2 * Copyright (C) Volition, Inc. 1999. All rights reserved.
4 * All source code herein is the property of Volition, Inc. You may not sell
5 * or otherwise commercially exploit the source or things you created based on
10 * $Logfile: /Freespace2/code/Math/VecMat.h $
15 * Header file for functions that manipulate vectors and matricies
18 * Revision 1.2 2002/06/09 04:41:15 relnev
19 * added copyright header
21 * Revision 1.1.1.1 2002/05/03 03:28:12 root
25 * 6 6/18/99 5:16p Dave
26 * Added real beam weapon lighting. Fixed beam weapon sounds. Added MOTD
27 * dialog to PXO screen.
29 * 5 4/28/99 11:13p Dave
30 * Temporary checkin of artillery code.
32 * 4 1/24/99 11:37p Dave
33 * First full rev of beam weapons. Very customizable. Removed some bogus
34 * Int3()'s in low level net code.
36 * 3 1/12/99 12:53a Dave
37 * More work on beam weapons - made collision detection very efficient -
38 * collide against all object types properly - made 3 movement types
39 * smooth. Put in test code to check for possible non-darkening pixels on
42 * 2 10/07/98 10:53a Dave
45 * 1 10/07/98 10:49a Dave
47 * 43 9/11/98 10:10a Andsager
48 * Optimize and rename matrix_decomp to vm_matrix_to_rot_axis_and_angle,
49 * rename quatern_rot to vm_quaternion_rotate
51 * 42 3/09/98 3:51p Mike
52 * More error checking.
54 * 41 12/17/97 5:44p Andsager
55 * Change vm_matrix_interpolate so that it does not overshoot if optional
58 * 40 9/30/97 8:03p Lawrance
59 * add missing semi-colon to function prototype
61 * 39 9/30/97 5:04p Andsager
62 * add vm_estimate_next_orientation
64 * 38 9/28/97 2:17p Andsager
65 * added vm_project_point_onto_plane
67 * 37 9/25/97 5:57p Andsager
68 * improved function description for matrix interpolate
70 * 36 9/09/97 10:15p Andsager
71 * added vm_rotate_vec_to_body() and vm_rotate_vec_to_world()
73 * 35 8/20/97 5:33p Andsager
74 * added vm_vec_projection_parallel and vm_vec_projection_onto_surface
76 * 34 8/19/97 11:42p Lawrance
77 * use atan2_safe() instead of atan2()
79 * 33 8/18/97 4:46p Hoffoss
80 * Added global default axis vector constants.
82 * 32 8/03/97 3:54p Lawrance
83 * added vm_find_bounding_sphere()
85 * 31 7/30/97 2:20p Dan
86 * from allender: fixed vm_is_vec_nan to work properly with address-of
87 * operator by adding parens around macro variables
89 * 30 7/29/97 2:48p Hoffoss
90 * Added vm_is_vec_nan().
92 * 29 7/28/97 2:21p John
93 * changed vecmat functions to not return src. Started putting in code
94 * for inline vector math. Fixed some bugs with optimizer.
96 * 28 7/28/97 3:25p Andsager
98 * 27 7/28/97 2:41p Mike
99 * Replace vm_forward_interpolate().
101 * 26 7/28/97 1:18p Andsager
102 * implement vm_fvec_matrix_interpolate(), which interpolates matrices on
105 * 25 7/24/97 5:24p Andsager
106 * implement forward vector interpolation
108 * 24 7/02/97 4:25p Mike
109 * Add matrix_interpolate(), but don't call it.
111 * 23 7/01/97 3:27p Mike
112 * Improve skill level support.
114 * 22 6/25/97 12:27p Hoffoss
115 * Added some functions I needed for Fred.
117 * 21 5/21/97 8:49a Lawrance
118 * added vm_vec_same()
120 * 20 4/15/97 4:00p Mike
121 * Intermediate checkin caused by getting other files. Working on camera
124 * 19 3/17/97 1:55p Hoffoss
125 * Added function for error checking matrices.
127 * 18 3/06/97 10:56a Mike
128 * Write error checking version of vm_vec_normalize().
129 * Fix resultant problems.
131 * 17 3/04/97 3:30p John
132 * added function to interpolate an angle.
134 * 16 2/25/97 5:12p John
135 * Added functions to see if two matrices or vectors are close.
137 * 15 2/03/97 1:30p John
138 * Put a clearer comment in for vm_vec_unrotate
140 * 14 2/03/97 1:14p John
141 * Added vm_vec_unrotate function
143 * 13 1/27/97 11:57a John
144 * added a function to rotate a point around an arbritary line.
146 * 12 11/26/96 12:18p Hoffoss
147 * Added the vm_vec_dist_squared() function.
149 * 11 11/16/96 2:38p Mike
150 * Waypoint code, under construction and a painful mess.
152 * 10 11/05/96 3:42p Mike
153 * Make AI use accuracy parameter, though not yet specified in ships.tbl
156 * Add vm_vec_rand_vec_quick.
158 * Add frand() which returns a rand in 0.0..1.0.
160 * 9 10/30/96 2:35p Mike
162 * Changed quick versions of vecmat routines to not return 1/mag. They
163 * return mag, just like non-quick versions.
165 * 8 10/24/96 10:17a Hoffoss
166 * Moved function 'compute_point_on_plane()' to vecmat.
168 * 7 10/23/96 10:32p Lawrance
169 * added function vm_vect_mag_squared()
181 //#define _INLINE_VECMAT
183 #define vm_is_vec_nan(v) (_isnan((v)->x) || _isnan((v)->y) || _isnan((v)->z))
185 //Macros/functions to fill in fields of structures
187 //macro to check if vector is zero
188 #define IS_VEC_NULL(v) (((v)->x == (float)0.0) && ((v)->y == (float)0.0) && ((v)->z == (float)0.0))
190 //macro to set a vector to zero. we could do this with an in-line assembly
191 //macro, but it's probably better to let the compiler optimize it.
192 //Note: NO RETURN VALUE
193 #define vm_vec_zero(v) (v)->x=(v)->y=(v)->z=(float)0.0
196 //macro set set a matrix to the identity. Note: NO RETURN VALUE
197 #define vm_set_identity(m) do {m->rvec.x = m->uvec.y = m->fvec.z = (float)1.0; \
198 m->rvec.y = m->rvec.z = \
199 m->uvec.x = m->uvec.z = \
200 m->fvec.x = m->fvec.y = (float)0.0;} while (0)
202 extern void vm_set_identity(matrix *m);
204 #define vm_vec_make(v,_x,_y,_z) (((v)->x=(_x), (v)->y=(_y), (v)->z=(_z)), (v))
208 extern vector vmd_zero_vector;
209 extern vector vmd_x_vector;
210 extern vector vmd_y_vector;
211 extern vector vmd_z_vector;
212 extern matrix vmd_identity_matrix;
214 //Here's a handy constant
216 #define ZERO_VECTOR {(float)0.0,(float)0.0,(float)0.0}
217 #define IDENTITY_MATRIX {(float)1.0,(float)0.0,(float)0.0, \
218 (float)0.0,(float)1.0,(float)0.0, \
219 (float)0.0,(float)0.0,(float)1.0 }
221 //fills in fields of an angle vector
222 #define vm_angvec_make(v,_p,_b,_h) (((v)->p=(_p), (v)->b=(_b), (v)->h=(_h)), (v))
225 #define vm_vec_negate(v) do {(v)->x = - (v)->x; (v)->y = - (v)->y; (v)->z = - (v)->z;} while (0);
227 typedef struct plane {
231 //Functions in library
233 //adds two vectors, fills in dest, returns ptr to dest
234 //ok for dest to equal either source, but should use vm_vec_add2() if so
235 #ifdef _INLINE_VECMAT
236 #define vm_vec_add( dst, src0, src1 ) do { \
237 (dst)->x = (src0)->x + (src1)->x; \
238 (dst)->y = (src0)->y + (src1)->y; \
239 (dst)->z = (src0)->z + (src1)->z; \
242 void vm_vec_add(vector *dest,vector *src0,vector *src1);
245 //adds src onto dest vector, returns ptr to dest
246 #ifdef _INLINE_VECMAT
247 #define vm_vec_add2( dst, src ) do { \
248 (dst)->x += (src)->x; \
249 (dst)->y += (src)->y; \
250 (dst)->z += (src)->z; \
253 void vm_vec_add2(vector *dest,vector *src);
257 //scales a vector and subs from to another
259 #ifdef _INLINE_VECMAT
260 #define vm_vec_scale_sub2( dst, src, k ) do { \
262 (dst)->x -= (src)->x*tmp_k; \
263 (dst)->y -= (src)->y*tmp_k; \
264 (dst)->z -= (src)->z*tmp_k; \
267 void vm_vec_scale_sub2(vector *dest,vector *src, float k);
270 //subs two vectors, fills in dest, returns ptr to dest
271 //ok for dest to equal either source, but should use vm_vec_sub2() if so
272 #ifdef _INLINE_VECMAT
273 #define vm_vec_sub( dst, src0, src1 ) do { \
274 (dst)->x = (src0)->x - (src1)->x; \
275 (dst)->y = (src0)->y - (src1)->y; \
276 (dst)->z = (src0)->z - (src1)->z; \
279 void vm_vec_sub(vector *dest,vector *src0,vector *src1);
283 //subs one vector from another, returns ptr to dest
284 //dest can equal source
285 #ifdef _INLINE_VECMAT
286 #define vm_vec_sub2( dst, src ) do { \
287 (dst)->x -= (src)->x; \
288 (dst)->y -= (src)->y; \
289 (dst)->z -= (src)->z; \
292 void vm_vec_sub2(vector *dest,vector *src);
296 //averages two vectors. returns ptr to dest
297 //dest can equal either source
298 vector *vm_vec_avg(vector *dest,vector *src0,vector *src1);
300 //averages four vectors. returns ptr to dest
301 //dest can equal any source
302 vector *vm_vec_avg4(vector *dest,vector *src0,vector *src1,vector *src2,vector *src3);
304 //scales a vector in place. returns ptr to vector
305 #ifdef _INLINE_VECMAT
306 #define vm_vec_scale( dst, k ) do { \
313 void vm_vec_scale(vector *dest,float s);
316 //scales and copies a vector. returns ptr to dest
317 #ifdef _INLINE_VECMAT
318 #define vm_vec_copy_scale( dst, src, k ) do { \
320 (dst)->x = (src)->x * tmp_k; \
321 (dst)->y = (src)->y * tmp_k; \
322 (dst)->z = (src)->z * tmp_k; \
325 void vm_vec_copy_scale(vector *dest,vector *src,float s);
328 //scales a vector, adds it to another, and stores in a 3rd vector
329 //dest = src1 + k * src2
330 #ifdef _INLINE_VECMAT
331 #define vm_vec_scale_add( dst, src1, src2, k ) do { \
333 (dst)->x = (src1)->x + (src2)->x * tmp_k; \
334 (dst)->y = (src1)->y + (src2)->y * tmp_k; \
335 (dst)->z = (src1)->z + (src2)->z * tmp_k; \
338 void vm_vec_scale_add(vector *dest,vector *src1,vector *src2,float k);
342 //scales a vector and adds it to another
344 #ifdef _INLINE_VECMAT
345 #define vm_vec_scale_add2( dst, src, k ) do { \
347 (dst)->x += (src)->x * tmp_k; \
348 (dst)->y += (src)->y * tmp_k; \
349 (dst)->z += (src)->z * tmp_k; \
352 void vm_vec_scale_add2(vector *dest,vector *src,float k);
355 //scales a vector in place, taking n/d for scale. returns ptr to vector
357 #ifdef _INLINE_VECMAT
358 #define vm_vec_scale2( dst, n, d ) do { \
359 float tmp_k = (n)/(d); \
365 void vm_vec_scale2(vector *dest,float n,float d);
368 // finds the projection of source vector along a unit vector
369 // returns the magnitude of the component
370 float vm_vec_projection_parallel (vector *component, vector *src, vector *unit_vector);
372 // finds the projection of source vector onto a surface given by surface normal
373 void vm_vec_projection_onto_plane (vector *projection, vector *src, vector *normal);
375 //returns magnitude of a vector
376 float vm_vec_mag(vector *v);
378 // returns the square of the magnitude of a vector (useful if comparing distances)
379 float vm_vec_mag_squared(vector* v);
381 // returns the square of the distance between two points (fast and exact)
382 float vm_vec_dist_squared(vector *v0, vector *v1);
384 //computes the distance between two points. (does sub and mag)
385 float vm_vec_dist(vector *v0,vector *v1);
387 //computes an approximation of the magnitude of the vector
388 //uses dist = largest + next_largest*3/8 + smallest*3/16
389 float vm_vec_mag_quick(vector *v);
391 //computes an approximation of the distance between two points.
392 //uses dist = largest + next_largest*3/8 + smallest*3/16
393 float vm_vec_dist_quick(vector *v0,vector *v1);
396 //normalize a vector. returns mag of source vec
397 float vm_vec_copy_normalize(vector *dest,vector *src);
398 float vm_vec_normalize(vector *v);
400 // This version of vector normalize checks for the null vector before normalization.
401 // If it is detected, it generates a Warning() and returns the vector 1, 0, 0.
402 float vm_vec_normalize_safe(vector *v);
404 //normalize a vector. returns mag of source vec. uses approx mag
405 float vm_vec_copy_normalize_quick(vector *dest,vector *src);
406 float vm_vec_normalize_quick(vector *v);
408 //normalize a vector. returns mag of source vec. uses approx mag
409 float vm_vec_copy_normalize_quick_mag(vector *dest,vector *src);
410 float vm_vec_normalize_quick_mag(vector *v);
412 //return the normalized direction vector between two points
413 //dest = normalized(end - start). Returns mag of direction vector
414 //NOTE: the order of the parameters matches the vector subtraction
415 float vm_vec_normalized_dir(vector *dest,vector *end,vector *start);
416 float vm_vec_normalized_dir_quick_mag(vector *dest,vector *end,vector *start);
417 // Returns mag of direction vector
418 float vm_vec_normalized_dir_quick(vector *dest,vector *end,vector *start);
420 ////returns dot product of two vectors
421 #ifdef _INLINE_VECMAT
422 #define vm_vec_dotprod( v0, v1 ) (((v1)->x*(v0)->x)+((v1)->y*(v0)->y)+((v1)->z*(v0)->z))
423 #define vm_vec_dot( v0, v1 ) (((v1)->x*(v0)->x)+((v1)->y*(v0)->y)+((v1)->z*(v0)->z))
425 float vm_vec_dotprod(vector *v0,vector *v1);
426 #define vm_vec_dot vm_vec_dotprod
429 #ifdef _INLINE_VECMAT
430 #define vm_vec_dot3( x1, y1, z1, v ) (((x1)*(v)->x)+((y1)*(v)->y)+((z1)*(v)->z))
432 float vm_vec_dot3(float x,float y,float z,vector *v);
435 //computes cross product of two vectors. returns ptr to dest
436 //dest CANNOT equal either source
437 vector *vm_vec_crossprod(vector *dest,vector *src0,vector *src1);
438 #define vm_vec_cross vm_vec_crossprod
440 // test if 2 vectors are parallel or not.
441 int vm_test_parallel(vector *src0, vector *src1);
443 //computes surface normal from three points. result is normalized
444 //returns ptr to dest
445 //dest CANNOT equal either source
446 vector *vm_vec_normal(vector *dest,vector *p0,vector *p1,vector *p2);
448 //computes non-normalized surface normal from three points.
449 //returns ptr to dest
450 //dest CANNOT equal either source
451 vector *vm_vec_perp(vector *dest,vector *p0,vector *p1,vector *p2);
453 //computes the delta angle between two vectors.
454 //vectors need not be normalized. if they are, call vm_vec_delta_ang_norm()
455 //the forward vector (third parameter) can be NULL, in which case the absolute
456 //value of the angle in returned. Otherwise the angle around that vector is
458 float vm_vec_delta_ang(vector *v0,vector *v1,vector *fvec);
460 //computes the delta angle between two normalized vectors.
461 float vm_vec_delta_ang_norm(vector *v0,vector *v1,vector *fvec);
463 //computes a matrix from a set of three angles. returns ptr to matrix
464 matrix *vm_angles_2_matrix(matrix *m,angles *a);
466 // Computes a matrix from a single angle.
467 // angle_index = 0,1,2 for p,b,h
468 matrix *vm_angle_2_matrix(matrix *m, float a, int angle_index);
470 //computes a matrix from a forward vector and an angle
471 matrix *vm_vec_ang_2_matrix(matrix *m,vector *v,float a);
473 //computes a matrix from one or more vectors. The forward vector is required,
474 //with the other two being optional. If both up & right vectors are passed,
475 //the up vector is used. If only the forward vector is passed, a bank of
477 //returns ptr to matrix
478 matrix *vm_vector_2_matrix(matrix *m,vector *fvec,vector *uvec,vector *rvec);
480 //this version of vector_2_matrix requires that the vectors be more-or-less
481 //normalized and close to perpendicular
482 matrix *vm_vector_2_matrix_norm(matrix *m,vector *fvec,vector *uvec,vector *rvec);
484 //rotates a vector through a matrix. returns ptr to dest vector
485 //dest CANNOT equal either source
486 vector *vm_vec_rotate(vector *dest,vector *src,matrix *m);
488 //rotates a vector through the transpose of the given matrix.
489 //returns ptr to dest vector
490 //dest CANNOT equal source
491 // This is a faster replacement for this common code sequence:
492 // vm_copy_transpose_matrix(&tempm,src_matrix);
493 // vm_vec_rotate(dst_vec,src_vect,&tempm);
495 // vm_vec_unrotate(dst_vec,src_vect, src_matrix)
497 // THIS DOES NOT ACTUALLY TRANSPOSE THE SOURCE MATRIX!!! So if
498 // you need it transposed later on, you should use the
499 // vm_vec_transpose() / vm_vec_rotate() technique.
500 vector *vm_vec_unrotate(vector *dest,vector *src,matrix *m);
502 //transpose a matrix in place. returns ptr to matrix
503 matrix *vm_transpose_matrix(matrix *m);
504 #define vm_transpose(m) vm_transpose_matrix(m)
506 //copy and transpose a matrix. returns ptr to matrix
507 //dest CANNOT equal source. use vm_transpose_matrix() if this is the case
508 matrix *vm_copy_transpose_matrix(matrix *dest,matrix *src);
509 #define vm_copy_transpose(dest,src) vm_copy_transpose_matrix((dest),(src))
511 //mulitply 2 matrices, fill in dest. returns ptr to dest
512 //dest CANNOT equal either source
513 matrix *vm_matrix_x_matrix(matrix *dest,matrix *src0,matrix *src1);
515 //extract angles from a matrix
516 angles *vm_extract_angles_matrix(angles *a,matrix *m);
518 //extract heading and pitch from a vector, assuming bank==0
519 angles *vm_extract_angles_vector(angles *a,vector *v);
521 //make sure matrix is orthogonal
522 void vm_orthogonalize_matrix(matrix *m_src);
524 // like vm_orthogonalize_matrix(), except that zero vectors can exist within the
525 // matrix without causing problems. Valid vectors will be created where needed.
526 void vm_fix_matrix(matrix *m);
528 //Rotates the orient matrix by the angles in tangles and then
529 //makes sure that the matrix is orthogonal.
530 void vm_rotate_matrix_by_angles( matrix *orient, angles *tangles );
532 //compute the distance from a point to a plane. takes the normalized normal
533 //of the plane (ebx), a point on the plane (edi), and the point to check (esi).
534 //returns distance in eax
535 //distance is signed, so negative dist is on the back of the plane
536 float vm_dist_to_plane(vector *checkp,vector *norm,vector *planep);
538 // Given mouse movement in dx, dy, returns a 3x3 rotation matrix in RotMat.
539 // Taken from Graphics Gems III, page 51, "The Rolling Ball"
541 //if ( (Mouse.dx!=0) || (Mouse.dy!=0) ) {
542 // vm_trackball( Mouse.dx, Mouse.dy, &MouseRotMat );
543 // vm_matrix_x_matrix(&tempm,&LargeView.ev_matrix,&MouseRotMat);
544 // LargeView.ev_matrix = tempm;
546 void vm_trackball( int idx, int idy, matrix * RotMat );
548 // Find the point on the line between p0 and p1 that is nearest to int_pnt.
549 // Stuff result in nearest_point.
550 // Return value indicated where on the line *nearest_point lies. Between 0.0f and 1.0f means it's
551 // in the line segment. Positive means beyond *p1, negative means before *p0. 2.0f means it's
553 float find_nearest_point_on_line(vector *nearest_point, vector *p0, vector *p1, vector *int_pnt);
555 float vm_vec_dot_to_point(vector *dir, vector *p1, vector *p2);
557 void compute_point_on_plane(vector *q, plane *planep, vector *p);
559 // ----------------------------------------------------------------------------
560 // computes the point on a plane closest to a given point (which may be on the plane)
562 // inputs: new_point => point on the plane [result]
563 // point => point to compute closest plane point
564 // plane_normal => plane normal
565 // plane_point => plane point
566 void vm_project_point_onto_plane(vector *new_point, vector *point, vector *plane_normal, vector *plane_point);
569 // Returns fairly random vector, "quick" normalized
570 void vm_vec_rand_vec_quick(vector *rvec);
572 // Given an point "in" rotate it by "angle" around an
573 // arbritary line defined by a point on the line "line_point"
574 // and the normalized line direction, "line_dir"
575 // Returns the rotated point in "out".
576 void vm_rot_point_around_line(vector *out, vector *in, float angle, vector *line_point, vector *line_dir);
578 // Given two position vectors, return 0 if the same, else non-zero.
579 int vm_vec_cmp( vector * a, vector * b );
581 // Given two orientation matrices, return 0 if the same, else non-zero.
582 int vm_matrix_cmp( matrix * a, matrix * b );
584 // Moves angle 'h' towards 'desired_angle', taking the shortest
585 // route possible. It will move a maximum of 'step_size' radians
586 // each call. All angles in radians.
587 void vm_interp_angle( float *h, float desired_angle, float step_size );
589 // check a matrix for zero rows and columns
590 int vm_check_matrix_for_zeros(matrix *m);
592 // see if two vectors are identical
593 int vm_vec_same(vector *v1, vector *v2);
595 // Interpolate from a start matrix toward a goal matrix, minimizing time between orientations.
596 // Moves at maximum rotational acceleration toward the goal when far and then max deceleration when close.
597 // Subject to constaints on rotational velocity and angular accleleration.
598 // Returns next_orientation valid at time delta_t.
599 void vm_matrix_interpolate(matrix *goal_orient, matrix *start_orient, vector *rotvel_in, float delta_t,
600 matrix *next_orient, vector *rotvel_out, vector *rotvel_limit, vector *acc_limit, int no_overshoot=0);
602 // Interpolate from a start forward vec toward a goal forward vec, minimizing time between orientations.
603 // Moves at maximum rotational acceleration toward the goal when far and then max deceleration when close.
604 // Subject to constaints on rotational velocity and angular accleleration.
605 // Returns next forward vec valid at time delta_t.
606 void vm_forward_interpolate(vector *goal_fvec, matrix *orient, vector *rotvel_in, float delta_t, float delta_bank,
607 matrix *next_orient, vector *rotvel_out, vector *vel_limit, vector *acc_limit, int no_overshoot=0);
609 // Find the bounding sphere for a set of points (center and radius are output parameters)
610 void vm_find_bounding_sphere(vector *pnts, int num_pnts, vector *center, float *radius);
612 // Version of atan2() that is safe for optimized builds
613 float atan2_safe(float x, float y);
615 // Translates from world coordinates to body coordinates
616 vector* vm_rotate_vec_to_body(vector *body_vec, vector *world_vec, matrix *orient);
618 // Translates from body coordinates to world coordiantes
619 vector* vm_rotate_vec_to_world(vector *world_vec, vector *body_vec, matrix *orient);
621 // estimate next orientation matrix as extrapolation of last and current
622 void vm_estimate_next_orientation(matrix *last_orient, matrix *current_orient, matrix *next_orient);
624 // Return true if all elements of *vec are legal, that is, not a NAN.
625 int is_valid_vec(vector *vec);
627 // Return true if all elements of *m are legal, that is, not a NAN.
628 int is_valid_matrix(matrix *m);
630 // Finds the rotation matrix corresponding to a rotation of theta about axis u
631 void vm_quaternion_rotate(matrix *m, float theta, vector *u);
633 // Takes a rotation matrix and returns the axis and angle needed to generate it
634 void vm_matrix_to_rot_axis_and_angle(matrix *m, float *theta, vector *rot_axis);
636 // interpolate between 2 vectors. t goes from 0.0 to 1.0. at
637 void vm_vec_interp_constant(vector *out, vector *v1, vector *v2, float t);
639 // randomly perturb a vector around a given (normalized vector) or optional orientation matrix
640 void vm_vec_random_cone(vector *out, vector *in, float max_angle, matrix *orient = NULL);
642 // given a start vector, an orientation and a radius, give a point on the plane of the circle
643 // if on_edge is 1, the point is on the very edge of the circle
644 void vm_vec_random_in_circle(vector *out, vector *in, matrix *orient, float radius, int on_edge);
646 // find the nearest point on the line to p. if dist is non-NULL, it is filled in
647 // returns 0 if the point is inside the line segment, -1 if "before" the line segment and 1 ir "after" the line segment
648 int vm_vec_dist_to_line(vector *p, vector *l0, vector *l1, vector *nearest, float *dist);