forked from FWGS/Paranoia2
265 lines
12 KiB
C
265 lines
12 KiB
C
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//=======================================================================
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// Copyright (C) Shambler Team 2005
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// mathlib.h - shared mathlib header
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//=======================================================================
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#ifndef MATHLIB_H
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#define MATHLIB_H
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#ifndef M_PI
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#define M_PI (float)3.14159265358979323846 // matches value in gcc v2 math.h
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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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#ifndef byte
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typedef unsigned char byte;
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#endif // byte
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#ifndef vec_t
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typedef float vec_t;
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#endif
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#include <math.h>
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#include <vector.h>
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#include "matrix.h"
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// NOTE: PhysX mathlib is conflicted with standard min\max
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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_recip( a ) ((float)(1.0f / (float)(a)))
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#define Q_floor( a ) ((float)(long)(a))
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#define Q_ceil( a ) ((float)(long)((a) + 1))
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#define Q_round( x, y ) (floor( x / y + 0.5 ) * y )
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#define Q_square( a ) ((a) * (a))
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#define Q_sign( x ) ( x >= 0 ? 1.0 : -1.0 )
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#define bound( min, num, max ) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min))
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#define saturate( val ) ((val) >= 0 ? ((val) < 1 ? (val) : 1) : 0)
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#define IS_NAN(x) (((*(int *)&x) & (255<<23)) == (255<<23))
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// some Physic Engine declarations
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#define METERS_PER_INCH 0.0254f
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#define METER2INCH( x ) (float)( x * ( 1.0f / METERS_PER_INCH ))
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#define INCH2METER( x ) (float)( x * ( METERS_PER_INCH / 1.0f ))
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// Keeps clutter down a bit, when using a float as a bit-vector
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#define SetBits( iBitVector, bits ) ((iBitVector) = (iBitVector) | (bits))
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#define ClearBits( iBitVector, bits ) ((iBitVector) = (iBitVector) & ~(bits))
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#define FBitSet( iBitVector, bit ) ((iBitVector) & (bit))
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#define CHARSIGNBITSET( c ) (((const uint)(c)) >> 7)
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#define CHARSIGNBITNOTSET( c ) ((~((const uint)(c))) >> 7)
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#define SHORTSIGNBITSET( s ) (((const uint)(s)) >> 15)
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#define SHORTSIGNBITNOTSET( s ) ((~((const uint)(s))) >> 15)
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#define INTSIGNBITSET( i ) (((const uint)(i)) >> 31)
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#define INTSIGNBITNOTSET( i ) ((~((const uint)(i))) >> 31)
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#define FLOATSIGNBITSET( f ) ((*(const uint *)&(f)) >> 31)
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#define FLOATSIGNBITNOTSET( f ) ((~(*(const uint *)&(f))) >> 31)
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#define KNEEMAX_EPSILON 0.9998f // (0.9998 is about 1 degree)
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// Used to represent sides of things like planes.
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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 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_LAST_AXIAL 2
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#define PLANE_NONAXIAL 3
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#define PLANE_NORMAL_EPSILON 1e-5
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#define PLANE_DIR_EPSILON 1e-4
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#define PLANE_DIST_EPSILON 4e-2
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#define SMALL_FLOAT 1e-12
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inline float Q_fabs( float f ) { int tmp = *( int *)&f; tmp &= 0x7FFFFFFF; return *( float *)&tmp; }
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inline float anglemod( float a ) { return (360.0f / 65536) * ((int)(a * (65536 / 360.0f)) & 65535); }
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void TransformAABB( const matrix4x4& world, const Vector &mins, const Vector &maxs, Vector &absmin, Vector &absmax );
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void TransformAABBLocal( const matrix4x4& world, const Vector &mins, const Vector &maxs, Vector &outmins, Vector &outmaxs );
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void CalcClosestPointOnAABB( const Vector &mins, const Vector &maxs, const Vector &point, Vector &closestOut );
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float CalcSqrDistanceToAABB( const Vector &mins, const Vector &maxs, const Vector &point );
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void RotatePointAroundVector( Vector &dst, const Vector &dir, const Vector &point, float degrees );
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bool PlanesGetIntersectionPoint( const struct mplane_s *plane1, const struct mplane_s *plane2, const struct mplane_s *plane3, Vector &out );
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bool IsSphereIntersectingCone( const Vector &sphereCenter, float sphereRadius, const Vector &coneOrigin, const Vector &coneNormal, float coneSine, float coneCosine );
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void PlaneFromPoints( const Vector &p0, const Vector &p1, const Vector &p2, struct mplane_s *plane );
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Vector PlaneIntersect( struct mplane_s *plane, const Vector& p0, const Vector& p1 );
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void VectorAngles( const Vector &forward, Vector &angles );
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void VectorAngles2( const Vector &forward, Vector &angles );
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void MakeAxial( float normal[3] );
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// Remap a value in the range [A,B] to [C,D].
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inline float RemapVal( float val, float A, float B, float C, float D)
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{
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if( A == B ) return val >= B ? D : C;
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return C + (D - C) * (val - A) / (B - A);
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}
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inline float RemapValClamped( float val, float A, float B, float C, float D)
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{
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if( A == B ) return val >= B ? D : C;
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float cVal = (val - A) / (B - A);
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cVal = bound( 0.0f, cVal, 1.0f );
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return C + (D - C) * cVal;
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}
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// Returns A + (B-A)*flPercent.
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// float Lerp( float flPercent, float A, float B );
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template <class T>
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_forceinline T Lerp( float flPercent, T const &A, T const &B )
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{
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return A + (B - A) * flPercent;
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}
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int PlaneTypeForNormal( const Vector &normal );
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int SignbitsForPlane( const Vector &normal );
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int NearestPOW( int value, bool roundDown );
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void SetPlane( struct mplane_s *plane, const Vector &vecNormal, float flDist, int type = -1 );
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//
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// bounds operations
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//
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void ClearBounds( Vector &mins, Vector &maxs );
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void ClearBounds( Vector2D &mins, Vector2D &maxs );
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bool BoundsIsCleared( const Vector &mins, const Vector &maxs );
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bool BoundsIsNull( const Vector &mins, const Vector &maxs );
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void ExpandBounds( Vector &mins, Vector &maxs, float offset );
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void AddPointToBounds( const Vector &v, Vector &mins, Vector &maxs, float limit = 0.0f );
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void AddPointToBounds( const Vector2D &v, Vector2D &mins, Vector2D &maxs );
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bool BoundsIntersect( const Vector &mins1, const Vector &maxs1, const Vector &mins2, const Vector &maxs2 );
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bool BoundsIntersect( const Vector2D &mins1, const Vector2D &maxs1, const Vector2D &mins2, const Vector2D &maxs2 );
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bool BoundsAndSphereIntersect( const Vector &mins, const Vector &maxs, const Vector &origin, float radius );
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bool BoundsAndSphereIntersect( const Vector2D &mins, const Vector2D &maxs, const Vector2D &origin, float radius );
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void UTIL_MoveBounds( const Vector &start, const Vector &mins, const Vector &maxs, const Vector &end, Vector &outmins, Vector &outmaxs );
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float RadiusFromBounds( const Vector &mins, const Vector &maxs );
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void PerpendicularVector( Vector &dst, const Vector &src );
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//
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// quaternion operations
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//
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void AngleQuaternion( const Vector &angles, Vector4D &quat );
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void AngleQuaternion( const Radian &angles, Vector4D &quat );
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void AxisAngleQuaternion( const Vector &axis, float angle, Vector4D &q );
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void QuaternionAngle( const Vector4D &quat, Vector &angles );
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void QuaternionAngle( const Vector4D &quat, Radian &angles );
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void QuaternionAlign( const Vector4D &p, const Vector4D &q, Vector4D &qt );
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void QuaternionSlerp( const Vector4D &p, const Vector4D &q, float t, Vector4D &qt );
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void QuaternionSlerp( const Radian &r0, const Radian &r1, float t, Radian &r2 );
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void QuaternionBlend( const Vector4D &p, const Vector4D &q, float t, Vector4D &qt );
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void QuaternionSlerpNoAlign( const Vector4D &p, const Vector4D &q, float t, Vector4D &qt );
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void QuaternionBlendNoAlign( const Vector4D &p, const Vector4D &q, float t, Vector4D &qt );
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void QuaternionMultiply( const Vector4D &q1, const Vector4D &q2, Vector4D &out );
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void QuaternionVectorTransform( const Vector4D &q, const Vector &v, Vector &out );
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void QuaternionConcatTransforms( const Vector4D &q1, const Vector &v1, const Vector4D &q2, const Vector &v2, Vector4D &q, Vector &v );
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void QuaternionSM( float s, const Vector4D &p, const Vector4D &q, Vector4D &qt );
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void QuaternionMA( const Vector4D &p, float s, const Vector4D &q, Vector4D &qt );
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void QuaternionAccumulate( const Vector4D &p, float s, const Vector4D &q, Vector4D &qt );
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void QuaternionMult( const Vector4D &p, const Vector4D &q, Vector4D &qt );
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void QuaternionAdd( const Vector4D &p, const Vector4D &q, Vector4D &qt );
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void QuaternionScale( const Vector4D &p, float t, Vector4D &q );
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//
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// lerping stuff
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//
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void InterpolateOrigin( const Vector& start, const Vector& end, Vector& output, float frac, bool back = false );
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void InterpolateAngles( const Vector& start, const Vector& end, Vector& output, float frac, bool back = false );
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void NormalizeAngles( Vector &angles );
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//
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// FOV computing
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//
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float V_CalcFov( float &fov_x, float width, float height );
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void V_AdjustFov( float &fov_x, float &fov_y, float width, float height, bool lock_x );
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struct mplane_s;
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void VectorMatrix( Vector &forward, Vector &right, Vector &up );
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float ColorNormalize( const Vector &in, Vector &out );
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// solve for "x" where "a x^2 + b x + c = 0", return true if solution exists
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bool SolveQuadratic( float a, float b, float c, float &root1, float &root2 );
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// solves for "a, b, c" where "a x^2 + b x + c = y", return true if solution exists
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bool SolveInverseQuadratic( float x1, float y1, float x2, float y2, float x3, float y3, float &a, float &b, float &c );
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bool PlaneFromPoints( const Vector triangle[3], struct mplane_s *plane );
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bool ComparePlanes( struct mplane_s *plane, const Vector &normal, float dist );
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bool VectorCompareEpsilon( const Vector &vec1, const Vector &vec2, float epsilon );
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bool RadianCompareEpsilon( const Radian &vec1, const Radian &vec2, float epsilon );
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unsigned int VertexHashKey( const vec3_t point, unsigned int hashSize );
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void CategorizePlane( struct mplane_s *plane );
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void SnapPlaneToGrid( struct mplane_s *plane );
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void SnapVectorToGrid( Vector &normal );
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bool VectorIsOnAxis( const Vector &v );
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void CalcTBN( const Vector &p0, const Vector &p1, const Vector &p2, const Vector2D &t0, const Vector2D &t1, const Vector2D& t2, Vector &s, Vector &t, bool areaweight = false );
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int BoxOnPlaneSide( const Vector &emins, const Vector &emaxs, const struct mplane_s *plane );
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#define BOX_ON_PLANE_SIDE(emins, emaxs, p) (((p)->type < 3)?(((p)->dist <= (emins)[(p)->type])? 1 : (((p)->dist >= (emaxs)[(p)->type])? 2 : 3)):BoxOnPlaneSide( (emins), (emaxs), (p)))
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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 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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Vector VectorYawRotate( const Vector &in, float flYaw );
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// FIXME: get rid of this
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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 VectorMax(a) ( Q_max((a)[0], Q_max((a)[1], (a)[2])) )
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#define TriangleNormal(a,b,c,n) \
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( \
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(n)[0] = ((a)[1] - (b)[1]) * ((c)[2] - (b)[2]) - ((a)[2] - (b)[2]) * ((c)[1] - (b)[1]), \
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(n)[1] = ((a)[2] - (b)[2]) * ((c)[0] - (b)[0]) - ((a)[0] - (b)[0]) * ((c)[2] - (b)[2]), \
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(n)[2] = ((a)[0] - (b)[0]) * ((c)[1] - (b)[1]) - ((a)[1] - (b)[1]) * ((c)[0] - (b)[0]) \
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)
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/*
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=================
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rsqrt
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=================
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*/
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inline float rsqrt( float number )
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{
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if( number == 0.0f )
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return 0.0f;
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int x = number * 0.5f;
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int i = *(int *)&number; // evil floating point bit level hacking
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i = 0x5f3759df - (i >> 1); // what the fuck?
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int y = *(float *)&i;
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y = y * (1.5f - (x * y * y)); // first iteration
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return y;
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}
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// hermite basis function for smooth interpolation
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// Similar to Gain() above, but very cheap to call
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// value should be between 0 & 1 inclusive
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inline float SimpleSpline( float value )
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{
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float valueSquared = value * value;
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// Nice little ease-in, ease-out spline-like curve
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return (3 * valueSquared - 2 * valueSquared * value);
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}
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unsigned short FloatToHalf( float v );
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float HalfToFloat( unsigned short h );
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signed char FloatToChar( float v );
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float ColorToFloat( const Vector &color );
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float NormalToFloat( const Vector &normal );
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float OriginToFloat( const Vector &pos, const Vector ¢er );
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float PackColor( const Vector &color );
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float PackNormal( const Vector &normal );
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extern float g_hullcolor[8][3];
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extern int g_boxpnt[6][4];
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#endif//MATHLIB_H
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