3_t va, vec3_t vb, vec3_t out) -{ - out[0] = va[0]+vb[0]; - out[1] = va[1]+vb[1]; - out[2] = va[2]+vb[2]; -} - -void _VectorCopy (vec3_t in, vec3_t out) -{ - out[0] = in[0]; - out[1] = in[1]; - out[2] = in[2]; -} - -void _VectorScale (vec3_t v, vec_t scale, vec3_t out) -{ - out[0] = v[0] * scale; - out[1] = v[1] * scale; - out[2] = v[2] * scale; -} - -vec_t VectorNormalize( const vec3_t in, vec3_t out ) { - vec_t length, ilength; - - length = sqrt (in[0]*in[0] + in[1]*in[1] + in[2]*in[2]); - if (length == 0) - { - VectorClear (out); - return 0; - } - - ilength = 1.0/length; - out[0] = in[0]*ilength; - out[1] = in[1]*ilength; - out[2] = in[2]*ilength; - - return length; -} - -vec_t ColorNormalize( const vec3_t in, vec3_t out ) { - float max, scale; - - max = in[0]; - if (in[1] > max) - max = in[1]; - if (in[2] > max) - max = in[2]; - - if (max == 0) { - out[0] = out[1] = out[2] = 1.0; - return 0; - } - - scale = 1.0 / max; - - VectorScale (in, scale, out); - - return max; -} - - - -void VectorInverse (vec3_t v) -{ - v[0] = -v[0]; - v[1] = -v[1]; - v[2] = -v[2]; -} - -void ClearBounds (vec3_t mins, vec3_t maxs) -{ - mins[0] = mins[1] = mins[2] = 99999; - maxs[0] = maxs[1] = maxs[2] = -99999; -} - -void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs ) { - int i; - vec_t val; - - for (i=0 ; i<3 ; i++) - { - val = v[i]; - if (val < mins[i]) - mins[i] = val; - if (val > maxs[i]) - maxs[i] = val; - } -} - - -/* -================= -PlaneTypeForNormal -================= -*/ -int PlaneTypeForNormal (vec3_t normal) { - if (normal[0] == 1.0 || normal[0] == -1.0) - return PLANE_X; - if (normal[1] == 1.0 || normal[1] == -1.0) - return PLANE_Y; - if (normal[2] == 1.0 || normal[2] == -1.0) - return PLANE_Z; - - return PLANE_NON_AXIAL; -} - -/* -================ -MatrixMultiply -================ -*/ -void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]) { - out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + - in1[0][2] * in2[2][0]; - out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + - in1[0][2] * in2[2][1]; - out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + - in1[0][2] * in2[2][2]; - out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + - in1[1][2] * in2[2][0]; - out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + - in1[1][2] * in2[2][1]; - out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + - in1[1][2] * in2[2][2]; - out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + - in1[2][2] * in2[2][0]; - out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + - in1[2][2] * in2[2][1]; - out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + - in1[2][2] * in2[2][2]; -} - -void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal ) -{ - float d; - vec3_t n; - float inv_denom; - - inv_denom = 1.0F / DotProduct( normal, normal ); - - d = DotProduct( normal, p ) * inv_denom; - - n[0] = normal[0] * inv_denom; - n[1] = normal[1] * inv_denom; - n[2] = normal[2] * inv_denom; - - dst[0] = p[0] - d * n[0]; - dst[1] = p[1] - d * n[1]; - dst[2] = p[2] - d * n[2]; -} - -/* -** assumes "src" is normalized -*/ -void PerpendicularVector( vec3_t dst, const vec3_t src ) -{ - int pos; - int i; - float minelem = 1.0F; - vec3_t tempvec; - - /* - ** find the smallest magnitude axially aligned vector - */ - for ( pos = 0, i = 0; i < 3; i++ ) - { - if ( fabs( src[i] ) < minelem ) - { - pos = i; - minelem = fabs( src[i] ); - } - } - tempvec[0] = tempvec[1] = tempvec[2] = 0.0F; - tempvec[pos] = 1.0F; - - /* - ** project the point onto the plane defined by src - */ - ProjectPointOnPlane( dst, tempvec, src ); - - /* - ** normalize the result - */ - VectorNormalize( dst, dst ); -} - -/* -=============== -RotatePointAroundVector - -This is not implemented very well... -=============== -*/ -void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, - float degrees ) { - float m[3][3]; - float im[3][3]; - float zrot[3][3]; - float tmpmat[3][3]; - float rot[3][3]; - int i; - vec3_t vr, vup, vf; - float rad; - - vf[0] = dir[0]; - vf[1] = dir[1]; - vf[2] = dir[2]; - - PerpendicularVector( vr, dir ); - CrossProduct( vr, vf, vup ); - - m[0][0] = vr[0]; - m[1][0] = vr[1]; - m[2][0] = vr[2]; - - m[0][1] = vup[0]; - m[1][1] = vup[1]; - m[2][1] = vup[2]; - - m[0][2] = vf[0]; - m[1][2] = vf[1]; - m[2][2] = vf[2]; - - memcpy( im, m, sizeof( im ) ); - - im[0][1] = m[1][0]; - im[0][2] = m[2][0]; - im[1][0] = m[0][1]; - im[1][2] = m[2][1]; - im[2][0] = m[0][2]; - im[2][1] = m[1][2]; - - memset( zrot, 0, sizeof( zrot ) ); - zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; - - rad = DEG2RAD( degrees ); - zrot[0][0] = cos( rad ); - zrot[0][1] = sin( rad ); - zrot[1][0] = -sin( rad ); - zrot[1][1] = cos( rad ); - - MatrixMultiply( m, zrot, tmpmat ); - MatrixMultiply( 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]; - } -} +// mathlib.c -- math primitives + +#include "cmdlib.h" +#include "mathlib.h" + +#ifdef _WIN32 +//Improve floating-point consistency. +//without this option weird floating point issues occur +#pragma optimize( "p", on ) +#endif + + +vec3_t vec3_origin = {0,0,0}; + +/* +** NormalToLatLong +** +** We use two byte encoded normals in some space critical applications. +** Lat = 0 at (1,0,0) to 360 (-1,0,0), encoded in 8-bit sine table format +** Lng = 0 at (0,0,1) to 180 (0,0,-1), encoded in 8-bit sine table format +** +*/ +void NormalToLatLong( const vec3_t normal, byte bytes[2] ) { + // check for singularities + if ( normal[0] == 0 && normal[1] == 0 ) { + if ( normal[2] > 0 ) { + bytes[0] = 0; + bytes[1] = 0; // lat = 0, long = 0 + } else { + bytes[0] = 128; + bytes[1] = 0; // lat = 0, long = 128 + } + } else { + int a, b; + + a = RAD2DEG( atan2( normal[1], normal[0] ) ) * (255.0f / 360.0f ); + a &= 0xff; + + b = RAD2DEG( acos( normal[2] ) ) * ( 255.0f / 360.0f ); + b &= 0xff; + + bytes[0] = b; // longitude + bytes[1] = a; // lattitude + } +} + +/* +===================== +PlaneFromPoints + +Returns false if the triangle is degenrate. +The normal will point out of the clock for clockwise ordered points +===================== +*/ +qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c ) { + vec3_t d1, d2; + + VectorSubtract( b, a, d1 ); + VectorSubtract( c, a, d2 ); + CrossProduct( d2, d1, plane ); + if ( VectorNormalize( plane, plane ) == 0 ) { + return qfalse; + } + + plane[3] = DotProduct( a, plane ); + return qtrue; +} + +/* +================ +MakeNormalVectors + +Given a normalized forward vector, create two +other perpendicular vectors +================ +*/ +void MakeNormalVectors (vec3_t forward, vec3_t right, vec3_t up) +{ + float d; + + // this rotate and negate guarantees a vector + // not colinear with the original + right[1] = -forward[0]; + right[2] = forward[1]; + right[0] = forward[2]; + + d = DotProduct (right, forward); + VectorMA (right, -d, forward, right); + VectorNormalize (right, right); + CrossProduct (right, forward, up); +} + + +void Vec10Copy( vec_t *in, vec_t *out ) { + out[0] = in[0]; + out[1] = in[1]; + out[2] = in[2]; + out[3] = in[3]; + out[4] = in[4]; + out[5] = in[5]; + out[6] = in[6]; + out[7] = in[7]; + out[8] = in[8]; + out[9] = in[9]; +} + + +void VectorRotate3x3( vec3_t v, float r[3][3], vec3_t d ) +{ + d[0] = v[0] * r[0][0] + v[1] * r[1][0] + v[2] * r[2][0]; + d[1] = v[0] * r[0][1] + v[1] * r[1][1] + v[2] * r[2][1]; + d[2] = v[0] * r[0][2] + v[1] * r[1][2] + v[2] * r[2][2]; +} + +double VectorLength( const vec3_t v ) { + int i; + double length; + + length = 0; + for (i=0 ; i< 3 ; i++) + length += v[i]*v[i]; + length = sqrt (length); // FIXME + + return length; +} + +qboolean VectorCompare( const vec3_t v1, const vec3_t v2 ) { + int i; + + for (i=0 ; i<3 ; i++) + if (fabs(v1[i]-v2[i]) > EQUAL_EPSILON) + return qfalse; + + return qtrue; +} + +vec_t Q_rint (vec_t in) +{ + return floor (in + 0.5); +} + +void VectorMA( const vec3_t va, double scale, const vec3_t vb, vec3_t vc ) { + vc[0] = va[0] + scale*vb[0]; + vc[1] = va[1] + scale*vb[1]; + vc[2] = va[2] + scale*vb[2]; +} + +void CrossProduct( const vec3_t v1, const vec3_t v2, vec3_t cross ) { + cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; + cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; + cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +vec_t _DotProduct (vec3_t v1, vec3_t v2) +{ + return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; +} + +void _VectorSubtract (vec3_t va, vec3_t vb, vec3_t out) +{ + out[0] = va[0]-vb[0]; + out[1] = va[1]-vb[1]; + out[2] = va[2]-vb[2]; +} + +void _VectorAdd (vec3_t va, vec3_t vb, vec3_t out) +{ + out[0] = va[0]+vb[0]; + out[1] = va[1]+vb[1]; + out[2] = va[2]+vb[2]; +} + +void _VectorCopy (vec3_t in, vec3_t out) +{ + out[0] = in[0]; + out[1] = in[1]; + out[2] = in[2]; +} + +void _VectorScale (vec3_t v, vec_t scale, vec3_t out) +{ + out[0] = v[0] * scale; + out[1] = v[1] * scale; + out[2] = v[2] * scale; +} + +vec_t VectorNormalize( const vec3_t in, vec3_t out ) { + vec_t length, ilength; + + length = sqrt (in[0]*in[0] + in[1]*in[1] + in[2]*in[2]); + if (length == 0) + { + VectorClear (out); + return 0; + } + + ilength = 1.0/length; + out[0] = in[0]*ilength; + out[1] = in[1]*ilength; + out[2] = in[2]*ilength; + + return length; +} + +vec_t ColorNormalize( const vec3_t in, vec3_t out ) { + float max, scale; + + max = in[0]; + if (in[1] > max) + max = in[1]; + if (in[2] > max) + max = in[2]; + + if (max == 0) { + out[0] = out[1] = out[2] = 1.0; + return 0; + } + + scale = 1.0 / max; + + VectorScale (in, scale, out); + + return max; +} + + + +void VectorInverse (vec3_t v) +{ + v[0] = -v[0]; + v[1] = -v[1]; + v[2] = -v[2]; +} + +void ClearBounds (vec3_t mins, vec3_t maxs) +{ + mins[0] = mins[1] = mins[2] = 99999; + maxs[0] = maxs[1] = maxs[2] = -99999; +} + +void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs ) { + int i; + vec_t val; + + for (i=0 ; i<3 ; i++) + { + val = v[i]; + if (val < mins[i]) + mins[i] = val; + if (val > maxs[i]) + maxs[i] = val; + } +} + + +/* +================= +PlaneTypeForNormal +================= +*/ +int PlaneTypeForNormal (vec3_t normal) { + if (normal[0] == 1.0 || normal[0] == -1.0) + return PLANE_X; + if (normal[1] == 1.0 || normal[1] == -1.0) + return PLANE_Y; + if (normal[2] == 1.0 || normal[2] == -1.0) + return PLANE_Z; + + return PLANE_NON_AXIAL; +} + +/* +================ +MatrixMultiply +================ +*/ +void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]) { + out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + + in1[0][2] * in2[2][0]; + out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + + in1[0][2] * in2[2][1]; + out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + + in1[0][2] * in2[2][2]; + out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + + in1[1][2] * in2[2][0]; + out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + + in1[1][2] * in2[2][1]; + out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + + in1[1][2] * in2[2][2]; + out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + + in1[2][2] * in2[2][0]; + out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + + in1[2][2] * in2[2][1]; + out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + + in1[2][2] * in2[2][2]; +} + +void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal ) +{ + float d; + vec3_t n; + float inv_denom; + + inv_denom = 1.0F / DotProduct( normal, normal ); + + d = DotProduct( normal, p ) * inv_denom; + + n[0] = normal[0] * inv_denom; + n[1] = normal[1] * inv_denom; + n[2] = normal[2] * inv_denom; + + dst[0] = p[0] - d * n[0]; + dst[1] = p[1] - d * n[1]; + dst[2] = p[2] - d * n[2]; +} + +/* +** assumes "src" is normalized +*/ +void PerpendicularVector( vec3_t dst, const vec3_t src ) +{ + int pos; + int i; + float minelem = 1.0F; + vec3_t tempvec; + + /* + ** find the smallest magnitude axially aligned vector + */ + for ( pos = 0, i = 0; i < 3; i++ ) + { + if ( fabs( src[i] ) < minelem ) + { + pos = i; + minelem = fabs( src[i] ); + } + } + tempvec[0] = tempvec[1] = tempvec[2] = 0.0F; + tempvec[pos] = 1.0F; + + /* + ** project the point onto the plane defined by src + */ + ProjectPointOnPlane( dst, tempvec, src ); + + /* + ** normalize the result + */ + VectorNormalize( dst, dst ); +} + +/* +=============== +RotatePointAroundVector + +This is not implemented very well... +=============== +*/ +void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, + float degrees ) { + float m[3][3]; + float im[3][3]; + float zrot[3][3]; + float tmpmat[3][3]; + float rot[3][3]; + int i; + vec3_t vr, vup, vf; + float rad; + + vf[0] = dir[0]; + vf[1] = dir[1]; + vf[2] = dir[2]; + + PerpendicularVector( vr, dir ); + CrossProduct( vr, vf, vup ); + + m[0][0] = vr[0]; + m[1][0] = vr[1]; + m[2][0] = vr[2]; + + m[0][1] = vup[0]; + m[1][1] = vup[1]; + m[2][1] = vup[2]; + + m[0][2] = vf[0]; + m[1][2] = vf[1]; + m[2][2] = vf[2]; + + memcpy( im, m, sizeof( im ) ); + + im[0][1] = m[1][0]; + im[0][2] = m[2][0]; + im[1][0] = m[0][1]; + im[1][2] = m[2][1]; + im[2][0] = m[0][2]; + im[2][1] = m[1][2]; + + memset( zrot, 0, sizeof( zrot ) ); + zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; + + rad = DEG2RAD( degrees ); + zrot[0][0] = cos( rad ); + zrot[0][1] = sin( rad ); + zrot[1][0] = -sin( rad ); + zrot[1][1] = cos( rad ); + + MatrixMultiply( m, zrot, tmpmat ); + MatrixMultiply( 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]; + } +} -- cgit v1.2.3