1 /* $Id: vecmat.h,v 1.6 2004-08-28 23:17:45 schaffner Exp $ */
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16 * Header file for vector/matrix library
25 //#define INLINE 1 //are some of these functions inline?
27 //The basic fixed-point vector. Access elements by name or position
28 typedef struct vms_vector
35 typedef struct vms_vector_array
39 __pack__ vms_vector_array;
42 //Short vector, used for pre-rotation points.
43 //Access elements by name or position
44 typedef struct vms_svec
46 short sv_x, sv_y, sv_z;
51 //Angle vector. Used to store orientations
52 typedef struct vms_angvec
59 //A 3x3 rotation matrix. Sorry about the numbering starting with one.
60 //Ordering is across then down, so <m1,m2,m3> is the first row
61 typedef struct vms_matrix
63 vms_vector rvec, uvec, fvec;
68 //Macros/functions to fill in fields of structures
70 //macro to check if vector is zero
71 #define IS_VEC_NULL(v) (v->x == 0 && v->y == 0 && v->z == 0)
73 //macro to set a vector to zero. we could do this with an in-line assembly
74 //macro, but it's probably better to let the compiler optimize it.
75 //Note: NO RETURN VALUE
76 #define vm_vec_zero(v) (v)->x=(v)->y=(v)->z=0
78 //macro set set a matrix to the identity. Note: NO RETURN VALUE
80 // DPH (18/9/98): Begin mod to fix linefeed problem under linux. Uses an
81 // inline function instead of a multi-line macro to fix CR/LF problems.
84 static inline void vm_set_identity(vms_matrix *m)
86 m->rvec.x = m->uvec.y = m->fvec.z = f1_0;
87 m->rvec.y = m->rvec.z = m->uvec.x = m->uvec.z = m->fvec.x = m->fvec.y = 0;
90 #define vm_set_identity(m) do {m->rvec.x = m->uvec.y = m->fvec.z = f1_0; \
91 m->rvec.y = m->rvec.z = \
92 m->uvec.x = m->uvec.z = \
93 m->fvec.x = m->fvec.y = 0;} while (0)
96 // DPH (19/8/98): End changes.
98 vms_vector * vm_vec_make (vms_vector * v, fix x, fix y, fix z);
102 #pragma aux vm_vec_make "*_" parm [eax] [edx] [ebx] [ecx] value [eax] modify exact [] = \
109 vms_angvec * vm_angvec_make (vms_angvec * v, fixang p, fixang b, fixang h);
113 #pragma aux vm_angvec_make "*_" parm [eax] [dx] [bx] [cx] value [eax] modify exact [] = \
122 extern vms_vector vmd_zero_vector;
124 extern vms_matrix vmd_identity_matrix;
127 //Here's a handy constant
129 #define ZERO_VECTOR {0,0,0}
130 #define IDENTITY_MATRIX { {f1_0,0,0}, {0,f1_0,0}, {0,0,f1_0} }
132 //#define vm_vec_make(v,_x,_y,_z) (((v)->x=(_x), (v)->y=(_y), (v)->z=(_z)), (v))
134 //#pragma off (unreferenced)
135 ////make this local, so compiler can in-line it
136 //static vms_vector *vm_vec_make(vms_vector *v,fix x,fix y,fix z)
144 //#pragma on (unreferenced)
147 ////macro to fill in elements of a matrix, also for Mike
149 #define vm_mat_make(m,_m1,_m2,_m3,_m4,_m5,_m6,_m7,_m8,_m9) \
150 do { (m)->m1=(_m1); (m)->m2=(_m2); (m)->m3=(_m3); \
151 (m)->m4=(_m4); (m)->m5=(_m5); (m)->m6=(_m6); \
152 (m)->m7=(_m7); (m)->m8=(_m8); (m)->m9=(_m9);} while (0)
155 #if 0 //kill this, since bogus with new matrix ordering
157 //macro to fill in elements of a matrix, also for Mike
158 #define vm_mat_make(m,_m1,_m2,_m3,_m4,_m5,_m6,_m7,_m8,_m9) \
159 (((m)->m1 = (_m1), (m)->m2 = (_m2), (m)->m3 = (_m3), \
160 (m)->m4 = (_m4), (m)->m5 = (_m5), (m)->m6 = (_m6), \
161 (m)->m7 = (_m7), (m)->m8 = (_m8), (m)->m9 = (_m9)), (m))
165 ////fills in fields of an angle vector
166 //#define vm_angvec_make(v,_p,_b,_h) (((v)->p=(_p), (v)->b=(_b), (v)->h=(_h)), (v))
169 #define vm_vec_negate(v) do {(v)->x = - (v)->x; (v)->y = - (v)->y; (v)->z = - (v)->z;} while (0);
171 //Functions in library
175 //adds two vectors, fills in dest, returns ptr to dest
176 //ok for dest to equal either source, but should use vm_vec_add2() if so
177 vms_vector * vm_vec_add (vms_vector * dest, vms_vector * src0, vms_vector * src1);
180 //subs two vectors, fills in dest, returns ptr to dest
181 //ok for dest to equal either source, but should use vm_vec_sub2() if so
182 vms_vector * vm_vec_sub (vms_vector * dest, vms_vector * src0, vms_vector * src1);
185 //adds one vector to another. returns ptr to dest
186 //dest can equal source
187 vms_vector * vm_vec_add2 (vms_vector * dest, vms_vector * src);
190 //subs one vector from another, returns ptr to dest
191 //dest can equal source
192 vms_vector * vm_vec_sub2 (vms_vector * dest, vms_vector * src);
197 #define vm_vec_add(dest,src0,src1) do { \
198 (dest)->x = (src0)->x + (src1)->x;
200 (dest)->y = (src0)->y + (src1)->y;
202 (dest)->z = (src0)->z + (src1)->z;
208 #define vm_vec_sub(dest,src0,src1) do { \
209 (dest)->x = (src0)->x - (src1)->x;
211 (dest)->y = (src0)->y - (src1)->y;
213 (dest)->z = (src0)->z - (src1)->z;
219 #define vm_vec_add2(dest,src) do { \
220 (dest)->x += (src)->x;
222 (dest)->y += (src)->y;
224 (dest)->z += (src)->z;
230 #define vm_vec_sub2(dest,src) do { \
231 (dest)->x -= (src)->x;
233 (dest)->y -= (src)->y;
235 (dest)->z -= (src)->z;
243 //averages two vectors. returns ptr to dest
244 //dest can equal either source
245 vms_vector * vm_vec_avg (vms_vector * dest, vms_vector * src0, vms_vector * src1);
248 //averages four vectors. returns ptr to dest
249 //dest can equal any source
250 vms_vector * vm_vec_avg4 (vms_vector * dest, vms_vector * src0, vms_vector * src1, vms_vector * src2, vms_vector * src3);
253 //scales a vector in place. returns ptr to vector
254 vms_vector * vm_vec_scale (vms_vector * dest, fix s);
257 //scales and copies a vector. returns ptr to dest
258 vms_vector * vm_vec_copy_scale (vms_vector * dest, vms_vector * src, fix s);
261 //scales a vector, adds it to another, and stores in a 3rd vector
262 //dest = src1 + k * src2
263 vms_vector * vm_vec_scale_add (vms_vector * dest, vms_vector * src1, vms_vector * src2, fix k);
266 //scales a vector and adds it to another
268 vms_vector * vm_vec_scale_add2 (vms_vector * dest, vms_vector * src, fix k);
271 //scales a vector in place, taking n/d for scale. returns ptr to vector
273 vms_vector * vm_vec_scale2 (vms_vector * dest, fix n, fix d);
276 //returns magnitude of a vector
277 fix vm_vec_mag (vms_vector * v);
280 //computes the distance between two points. (does sub and mag)
281 fix vm_vec_dist (vms_vector * v0, vms_vector * v1);
284 //computes an approximation of the magnitude of the vector
285 //uses dist = largest + next_largest*3/8 + smallest*3/16
286 fix vm_vec_mag_quick (vms_vector * v);
289 //computes an approximation of the distance between two points.
290 //uses dist = largest + next_largest*3/8 + smallest*3/16
291 fix vm_vec_dist_quick (vms_vector * v0, vms_vector * v1);
295 //normalize a vector. returns mag of source vec
296 fix vm_vec_copy_normalize (vms_vector * dest, vms_vector * src);
298 fix vm_vec_normalize (vms_vector * v);
301 //normalize a vector. returns mag of source vec. uses approx mag
302 fix vm_vec_copy_normalize_quick (vms_vector * dest, vms_vector * src);
304 fix vm_vec_normalize_quick (vms_vector * v);
307 //return the normalized direction vector between two points
308 //dest = normalized(end - start). Returns mag of direction vector
309 //NOTE: the order of the parameters matches the vector subtraction
310 fix vm_vec_normalized_dir (vms_vector * dest, vms_vector * end, vms_vector * start);
312 fix vm_vec_normalized_dir_quick (vms_vector * dest, vms_vector * end, vms_vector * start);
315 ////returns dot product of two vectors
316 fix vm_vec_dotprod (vms_vector * v0, vms_vector * v1);
318 #define vm_vec_dot(v0,v1) vm_vec_dotprod((v0),(v1))
322 #pragma aux vm_vec_dotprod parm [esi] [edi] value [eax] modify exact [eax ebx ecx edx] = \
324 "imul dword ptr [edi]" \
329 "imul dword ptr 4[edi]" \
334 "imul dword ptr 8[edi]" \
343 //computes cross product of two vectors. returns ptr to dest
344 //dest CANNOT equal either source
345 vms_vector * vm_vec_crossprod (vms_vector * dest, vms_vector * src0, vms_vector * src1);
347 #define vm_vec_cross(dest,src0,src1) vm_vec_crossprod((dest),(src0),(src1))
349 //computes surface normal from three points. result is normalized
350 //returns ptr to dest
351 //dest CANNOT equal either source
352 vms_vector * vm_vec_normal (vms_vector * dest, vms_vector * p0, vms_vector * p1, vms_vector * p2);
355 //computes non-normalized surface normal from three points.
356 //returns ptr to dest
357 //dest CANNOT equal either source
358 vms_vector * vm_vec_perp (vms_vector * dest, vms_vector * p0, vms_vector * p1, vms_vector * p2);
361 //computes the delta angle between two vectors.
362 //vectors need not be normalized. if they are, call vm_vec_delta_ang_norm()
363 //the forward vector (third parameter) can be NULL, in which case the absolute
364 //value of the angle in returned. Otherwise the angle around that vector is
366 fixang vm_vec_delta_ang (vms_vector * v0, vms_vector * v1, vms_vector * fvec);
369 //computes the delta angle between two normalized vectors.
370 fixang vm_vec_delta_ang_norm (vms_vector * v0, vms_vector * v1, vms_vector * fvec);
373 //computes a matrix from a set of three angles. returns ptr to matrix
374 vms_matrix * vm_angles_2_matrix (vms_matrix * m, vms_angvec * a);
377 //computes a matrix from a forward vector and an angle
378 vms_matrix * vm_vec_ang_2_matrix (vms_matrix * m, vms_vector * v, fixang a);
381 //computes a matrix from one or more vectors. The forward vector is required,
382 //with the other two being optional. If both up & right vectors are passed,
383 //the up vector is used. If only the forward vector is passed, a bank of
385 //returns ptr to matrix
386 vms_matrix * vm_vector_2_matrix (vms_matrix * m, vms_vector * fvec, vms_vector * uvec, vms_vector * rvec);
389 //this version of vector_2_matrix requires that the vectors be more-or-less
390 //normalized and close to perpendicular
391 vms_matrix * vm_vector_2_matrix_norm (vms_matrix * m, vms_vector * fvec, vms_vector * uvec, vms_vector * rvec);
394 //rotates a vector through a matrix. returns ptr to dest vector
395 //dest CANNOT equal either source
396 vms_vector * vm_vec_rotate (vms_vector * dest, vms_vector * src, vms_matrix * m);
399 //transpose a matrix in place. returns ptr to matrix
400 vms_matrix * vm_transpose_matrix (vms_matrix * m);
402 #define vm_transpose(m) vm_transpose_matrix(m)
404 //copy and transpose a matrix. returns ptr to matrix
405 //dest CANNOT equal source. use vm_transpose_matrix() if this is the case
406 vms_matrix * vm_copy_transpose_matrix (vms_matrix * dest, vms_matrix * src);
408 #define vm_copy_transpose(dest,src) vm_copy_transpose_matrix((dest),(src))
410 //mulitply 2 matrices, fill in dest. returns ptr to dest
411 //dest CANNOT equal either source
412 vms_matrix * vm_matrix_x_matrix (vms_matrix * dest, vms_matrix * src0, vms_matrix * src1);
415 //extract angles from a matrix
416 vms_angvec * vm_extract_angles_matrix (vms_angvec * a, vms_matrix * m);
419 //extract heading and pitch from a vector, assuming bank==0
420 vms_angvec * vm_extract_angles_vector (vms_angvec * a, vms_vector * v);
423 //compute the distance from a point to a plane. takes the normalized normal
424 //of the plane (ebx), a point on the plane (edi), and the point to check (esi).
425 //returns distance in eax
426 //distance is signed, so negative dist is on the back of the plane
427 fix vm_dist_to_plane (vms_vector * checkp, vms_vector * norm, vms_vector * planep);
430 //fills in fields of an angle vector
431 #define vm_angvec_make(v,_p,_b,_h) (((v)->p=(_p), (v)->b=(_b), (v)->h=(_h)), (v))
432 #endif /* !_VECMAT_H */