mirror of https://github.com/FWGS/xash3d-fwgs
306 lines
13 KiB
C
306 lines
13 KiB
C
/*
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xash3d_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 XASH3D_MATHLIB_H
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#define XASH3D_MATHLIB_H
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#include <math.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 "build.h"
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#include "xash3d_types.h"
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#include "const.h"
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#include "com_model.h"
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#include "studio.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 (double)3.14159265358979323846
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#endif
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#ifndef M_PI2
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#define M_PI2 ((double)(M_PI * 2))
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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 ) ((double)(x) * (double)(180.0 / M_PI))
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#define DEG2RAD( x ) ((double)(x) * (double)(M_PI / 180.0))
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#define NUMVERTEXNORMALS 162
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#define BOGUS_RANGE ((vec_t)114032.64) // world.size * 1.74
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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 INV127F ( 1.0f / 127.0f )
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#define INV255F ( 1.0f / 255.0f )
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#define MAKE_SIGNED( x ) ((( x ) * INV127F ) - 1.0f )
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#define Q_min( a, b ) (((a) < (b)) ? (a) : (b))
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#define Q_max( a, b ) (((a) > (b)) ? (a) : (b))
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#define Q_equal_e( a, b, e ) (((a) > ((b) - (e))) && ((a) < ((b) + (e))))
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#define Q_equal( a, b ) Q_equal_e( a, b, EQUAL_EPSILON )
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#define Q_recip( a ) ((float)(1.0f / (float)(a)))
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#define Q_floor( a ) ((float)(int)(a))
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#define Q_ceil( a ) ((float)(int)((a) + 1))
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#define Q_round( x, y ) (floor( x / y + 0.5f ) * y )
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#define Q_rint(x) ((x) < 0.0f ? ((int)((x)-0.5f)) : ((int)((x)+0.5f)))
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#ifdef XASH_IRIX
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#undef isnan
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#endif
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#ifdef isnan // check for C99 isnan
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#define IS_NAN isnan
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#else
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#define IS_NAN(x) (((*(int *)&x) & (255<<23)) == (255<<23))
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#endif
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#define ALIGN( x, a ) ((( x ) + (( size_t )( a ) - 1 )) & ~(( size_t )( a ) - 1 ))
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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 DotProductPrecise(x,y) ((double)(x)[0]*(double)(y)[0]+(double)(x)[1]*(double)(y)[1]+(double)(x)[2]*(double)(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 VectorAddScalar(a,b,c) ((c)[0]=(a)[0]+(b),(c)[1]=(a)[1]+(b),(c)[2]=(a)[2]+(b))
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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) ( Q_max((a)[0], Q_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])*0.5f,(o)[1]=((a)[1]+(b)[1])*0.5f)
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#define VectorAverage(a,b,o) ((o)[0]=((a)[0]+(b)[0])*0.5f,(o)[1]=((a)[1]+(b)[1])*0.5f,(o)[2]=((a)[2]+(b)[2])*0.5f)
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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 VectorMAM(scale1, b1, scale2, b2, c) ((c)[0] = (scale1) * (b1)[0] + (scale2) * (b2)[0],(c)[1] = (scale1) * (b1)[1] + (scale2) * (b2)[1],(c)[2] = (scale1) * (b1)[2] + (scale2) * (b2)[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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// horrible cast but helps not breaking strict aliasing in mathlib
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// as union type punning should be fine in C but not in C++
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// so don't carry over this to C++ code
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typedef union
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{
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float fl;
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uint32_t u;
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int32_t i;
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} float_bits_t;
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static inline uint32_t FloatAsUint( float v )
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{
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float_bits_t bits = { v };
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return bits.u;
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}
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static inline int32_t FloatAsInt( float v )
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{
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float_bits_t bits = { v };
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return bits.i;
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}
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static inline float IntAsFloat( int32_t i )
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{
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float_bits_t bits;
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bits.i = i;
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return bits.fl;
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}
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static inline float UintAsFloat( uint32_t u )
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{
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float_bits_t bits;
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bits.u = u;
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return bits.fl;
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}
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static inline void SinCos( float radians, float *sine, float *cosine )
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{
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*sine = sin(radians);
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*cosine = cos(radians);
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}
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float rsqrt( float number );
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float anglemod( float a );
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word FloatToHalf( float v );
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float HalfToFloat( word h );
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void RoundUpHullSize( vec3_t size );
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int SignbitsForPlane( const vec3_t normal );
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int PlaneTypeForNormal( const vec3_t normal );
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int NearestPOW( int value, qboolean roundDown );
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float VectorNormalizeLength2( const vec3_t v, vec3_t out );
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qboolean VectorCompareEpsilon( const vec3_t vec1, const vec3_t vec2, vec_t epsilon );
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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 PlaneIntersect( const struct mplane_s *plane, const vec3_t p0, const vec3_t p1, vec3_t out );
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static inline void ClearBounds( vec3_t mins, vec3_t maxs )
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{
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// make bogus range
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mins[0] = mins[1] = mins[2] = 999999.0f;
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maxs[0] = maxs[1] = maxs[2] = -999999.0f;
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}
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static inline qboolean BoundsIntersect( const vec3_t mins1, const vec3_t maxs1, const vec3_t mins2, const vec3_t maxs2 )
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{
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if( mins1[0] > maxs2[0] || mins1[1] > maxs2[1] || mins1[2] > maxs2[2] )
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return false;
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if( maxs1[0] < mins2[0] || maxs1[1] < mins2[1] || maxs1[2] < mins2[2] )
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return false;
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return true;
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}
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static inline qboolean BoundsAndSphereIntersect( const vec3_t mins, const vec3_t maxs, const vec3_t origin, float radius )
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{
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if( mins[0] > origin[0] + radius || mins[1] > origin[1] + radius || mins[2] > origin[2] + radius )
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return false;
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if( maxs[0] < origin[0] - radius || maxs[1] < origin[1] - radius || maxs[2] < origin[2] - radius )
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return false;
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return true;
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}
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void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs );
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qboolean SphereIntersect( const vec3_t vSphereCenter, float fSphereRadiusSquared, const vec3_t vLinePt, const vec3_t vLineDir );
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float RadiusFromBounds( const vec3_t mins, const vec3_t maxs );
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void ExpandBounds( vec3_t mins, vec3_t maxs, float offset );
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void AngleQuaternion( const vec3_t angles, vec4_t q, qboolean studio );
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void QuaternionAngle( const vec4_t q, vec3_t angles );
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void QuaternionSlerp( const vec4_t p, const vec4_t q, float t, vec4_t qt );
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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, m_matrix3x4_identity )
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#define Matrix3x4_Copy( out, in ) memcpy( out, in, sizeof( matrix3x4 ))
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static inline void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z )
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{
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out[0][3] = x;
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out[1][3] = y;
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out[2][3] = z;
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}
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static inline void Matrix3x4_OriginFromMatrix( const matrix3x4 in, float *out )
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{
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out[0] = in[0][3];
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out[1] = in[1][3];
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out[2] = in[2][3];
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}
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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_TransformAABB( const matrix3x4 world, const vec3_t mins, const vec3_t maxs, vec3_t absmin, vec3_t absmax );
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void Matrix3x4_AnglesFromMatrix( const matrix3x4 in, vec3_t out );
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#define Matrix4x4_LoadIdentity( mat ) Matrix4x4_Copy( mat, m_matrix4x4_identity )
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#define Matrix4x4_Copy( out, in ) 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_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_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin );
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void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 );
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qboolean Matrix4x4_Invert_Full( matrix4x4 out, const matrix4x4 in1 );
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void R_StudioSlerpBones( int numbones, vec4_t q1[], float pos1[][3], const vec4_t q2[], const float pos2[][3], float s );
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void R_StudioCalcBoneQuaternion( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const float *adj, vec4_t q );
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void R_StudioCalcBonePosition( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const vec3_t adj, vec3_t pos );
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int BoxOnPlaneSide( const vec3_t emins, const vec3_t emaxs, const mplane_t *p );
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#define BOX_ON_PLANE_SIDE( emins, emaxs, p ) \
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((( p )->type < 3 ) ? \
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( \
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((p)->dist <= (emins)[(p)->type]) ? \
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1 \
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: \
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( \
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((p)->dist >= (emaxs)[(p)->type]) ? \
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2 \
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: \
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3 \
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) \
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) \
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: \
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BoxOnPlaneSide(( emins ), ( emaxs ), ( p )))
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extern vec3_t vec3_origin;
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extern int boxpnt[6][4];
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extern const matrix3x4 m_matrix3x4_identity;
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extern const matrix4x4 m_matrix4x4_identity;
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extern const float m_bytenormals[NUMVERTEXNORMALS][3];
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#endif // XASH3D_MATHLIB_H
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