168 lines
9.6 KiB
C
168 lines
9.6 KiB
C
/*
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mathlib.h - base math functions
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Copyright (C) 2007 Uncle Mike
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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*/
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#ifndef MATHLIB_H
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#define MATHLIB_H
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#include <math.h>
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// euler angle order
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#define PITCH 0
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#define YAW 1
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#define ROLL 2
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#ifndef M_PI
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#define M_PI (float)3.14159265358979323846
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#endif
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#ifndef M_PI2
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#define M_PI2 (float)6.28318530717958647692
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#endif
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#define M_PI_F ((float)(M_PI))
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#define M_PI2_F ((float)(M_PI2))
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#define RAD2DEG( x ) ((float)(x) * (float)(180.f / M_PI))
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#define DEG2RAD( x ) ((float)(x) * (float)(M_PI / 180.f))
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#define SIDE_FRONT 0
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#define SIDE_BACK 1
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#define SIDE_ON 2
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#define SIDE_CROSS -2
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#define PLANE_X 0 // 0 - 2 are axial planes
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#define PLANE_Y 1 // 3 needs alternate calc
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#define PLANE_Z 2
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#define PLANE_NONAXIAL 3
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#define EQUAL_EPSILON 0.001f
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#define STOP_EPSILON 0.1f
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#define ON_EPSILON 0.1f
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#define RAD_TO_STUDIO (32768.0 / M_PI)
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#define STUDIO_TO_RAD (M_PI / 32768.0)
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#define nanmask (255<<23)
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#define Q_rint(x) ((x) < 0 ? ((int)((x)-0.5f)) : ((int)((x)+0.5f)))
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#define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask)
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#define VectorIsNAN(v) (IS_NAN(v[0]) || IS_NAN(v[1]) || IS_NAN(v[2]))
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#define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2])
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#define DotProductAbs(x,y) (abs((x)[0]*(y)[0])+abs((x)[1]*(y)[1])+abs((x)[2]*(y)[2]))
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#define DotProductFabs(x,y) (fabs((x)[0]*(y)[0])+fabs((x)[1]*(y)[1])+fabs((x)[2]*(y)[2]))
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#define CrossProduct(a,b,c) ((c)[0]=(a)[1]*(b)[2]-(a)[2]*(b)[1],(c)[1]=(a)[2]*(b)[0]-(a)[0]*(b)[2],(c)[2]=(a)[0]*(b)[1]-(a)[1]*(b)[0])
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#define Vector2Subtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1])
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#define VectorSubtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2])
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#define Vector2Add(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1])
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#define VectorAdd(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2])
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#define Vector2Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1])
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#define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
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#define Vector4Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3])
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#define VectorScale(in, scale, out) ((out)[0] = (in)[0] * (scale),(out)[1] = (in)[1] * (scale),(out)[2] = (in)[2] * (scale))
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#define VectorCompare(v1,v2) ((v1)[0]==(v2)[0] && (v1)[1]==(v2)[1] && (v1)[2]==(v2)[2])
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#define VectorDivide( in, d, out ) VectorScale( in, (1.0f / (d)), out )
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#define VectorMax(a) ( max((a)[0], max((a)[1], (a)[2])) )
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#define VectorAvg(a) ( ((a)[0] + (a)[1] + (a)[2]) / 3 )
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#define VectorLength(a) ( sqrt( DotProduct( a, a )))
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#define VectorLength2(a) (DotProduct( a, a ))
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#define VectorDistance(a, b) (sqrt( VectorDistance2( a, b )))
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#define VectorDistance2(a, b) (((a)[0] - (b)[0]) * ((a)[0] - (b)[0]) + ((a)[1] - (b)[1]) * ((a)[1] - (b)[1]) + ((a)[2] - (b)[2]) * ((a)[2] - (b)[2]))
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#define Vector2Average(a,b,o) ((o)[0]=((a)[0]+(b)[0])*0.5,(o)[1]=((a)[1]+(b)[1])*0.5)
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#define VectorAverage(a,b,o) ((o)[0]=((a)[0]+(b)[0])*0.5,(o)[1]=((a)[1]+(b)[1])*0.5,(o)[2]=((a)[2]+(b)[2])*0.5)
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#define Vector2Set(v, x, y) ((v)[0]=(x),(v)[1]=(y))
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#define VectorSet(v, x, y, z) ((v)[0]=(x),(v)[1]=(y),(v)[2]=(z))
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#define Vector4Set(v, a, b, c, d) ((v)[0]=(a),(v)[1]=(b),(v)[2]=(c),(v)[3] = (d))
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#define VectorClear(x) ((x)[0]=(x)[1]=(x)[2]=0)
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#define Vector2Lerp( v1, lerp, v2, c ) ((c)[0] = (v1)[0] + (lerp) * ((v2)[0] - (v1)[0]), (c)[1] = (v1)[1] + (lerp) * ((v2)[1] - (v1)[1]))
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#define VectorLerp( v1, lerp, v2, c ) ((c)[0] = (v1)[0] + (lerp) * ((v2)[0] - (v1)[0]), (c)[1] = (v1)[1] + (lerp) * ((v2)[1] - (v1)[1]), (c)[2] = (v1)[2] + (lerp) * ((v2)[2] - (v1)[2]))
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#define VectorNormalize( v ) { float ilength = (float)sqrt(DotProduct(v, v));if (ilength) ilength = 1.0f / ilength;v[0] *= ilength;v[1] *= ilength;v[2] *= ilength; }
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#define VectorNormalize2( v, dest ) {float ilength = (float)sqrt(DotProduct(v,v));if (ilength) ilength = 1.0f / ilength;dest[0] = v[0] * ilength;dest[1] = v[1] * ilength;dest[2] = v[2] * ilength; }
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#define VectorNormalizeFast( v ) {float ilength = (float)rsqrt(DotProduct(v,v)); v[0] *= ilength; v[1] *= ilength; v[2] *= ilength; }
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#define VectorNormalizeLength( v ) VectorNormalizeLength2((v), (v))
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#define VectorNegate(x, y) ((y)[0] = -(x)[0], (y)[1] = -(x)[1], (y)[2] = -(x)[2])
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#define VectorM(scale1, b1, c) ((c)[0] = (scale1) * (b1)[0],(c)[1] = (scale1) * (b1)[1],(c)[2] = (scale1) * (b1)[2])
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#define VectorMA(a, scale, b, c) ((c)[0] = (a)[0] + (scale) * (b)[0],(c)[1] = (a)[1] + (scale) * (b)[1],(c)[2] = (a)[2] + (scale) * (b)[2])
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#define VectorMAMAM(scale1, b1, scale2, b2, scale3, b3, c) ((c)[0] = (scale1) * (b1)[0] + (scale2) * (b2)[0] + (scale3) * (b3)[0],(c)[1] = (scale1) * (b1)[1] + (scale2) * (b2)[1] + (scale3) * (b3)[1],(c)[2] = (scale1) * (b1)[2] + (scale2) * (b2)[2] + (scale3) * (b3)[2])
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#define VectorIsNull( v ) ((v)[0] == 0.0f && (v)[1] == 0.0f && (v)[2] == 0.0f)
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#define MakeRGBA( out, x, y, z, w ) Vector4Set( out, x, y, z, w )
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#define PlaneDist(point,plane) ((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal))
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#define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist)
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#define bound( min, num, max ) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min))
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float rsqrt( float number );
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float anglemod( const float a );
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int SignbitsForPlane( const vec3_t normal );
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int NearestPOW( int value, qboolean roundDown );
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void SinCos( float radians, float *sine, float *cosine );
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float VectorNormalizeLength2( const vec3_t v, vec3_t out );
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void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up );
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void VectorAngles( const float *forward, float *angles );
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void AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up );
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void VectorsAngles( const vec3_t forward, const vec3_t right, const vec3_t up, vec3_t angles );
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void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
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void ClearBounds( vec3_t mins, vec3_t maxs );
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void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs );
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qboolean BoundsIntersect( const vec3_t mins1, const vec3_t maxs1, const vec3_t mins2, const vec3_t maxs2 );
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qboolean BoundsAndSphereIntersect( const vec3_t mins, const vec3_t maxs, const vec3_t origin, float radius );
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float RadiusFromBounds( const vec3_t mins, const vec3_t maxs );
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void AngleQuaternion( const vec3_t angles, vec4_t q );
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void QuaternionSlerp( const vec4_t p, vec4_t q, float t, vec4_t qt );
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float RemapVal( float val, float A, float B, float C, float D );
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float ApproachVal( float target, float value, float speed );
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//
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// matrixlib.c
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//
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#define Matrix3x4_LoadIdentity( mat ) Matrix3x4_Copy( mat, matrix3x4_identity )
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#define Matrix3x4_Copy( out, in ) Q_memcpy( out, in, sizeof( matrix3x4 ))
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void Matrix3x4_VectorTransform( const matrix3x4 in, const float v[3], float out[3] );
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void Matrix3x4_VectorITransform( const matrix3x4 in, const float v[3], float out[3] );
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void Matrix3x4_VectorRotate( const matrix3x4 in, const float v[3], float out[3] );
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void Matrix3x4_VectorIRotate( const matrix3x4 in, const float v[3], float out[3] );
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void Matrix3x4_ConcatTransforms( matrix3x4 out, const matrix3x4 in1, const matrix3x4 in2 );
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void Matrix3x4_FromOriginQuat( matrix3x4 out, const vec4_t quaternion, const vec3_t origin );
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void Matrix3x4_CreateFromEntity( matrix3x4 out, const vec3_t angles, const vec3_t origin, float scale );
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void Matrix3x4_TransformPositivePlane( const matrix3x4 in, const vec3_t normal, float d, vec3_t out, float *dist );
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void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z );
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void Matrix3x4_Invert_Simple( matrix3x4 out, const matrix3x4 in1 );
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void Matrix3x4_OriginFromMatrix( const matrix3x4 in, float *out );
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#define Matrix4x4_LoadIdentity( mat ) Matrix4x4_Copy( mat, matrix4x4_identity )
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#define Matrix4x4_Copy( out, in ) Q_memcpy( out, in, sizeof( matrix4x4 ))
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void Matrix4x4_VectorTransform( const matrix4x4 in, const float v[3], float out[3] );
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void Matrix4x4_VectorITransform( const matrix4x4 in, const float v[3], float out[3] );
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void Matrix4x4_VectorRotate( const matrix4x4 in, const float v[3], float out[3] );
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void Matrix4x4_VectorIRotate( const matrix4x4 in, const float v[3], float out[3] );
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void Matrix4x4_ConcatTransforms( matrix4x4 out, const matrix4x4 in1, const matrix4x4 in2 );
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void Matrix4x4_FromOriginQuat( matrix4x4 out, const vec4_t quaternion, const vec3_t origin );
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void Matrix4x4_CreateFromEntity( matrix4x4 out, const vec3_t angles, const vec3_t origin, float scale );
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void Matrix4x4_TransformPositivePlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist );
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void Matrix4x4_TransformStandardPlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist );
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void Matrix4x4_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin );
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void Matrix4x4_SetOrigin( matrix4x4 out, float x, float y, float z );
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void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 );
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void Matrix4x4_OriginFromMatrix( const matrix4x4 in, float *out );
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void Matrix4x4_Transpose( matrix4x4 out, const matrix4x4 in1 );
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qboolean Matrix4x4_Invert_Full( matrix4x4 out, const matrix4x4 in1 );
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extern vec3_t vec3_origin;
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extern const matrix3x4 matrix3x4_identity;
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extern const matrix4x4 matrix4x4_identity;
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#endif//MATHLIB_H
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