mirror of https://github.com/FWGS/hlsdk-xash3d
417 lines
8.2 KiB
C
417 lines
8.2 KiB
C
/***
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*
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* Copyright (c) 1996-2002, Valve LLC. All rights reserved.
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*
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* This product contains software technology licensed from Id
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* Software, Inc. ("Id Technology"). Id Technology (c) 1996 Id Software, Inc.
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* All Rights Reserved.
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*
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* Use, distribution, and modification of this source code and/or resulting
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* object code is restricted to non-commercial enhancements to products from
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* Valve LLC. All other use, distribution, or modification is prohibited
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* without written permission from Valve LLC.
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*
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****/
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// pm_math.c -- math primitives
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#include <math.h>
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#include "mathlib.h"
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#if HAVE_TGMATH_H
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#include <tgmath.h>
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#endif
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#include "const.h"
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// up / down
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#define PITCH 0
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// left / right
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#define YAW 1
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// fall over
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#define ROLL 2
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#if _MSC_VER
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#pragma warning(disable : 4244)
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#endif
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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 = ( 360.0f / 65536.0f ) * ( (int)( a * ( 65536.0f / 360.0f ) ) & 65535 );
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return a;
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}
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void AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_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_F * 2.0f / 360.0f );
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sy = sin( angle );
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cy = cos( angle );
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angle = angles[PITCH] * ( M_PI_F * 2.0f / 360.0f );
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sp = sin( angle );
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cp = cos( angle );
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angle = angles[ROLL] * ( M_PI_F * 2.0f / 360.0f );
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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 vec3_t angles, vec3_t forward, vec3_t right, vec3_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_F * 2.0f / 360.0f );
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sy = sin( angle );
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cy = cos( angle );
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angle = angles[PITCH] * ( M_PI_F * 2.0f / 360.0f );
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sp = sin( angle );
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cp = cos( angle );
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angle = angles[ROLL] * ( M_PI_F * 2.0f / 360.0f );
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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 vec3_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_F * 2.0f / 360.0f );
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sy = sin( angle );
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cy = cos( angle );
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angle = angles[PITCH] * ( M_PI_F * 2.0f / 360.0f );
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sp = sin( angle );
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cp = cos( angle );
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angle = angles[ROLL] * ( M_PI_F * 2.0f / 360.0f );
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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[1][0] = cp * sy;
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matrix[2][0] = -sp;
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matrix[0][1] = sr * sp * cy + cr * -sy;
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matrix[1][1] = sr * sp * sy + cr * cy;
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matrix[2][1] = sr * cp;
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matrix[0][2] = ( cr * sp * cy + -sr * -sy );
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matrix[1][2] = ( cr * sp * sy + -sr * cy );
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matrix[2][2] = cr * cp;
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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 vec3_t angles, float matrix[3][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_F * 2.0f / 360.0f );
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sy = sin( angle );
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cy = cos( angle );
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angle = angles[PITCH] * ( M_PI_F * 2.0f / 360.0f );
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sp = sin( angle );
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cp = cos( angle );
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angle = angles[ROLL] * ( M_PI_F * 2.0f / 360.0f );
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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] > 180.0f )
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{
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angles[i] -= 360.0f;
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}
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else if( angles[i] < -180.0f )
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{
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angles[i] += 360.0f;
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}
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}
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}
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/*
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===================
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InterpolateAngles
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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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===================
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*/
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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 > 180.0f )
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{
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d -= 360.0f;
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}
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else if( d < -180.0f )
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{
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d += 360.0f;
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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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/*
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===================
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AngleBetweenVectors
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===================
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*/
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float AngleBetweenVectors( const vec3_t v1, const vec3_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_F;
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return angle;
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}
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void VectorTransform( const vec3_t in1, float in2[3][4], vec3_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 vec3_t v1, const vec3_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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if( v1[i] != v2[i] )
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return 0;
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return 1;
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}
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void VectorMA( const vec3_t veca, float scale, const vec3_t vecb, vec3_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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vec_t _DotProduct( vec3_t v1, vec3_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( vec3_t veca, vec3_t vecb, vec3_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( vec3_t veca, vec3_t vecb, vec3_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( vec3_t in, vec3_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 vec3_t v1, const vec3_t v2, vec3_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 vec3_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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length = sqrt( length ); // FIXME
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return length;
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}
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float Distance( const vec3_t v1, const vec3_t v2 )
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{
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vec3_t d;
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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( vec3_t v )
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{
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float length, ilength;
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length = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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length = sqrt( length ); // FIXME
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if( length )
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{
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ilength = 1.0f / 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( vec3_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 vec3_t in, vec_t scale, vec3_t out )
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{
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out[0] = in[0] * scale;
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out[1] = in[1] * scale;
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out[2] = in[2] * scale;
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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( vec3_t forward, vec3_t right, vec3_t up )
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{
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vec3_t tmp;
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if( forward[0] == 0.0f && forward[1] == 0.0f )
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{
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right[0] = 1.0f;
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right[1] = 0.0f;
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right[2] = 0.0f;
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up[0] = -forward[2];
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up[1] = 0.0f;
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up[2] = 0.0f;
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return;
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}
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tmp[0] = 0.0f; tmp[1] = 0.0f; 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 vec3_t forward, vec3_t angles )
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{
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float tmp, yaw, pitch;
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if( forward[1] == 0.0f && forward[0] == 0.0f )
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{
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yaw = 0.0f;
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if( forward[2] > 0.0f )
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pitch = 90.0f;
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else
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pitch = 270.0f;
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}
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else
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{
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yaw = ( atan2( forward[1], forward[0] ) * 180.0f / M_PI_F );
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if( yaw < 0.0f )
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yaw += 360.0f;
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tmp = sqrt( forward[0] * forward[0] + forward[1] * forward[1] );
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pitch = ( atan2( forward[2], tmp ) * 180.0f / M_PI_F );
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if( pitch < 0.0f )
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pitch += 360.0f;
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}
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angles[0] = pitch;
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angles[1] = yaw;
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angles[2] = 0.0f;
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}
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