/* Copyright (C) 1996-1997 Id Software, Inc. This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ // mathlib.h typedef float vec_t; typedef vec_t vec2_t[2]; typedef vec_t vec3_t[3]; typedef vec_t vec4_t[4]; typedef vec_t vec5_t[5]; typedef int ivec_t; typedef ivec_t ivec2_t[2]; typedef ivec_t ivec3_t[3]; typedef ivec_t ivec4_t[4]; typedef ivec_t ivec5_t[5]; /*16-byte aligned vectors, for auto-vectorising, should propogate to structs sse and altivec can unroll loops using aligned reads, which should be faster... 4 at once. */ typedef FTE_ALIGN(16) vec3_t avec3_t; typedef FTE_ALIGN(16) vec4_t avec4_t; typedef FTE_ALIGN(4) qbyte byte_vec4_t[4]; //VECV_STRIDE is used only as an argument for opengl. #ifdef FTE_TARGET_WEB //emscripten is alergic to explicit strides without packed attributes, at least in emulated code. //so we need to keep everything packed. screw sse-friendly packing. #define vecV_t vec3_t #define VECV_STRIDE 0 #else #define vecV_t avec4_t #define VECV_STRIDE sizeof(vecV_t) #endif typedef int fixed4_t; typedef int fixed8_t; typedef int fixed16_t; #ifndef M_PI #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h #endif struct mplane_s; extern vec3_t vec3_origin; #define bound(min,num,max) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min)) #define nanmask (255<<23) #define IS_NAN(x) (((*(int *)&x)&nanmask)==nanmask) #define FloatInterpolate(a, bness, b, c) ((c) = (a) + (b - a)*bness) #define DotProduct_Double(x,y) ((double)(x)[0]*(double)(y)[0]+(double)(x)[1]*(double)(y)[1]+(double)(x)[2]*(double)(y)[2]) //cast to doubles, to try to replicate x87 precision in 64bit sse builds etc. there'll still be a precision difference though. #define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2]) #define DotProduct2(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]) #define DotProduct4(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2]+(x)[3]*(y)[3]) #define VectorSubtract(a,b,c) do{(c)[0]=(a)[0]-(b)[0];(c)[1]=(a)[1]-(b)[1];(c)[2]=(a)[2]-(b)[2];}while(0) #define VectorAdd(a,b,c) do{(c)[0]=(a)[0]+(b)[0];(c)[1]=(a)[1]+(b)[1];(c)[2]=(a)[2]+(b)[2];}while(0) #define VectorCopy(a,b) do{(b)[0]=(a)[0];(b)[1]=(a)[1];(b)[2]=(a)[2];}while(0) #define VectorScale(a,s,b) do{(b)[0]=(s)*(a)[0];(b)[1]=(s)*(a)[1];(b)[2]=(s)*(a)[2];}while(0) #define VectorMul(a,s,b) do{(b)[0]=(s)[0]*(a)[0];(b)[1]=(s)[1]*(a)[1];(b)[2]=(s)[2]*(a)[2];}while(0) #define VectorClear(a) ((a)[0]=(a)[1]=(a)[2]=0) #define VectorSet(r,x,y,z) do{(r)[0] = x; (r)[1] = y;(r)[2] = z;}while(0) #define VectorNegate(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2]) #define VectorLength(a) Length(a) #define VectorMA(a,s,b,c) do{(c)[0] = (a)[0] + (s)*(b)[0];(c)[1] = (a)[1] + (s)*(b)[1];(c)[2] = (a)[2] + (s)*(b)[2];}while(0) #define VectorEquals(a,b) ((a)[0] == (b)[0] && (a)[1] == (b)[1] && (a)[2] == (b)[2]) #define VectorAvg(a,b,c) ((c)[0]=((a)[0]+(b)[0])*0.5f,(c)[1]=((a)[1]+(b)[1])*0.5f, (c)[2]=((a)[2]+(b)[2])*0.5f) #define VectorInterpolate(a, bness, b, c) FloatInterpolate((a)[0], bness, (b)[0], (c)[0]),FloatInterpolate((a)[1], bness, (b)[1], (c)[1]),FloatInterpolate((a)[2], bness, (b)[2], (c)[2]) #define Vector2Clear(a) ((a)[0]=(a)[1]=0) #define Vector2Copy(a,b) do{(b)[0]=(a)[0];(b)[1]=(a)[1];}while(0) #define Vector2Set(r,x,y) do{(r)[0] = x; (r)[1] = y;}while(0) #define Vector2MA(a,s,b,c) do{(c)[0] = (a)[0] + (s)*(b)[0];(c)[1] = (a)[1] + (s)*(b)[1];}while(0) #define Vector2Interpolate(a, bness, b, c) FloatInterpolate((a)[0], bness, (b)[0], (c)[0]),FloatInterpolate((a)[1], bness, (b)[1], (c)[1]) #define Vector4Copy(a,b) do{(b)[0]=(a)[0];(b)[1]=(a)[1];(b)[2]=(a)[2];(b)[3]=(a)[3];}while(0) #define Vector4Scale(in,scale,out) ((out)[0]=(in)[0]*scale,(out)[1]=(in)[1]*scale,(out)[2]=(in)[2]*scale,(out)[3]=(in)[3]*scale) #define Vector4Add(a,b,c) ((c)[0]=(((a[0])+(b[0]))),(c)[1]=(((a[1])+(b[1]))),(c)[2]=(((a[2])+(b[2]))),(c)[3]=(((a[3])+(b[3])))) #define Vector4Set(r,x,y,z,w) (r)[0] = x, (r)[1] = y, (r)[2] = z, (r)[3]=w #define Vector4Interpolate(a, bness, b, c) FloatInterpolate((a)[0], bness, (b)[0], (c)[0]),FloatInterpolate((a)[1], bness, (b)[1], (c)[1]),FloatInterpolate((a)[2], bness, (b)[2], (c)[2]),FloatInterpolate((a)[3], bness, (b)[3], (c)[3]) #define Vector4MA(a,s,b,c) do{(c)[0] = (a)[0] + (s)*(b)[0];(c)[1] = (a)[1] + (s)*(b)[1];(c)[2] = (a)[2] + (s)*(b)[2];(c)[3] = (a)[3] + (s)*(b)[3];}while(0) typedef float matrix3x4[3][4]; typedef float matrix3x3[3][3]; #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))) typedef struct { float m[4][4]; } matrix4x4_t; //vec_t _DotProduct (vec3_t v1, vec3_t v2); //void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out); //void _VectorCopy (vec3_t in, vec3_t out); //void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out); void AddPointToBounds (const vec3_t v, vec3_t mins, vec3_t maxs); float anglemod (float a); void QDECL AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up); void QDECL AngleVectorsMesh (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up); void QDECL VectorAngles (const float *forward, const float *up, float *angles, qboolean meshpitch); //up may be NULL void VARGS BOPS_Error (void); int VARGS BoxOnPlaneSide (const vec3_t emins, const vec3_t emaxs, const struct mplane_s *plane); void ClearBounds (vec3_t mins, vec3_t maxs); float ColorNormalize (const vec3_t in, vec3_t out); void CrossProduct (const vec3_t v1, const vec3_t v2, vec3_t cross); void FloorDivMod (double numer, double denom, int *quotient, int *rem); int GreatestCommonDivisor (int i1, int i2); fixed16_t Invert24To16 (fixed16_t val); vec_t Length (const vec3_t v); void MakeNormalVectors (const vec3_t forward, vec3_t right, vec3_t up); float Q_rsqrt(float number); /* _CM means column major. _RM means row major Note that openGL is column-major. Logical C code uses row-major. mat3x4 is always row-major (and functions can accept many RM mat4x4) */ void Matrix3_Multiply (vec3_t *in1, vec3_t *in2, vec3_t *out); void Matrix4x4_Identity(float *outm); qboolean Matrix4_Invert(const float *m, float *out); void Matrix3x4_Invert (const float *in1, float *out); void QDECL Matrix3x4_Invert_Simple (const float *in1, float *out); void Matrix3x4_InvertTo4x4_Simple (const float *in1, float *out); void Matrix3x3_RM_Invert_Simple(const vec3_t in[3], vec3_t out[3]); void Matrix4x4_RM_CreateTranslate (float *out, float x, float y, float z); void Matrix4x4_CM_CreateTranslate (float *out, float x, float y, float z); void Matrix4x4_CM_ModelMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg); void Matrix4x4_CM_ModelMatrix(float *modelview, vec_t x, vec_t y, vec_t z, vec_t pitch, vec_t yaw, vec_t roll, vec_t scale); void Matrix4x4_CM_ModelViewMatrix (float *modelview, const vec3_t viewangles, const vec3_t vieworg); void Matrix4x4_CM_ModelViewMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg); void Matrix4x4_CM_LightMatrixFromAxis(float *modelview, const vec3_t px, const vec3_t py, const vec3_t pz, const vec3_t vieworg); // void Matrix4_CreateFromQuakeEntity (float *matrix, float x, float y, float z, float pitch, float yaw, float roll, float scale); void Matrix4_Multiply (const float *a, const float *b, float *out); void Matrix3x4_Multiply(const float *a, const float *b, float *out); qboolean Matrix4x4_CM_Project (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy); void Matrix4x4_CM_Transform3x3(const float *matrix, const float *vector, float *product); void Matrix4x4_CM_Transform3 (const float *matrix, const float *vector, float *product); void Matrix4x4_CM_Transform4 (const float *matrix, const float *vector, float *product); void Matrix4x4_CM_Transform34(const float *matrix, const vec3_t vector, vec4_t product); void Matrix4x4_CM_UnProject (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy); void Matrix3x4_RM_FromAngles(const vec3_t angles, const vec3_t origin, float *out); void Matrix3x4_RM_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]); void Matrix4x4_RM_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]); void Matrix3x4_RM_ToVectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3]); void Matrix3x4_RM_Transform3(const float *matrix, const float *vector, float *product); void Matrix3x4_RM_Transform3x3(const float *matrix, const float *vector, float *product); float *Matrix4x4_CM_NewRotation(float a, float x, float y, float z); float *Matrix4x4_CM_NewTranslation(float x, float y, float z); void Bones_To_PosQuat4(int numbones, const float *matrix, short *result); void QDECL GenMatrixPosQuat4Scale(const vec3_t pos, const vec4_t quat, const vec3_t scale, float result[12]); void QuaternionSlerp(const vec4_t p, vec4_t q, float t, vec4_t qt); #define AngleVectorsFLU(a,f,l,u) do{AngleVectors(a,f,l,u);VectorNegate(l,l);}while(0) //projection matricies of different types... gesh void Matrix4x4_CM_Orthographic (float *proj, float xmin, float xmax, float ymax, float ymin, float znear, float zfar); void Matrix4x4_CM_OrthographicD3D(float *proj, float xmin, float xmax, float ymax, float ymin, float znear, float zfar); void Matrix4x4_CM_Projection_Offset(float *proj, float fovl, float fovr, float fovu, float fovd, float neard, float fard, qboolean d3d); void Matrix4x4_CM_Projection_Far(float *proj, float fovx, float fovy, float neard, float fard, qboolean d3d); void Matrix4x4_CM_Projection2 (float *proj, float fovx, float fovy, float neard); void Matrix4x4_CM_Projection_Inf(float *proj, float fovx, float fovy, float neard, qboolean d3d); fixed16_t Mul16_30 (fixed16_t multiplier, fixed16_t multiplicand); int Q_log2 (int val); void Matrix3x4_InvertTo3x3(const float *in, float *result); fixed16_t Mul16_30 (fixed16_t multiplier, fixed16_t multiplicand); int Q_log2 (int val); void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3]); void R_ConcatRotationsPad (float in1[3][4], float in2[3][4], float out[3][4]); void QDECL R_ConcatTransforms (const matrix3x4 in1, const matrix3x4 in2, matrix3x4 out); void R_ConcatTransformsAxis (const float in1[3][3], const float in2[3][4], float out[3][4]); void PerpendicularVector(vec3_t dst, const vec3_t src); void RotatePointAroundVector (vec3_t dst, const vec3_t dir, const vec3_t point, float degrees); void RotateLightVector(const vec3_t *axis, const vec3_t origin, const vec3_t lightpoint, vec3_t result); int VectorCompare (const vec3_t v1, const vec3_t v2); int Vector4Compare (const vec4_t v1, const vec4_t v2); void VectorInverse (vec3_t v); void _VectorMA (const vec3_t veca, const float scale, const vec3_t vecb, vec3_t vecc); float QDECL VectorNormalize (vec3_t v); // returns vector length vec_t QDECL VectorNormalize2 (const vec3_t v, vec3_t out); void VectorNormalizeFast(vec3_t v); void VectorTransform (const vec3_t in1, const matrix3x4 in2, vec3_t out); void VectorVectors (const vec3_t forward, vec3_t right, vec3_t up);