393 lines
7.0 KiB
C++
393 lines
7.0 KiB
C++
#include "mathlib.h"
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#include "const.h"
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#include <math.h>
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/*
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* Globals initialization
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*/
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vec3_t vec3_origin = {0, 0, 0};
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int nanmask = 255<<23;
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float anglemod(float a)
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{
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a = (360.0 / 65536) * ((int)(a *(65536 / 360.0)) & 65535);
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return a;
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}
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void AngleVectors(const vec_t *angles, vec_t *forward, vec_t *right, vec_t *up)
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{
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float sr, sp, sy, cr, cp;
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float cy;
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float angle;
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angle = (float)(angles[YAW] * (M_PI * 2 / 360));
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sy = sin(angle);
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cy = cos(angle);
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angle = (float)(angles[PITCH] * (M_PI * 2 / 360));
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sp = sin(angle);
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cp = cos(angle);
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angle = (float)(angles[ROLL] * (M_PI * 2 / 360));
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sr = sin(angle);
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cr = cos(angle);
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if (forward)
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{
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forward[0] = cp * cy;
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forward[1] = cp * sy;
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forward[2] = -sp;
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}
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if (right)
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{
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right[0] = (-1 * sr * sp * cy + -1 * cr * -sy);
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right[1] = (-1 * sr * sp * sy + -1 * cr * cy);
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right[2] = -1 * sr * cp;
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}
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if (up)
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{
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up[0] = (cr * sp * cy + -sr * -sy);
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up[1] = (cr * sp * sy + -sr * cy);
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up[2] = cr * cp;
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}
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}
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void AngleVectorsTranspose(const vec_t *angles, vec_t *forward, vec_t *right, vec_t *up)
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{
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float angle;
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float sr, sp, sy, cr, cp, cy;
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angle = angles[YAW] * (M_PI * 2 / 360);
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * (M_PI * 2 / 360);
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[ROLL] * (M_PI * 2 / 360);
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sr = sin(angle);
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cr = cos(angle);
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if (forward)
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{
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forward[0] = cp * cy;
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forward[1] = (sr * sp * cy + cr * -sy);
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forward[2] = (cr * sp * cy + -sr * -sy);
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}
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if (right)
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{
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right[0] = cp * sy;
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right[1] = (sr * sp * sy + cr * cy);
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right[2] = (cr * sp * sy + -sr * cy);
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}
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if (up)
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{
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up[0] = -sp;
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up[1] = sr * cp;
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up[2] = cr * cp;
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}
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}
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void AngleMatrix(const vec_t *angles, float (*matrix)[4])
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{
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float angle;
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float sr, sp, sy, cr, cp, cy;
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angle = (float)(angles[ROLL] * (M_PI * 2 / 360));
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sy = sin(angle);
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cy = cos(angle);
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angle = (float)(angles[YAW] * (M_PI * 2 / 360));
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sp = sin(angle);
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cp = cos(angle);
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angle = (float)(angles[PITCH] * (M_PI * 2 / 360));
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sr = sin(angle);
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cr = cos(angle);
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matrix[0][0] = cr * cp;
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matrix[1][0] = cr * sp;
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matrix[2][0] = -sr;
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matrix[0][1] = (sy * sr) * cp - cy * sp;
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matrix[1][1] = (sy * sr) * sp + cy * cp;
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matrix[2][1] = sy * cr;
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matrix[0][2] = (cy * sr) * cp + sy * sp;
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matrix[1][2] = (cy * sr) * sp - sy * cp;
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matrix[2][2] = cy * cr;
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matrix[0][3] = 0.0f;
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matrix[1][3] = 0.0f;
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matrix[2][3] = 0.0f;
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}
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void AngleIMatrix(const vec_t *angles, float (*matrix)[4])
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{
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float angle;
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float sr, sp, sy, cr, cp, cy;
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angle = angles[YAW] * (M_PI * 2 / 360);
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * (M_PI * 2 / 360);
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[ROLL] * (M_PI * 2 / 360);
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sr = sin(angle);
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cr = cos(angle);
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// matrix = (YAW * PITCH) * ROLL
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matrix[0][0] = cp * cy;
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matrix[0][1] = cp * sy;
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matrix[0][2] = -sp;
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matrix[1][0] = sr * sp * cy + cr * -sy;
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matrix[1][1] = sr * sp * sy + cr * cy;
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matrix[1][2] = sr * cp;
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matrix[2][0] = (cr * sp * cy + -sr * -sy);
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matrix[2][1] = (cr * sp * sy + -sr * cy);
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matrix[2][2] = cr * cp;
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matrix[0][3] = 0.0;
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matrix[1][3] = 0.0;
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matrix[2][3] = 0.0;
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}
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void NormalizeAngles(float *angles)
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{
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int i;
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// Normalize angles
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for (i = 0; i < 3; ++i)
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{
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if (angles[i] > 180.0)
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{
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angles[i] -= 360.0;
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}
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else if (angles[i] < -180.0)
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{
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angles[i] += 360.0;
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}
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}
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}
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// Interpolate Euler angles.
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// FIXME: Use Quaternions to avoid discontinuities
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// Frac is 0.0 to 1.0 (i.e., should probably be clamped, but doesn't have to be)
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void InterpolateAngles(float *start, float *end, float *output, float frac)
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{
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int i;
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float ang1, ang2;
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float d;
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NormalizeAngles(start);
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NormalizeAngles(end);
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for (i = 0; i < 3; ++i)
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{
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ang1 = start[i];
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ang2 = end[i];
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d = ang2 - ang1;
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if (d > 180)
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{
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d -= 360;
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}
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else if (d < -180)
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{
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d += 360;
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}
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output[i] = ang1 + d * frac;
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}
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NormalizeAngles(output);
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}
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float AngleBetweenVectors(const vec_t *v1, const vec_t *v2)
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{
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float angle;
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float l1 = Length(v1);
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float l2 = Length(v2);
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if (!l1 || !l2)
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return 0.0f;
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angle = acos(DotProduct(v1, v2)) / (l1 * l2);
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angle = (angle * 180.0f) / M_PI;
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return angle;
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}
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void VectorTransform(const vec_t *in1, float (*in2)[4], vec_t *out)
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{
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out[0] = DotProduct(in1, in2[0]) + in2[0][3];
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out[1] = DotProduct(in1, in2[1]) + in2[1][3];
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out[2] = DotProduct(in1, in2[2]) + in2[2][3];
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}
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int VectorCompare(const vec_t *v1, const vec_t *v2)
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{
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int i;
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for (i = 0; i < 3; ++i)
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{
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if (v1[i] != v2[i])
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return 0;
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}
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return 1;
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}
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void VectorMA(const vec_t *veca, float scale, const vec_t *vecb, vec_t *vecc)
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{
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vecc[0] = veca[0] + scale * vecb[0];
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vecc[1] = veca[1] + scale * vecb[1];
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vecc[2] = veca[2] + scale * vecb[2];
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}
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float _DotProduct(const vec_t *v1, const vec_t *v2)
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{
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return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
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}
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void _VectorSubtract(vec_t *veca, vec_t *vecb, vec_t *out)
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{
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out[0] = veca[0] - vecb[0];
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out[1] = veca[1] - vecb[1];
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out[2] = veca[2] - vecb[2];
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}
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void _VectorAdd(vec_t *veca, vec_t *vecb, vec_t *out)
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{
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out[0] = veca[0] + vecb[0];
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out[1] = veca[1] + vecb[1];
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out[2] = veca[2] + vecb[2];
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}
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void _VectorCopy(vec_t *in, vec_t *out)
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{
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out[0] = in[0];
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out[1] = in[1];
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out[2] = in[2];
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}
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void _CrossProduct(const vec_t *v1, const vec_t *v2, vec_t *cross)
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{
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cross[0] = v1[1] * v2[2] - v1[2] * v2[1];
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cross[1] = v1[2] * v2[0] - v1[0] * v2[2];
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cross[2] = v1[0] * v2[1] - v1[1] * v2[0];
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}
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float Length(const vec_t *v)
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{
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int i;
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float length = 0.0f;
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for (i = 0; i < 3; ++i)
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length += v[i] * v[i];
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return sqrt(length);
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}
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float Distance(const vec_t *v1, const vec_t *v2)
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{
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vec_t d[3];
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VectorSubtract(v2, v1, d);
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return Length(d);
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}
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float VectorNormalize(vec_t *v)
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{
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float length;
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float ilength;
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length = sqrt((float)(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]));
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if (length)
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{
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ilength = 1.0 / length;
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v[0] *= ilength;
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v[1] *= ilength;
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v[2] *= ilength;
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}
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return length;
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}
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void VectorInverse(vec_t *v)
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{
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v[0] = -v[0];
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v[1] = -v[1];
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v[2] = -v[2];
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}
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void VectorScale(const vec_t *in, vec_t scale, vec_t *out)
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{
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out[0] = scale * in[0];
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out[1] = scale * in[1];
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out[2] = scale * in[2];
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}
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int Q_log2(int val)
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{
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int answer = 0;
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while (val >>= 1)
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++answer;
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return answer;
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}
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void VectorMatrix(vec_t *forward, vec_t *right, vec_t *up)
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{
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vec_t tmp[3];
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if (forward[0] == 0 && forward[1] == 0)
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{
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right[0] = 1;
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right[1] = 0;
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right[2] = 0;
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up[0] = -forward[2];
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up[1] = 0;
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up[2] = 0;
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return;
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}
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tmp[0] = 0;
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tmp[1] = 0;
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tmp[2] = 1.0f;
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_CrossProduct(forward, tmp, right);
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VectorNormalize(right);
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_CrossProduct(right, forward, up);
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VectorNormalize(up);
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}
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void VectorAngles(const vec_t *forward, vec_t *angles)
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{
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float tmp, yaw, pitch;
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if (forward[1] == 0 && forward[0] == 0)
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{
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yaw = 0;
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if (forward[2] > 0)
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pitch = 90;
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else
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pitch = 270;
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}
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else
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{
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yaw = (atan2(forward[1], forward[0]) * 180 / M_PI);
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if (yaw < 0)
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yaw += 360;
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tmp = sqrt (forward[0] * forward[0] + forward[1] * forward[1]);
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pitch = (atan2(forward[2], tmp) * 180 / M_PI);
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if (pitch < 0)
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pitch += 360;
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}
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angles[0] = pitch;
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angles[1] = yaw;
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angles[2] = 0;
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}
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