mathlib.c

   1 /*
   2 Copyright (C) 1996-1997 Id Software, Inc.
   3
   4 This program is free software; you can redistribute it and/or
   5 modify it under the terms of the GNU General Public License
   6 as published by the Free Software Foundation; either version 2
   7 of the License, or (at your option) any later version.
   8
   9 This program is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  12
  13 See the GNU General Public License for more details.
  14
  15 You should have received a copy of the GNU General Public License
  16 along with this program; if not, write to the Free Software
  17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  18
  19 */
  20 // mathlib.c -- math primitives
  21
  22 #include <math.h>
  23 #include "quakedef.h"
  24
  25 vec3_t vec3_origin = {0,0,0};
  26 float ixtable[4096];
  27
  28 /*-----------------------------------------------------------------*/
  29
  30 float m_bytenormals[NUMVERTEXNORMALS][3] =
  31 {
  32 {-0.525731, 0.000000, 0.850651}, {-0.442863, 0.238856, 0.864188},
  33 {-0.295242, 0.000000, 0.955423}, {-0.309017, 0.500000, 0.809017},
  34 {-0.162460, 0.262866, 0.951056}, {0.000000, 0.000000, 1.000000},
  35 {0.000000, 0.850651, 0.525731}, {-0.147621, 0.716567, 0.681718},
  36 {0.147621, 0.716567, 0.681718}, {0.000000, 0.525731, 0.850651},
  37 {0.309017, 0.500000, 0.809017}, {0.525731, 0.000000, 0.850651},
  38 {0.295242, 0.000000, 0.955423}, {0.442863, 0.238856, 0.864188},
  39 {0.162460, 0.262866, 0.951056}, {-0.681718, 0.147621, 0.716567},
  40 {-0.809017, 0.309017, 0.500000}, {-0.587785, 0.425325, 0.688191},
  41 {-0.850651, 0.525731, 0.000000}, {-0.864188, 0.442863, 0.238856},
  42 {-0.716567, 0.681718, 0.147621}, {-0.688191, 0.587785, 0.425325},
  43 {-0.500000, 0.809017, 0.309017}, {-0.238856, 0.864188, 0.442863},
  44 {-0.425325, 0.688191, 0.587785}, {-0.716567, 0.681718, -0.147621},
  45 {-0.500000, 0.809017, -0.309017}, {-0.525731, 0.850651, 0.000000},
  46 {0.000000, 0.850651, -0.525731}, {-0.238856, 0.864188, -0.442863},
  47 {0.000000, 0.955423, -0.295242}, {-0.262866, 0.951056, -0.162460},
  48 {0.000000, 1.000000, 0.000000}, {0.000000, 0.955423, 0.295242},
  49 {-0.262866, 0.951056, 0.162460}, {0.238856, 0.864188, 0.442863},
  50 {0.262866, 0.951056, 0.162460}, {0.500000, 0.809017, 0.309017},
  51 {0.238856, 0.864188, -0.442863}, {0.262866, 0.951056, -0.162460},
  52 {0.500000, 0.809017, -0.309017}, {0.850651, 0.525731, 0.000000},
  53 {0.716567, 0.681718, 0.147621}, {0.716567, 0.681718, -0.147621},
  54 {0.525731, 0.850651, 0.000000}, {0.425325, 0.688191, 0.587785},
  55 {0.864188, 0.442863, 0.238856}, {0.688191, 0.587785, 0.425325},
  56 {0.809017, 0.309017, 0.500000}, {0.681718, 0.147621, 0.716567},
  57 {0.587785, 0.425325, 0.688191}, {0.955423, 0.295242, 0.000000},
  58 {1.000000, 0.000000, 0.000000}, {0.951056, 0.162460, 0.262866},
  59 {0.850651, -0.525731, 0.000000}, {0.955423, -0.295242, 0.000000},
  60 {0.864188, -0.442863, 0.238856}, {0.951056, -0.162460, 0.262866},
  61 {0.809017, -0.309017, 0.500000}, {0.681718, -0.147621, 0.716567},
  62 {0.850651, 0.000000, 0.525731}, {0.864188, 0.442863, -0.238856},
  63 {0.809017, 0.309017, -0.500000}, {0.951056, 0.162460, -0.262866},
  64 {0.525731, 0.000000, -0.850651}, {0.681718, 0.147621, -0.716567},
  65 {0.681718, -0.147621, -0.716567}, {0.850651, 0.000000, -0.525731},
  66 {0.809017, -0.309017, -0.500000}, {0.864188, -0.442863, -0.238856},
  67 {0.951056, -0.162460, -0.262866}, {0.147621, 0.716567, -0.681718},
  68 {0.309017, 0.500000, -0.809017}, {0.425325, 0.688191, -0.587785},
  69 {0.442863, 0.238856, -0.864188}, {0.587785, 0.425325, -0.688191},
  70 {0.688191, 0.587785, -0.425325}, {-0.147621, 0.716567, -0.681718},
  71 {-0.309017, 0.500000, -0.809017}, {0.000000, 0.525731, -0.850651},
  72 {-0.525731, 0.000000, -0.850651}, {-0.442863, 0.238856, -0.864188},
  73 {-0.295242, 0.000000, -0.955423}, {-0.162460, 0.262866, -0.951056},
  74 {0.000000, 0.000000, -1.000000}, {0.295242, 0.000000, -0.955423},
  75 {0.162460, 0.262866, -0.951056}, {-0.442863, -0.238856, -0.864188},
  76 {-0.309017, -0.500000, -0.809017}, {-0.162460, -0.262866, -0.951056},
  77 {0.000000, -0.850651, -0.525731}, {-0.147621, -0.716567, -0.681718},
  78 {0.147621, -0.716567, -0.681718}, {0.000000, -0.525731, -0.850651},
  79 {0.309017, -0.500000, -0.809017}, {0.442863, -0.238856, -0.864188},
  80 {0.162460, -0.262866, -0.951056}, {0.238856, -0.864188, -0.442863},
  81 {0.500000, -0.809017, -0.309017}, {0.425325, -0.688191, -0.587785},
  82 {0.716567, -0.681718, -0.147621}, {0.688191, -0.587785, -0.425325},
  83 {0.587785, -0.425325, -0.688191}, {0.000000, -0.955423, -0.295242},
  84 {0.000000, -1.000000, 0.000000}, {0.262866, -0.951056, -0.162460},
  85 {0.000000, -0.850651, 0.525731}, {0.000000, -0.955423, 0.295242},
  86 {0.238856, -0.864188, 0.442863}, {0.262866, -0.951056, 0.162460},
  87 {0.500000, -0.809017, 0.309017}, {0.716567, -0.681718, 0.147621},
  88 {0.525731, -0.850651, 0.000000}, {-0.238856, -0.864188, -0.442863},
  89 {-0.500000, -0.809017, -0.309017}, {-0.262866, -0.951056, -0.162460},
  90 {-0.850651, -0.525731, 0.000000}, {-0.716567, -0.681718, -0.147621},
  91 {-0.716567, -0.681718, 0.147621}, {-0.525731, -0.850651, 0.000000},
  92 {-0.500000, -0.809017, 0.309017}, {-0.238856, -0.864188, 0.442863},
  93 {-0.262866, -0.951056, 0.162460}, {-0.864188, -0.442863, 0.238856},
  94 {-0.809017, -0.309017, 0.500000}, {-0.688191, -0.587785, 0.425325},
  95 {-0.681718, -0.147621, 0.716567}, {-0.442863, -0.238856, 0.864188},
  96 {-0.587785, -0.425325, 0.688191}, {-0.309017, -0.500000, 0.809017},
  97 {-0.147621, -0.716567, 0.681718}, {-0.425325, -0.688191, 0.587785},
  98 {-0.162460, -0.262866, 0.951056}, {0.442863, -0.238856, 0.864188},
  99 {0.162460, -0.262866, 0.951056}, {0.309017, -0.500000, 0.809017},
 100 {0.147621, -0.716567, 0.681718}, {0.000000, -0.525731, 0.850651},
 101 {0.425325, -0.688191, 0.587785}, {0.587785, -0.425325, 0.688191},
 102 {0.688191, -0.587785, 0.425325}, {-0.955423, 0.295242, 0.000000},
 103 {-0.951056, 0.162460, 0.262866}, {-1.000000, 0.000000, 0.000000},
 104 {-0.850651, 0.000000, 0.525731}, {-0.955423, -0.295242, 0.000000},
 105 {-0.951056, -0.162460, 0.262866}, {-0.864188, 0.442863, -0.238856},
 106 {-0.951056, 0.162460, -0.262866}, {-0.809017, 0.309017, -0.500000},
 107 {-0.864188, -0.442863, -0.238856}, {-0.951056, -0.162460, -0.262866},
 108 {-0.809017, -0.309017, -0.500000}, {-0.681718, 0.147621, -0.716567},
 109 {-0.681718, -0.147621, -0.716567}, {-0.850651, 0.000000, -0.525731},
 110 {-0.688191, 0.587785, -0.425325}, {-0.587785, 0.425325, -0.688191},
 111 {-0.425325, 0.688191, -0.587785}, {-0.425325, -0.688191, -0.587785},
 112 {-0.587785, -0.425325, -0.688191}, {-0.688191, -0.587785, -0.425325},
 113 };
 114
 115 #if 0
 116 qbyte NormalToByte(const vec3_t n)
 117 {
 118         int i, best;
 119         float bestdistance, distance;
 120
 121         best = 0;
 122         bestdistance = DotProduct (n, m_bytenormals[0]);
 123         for (i = 1;i < NUMVERTEXNORMALS;i++)
 124         {
 125                 distance = DotProduct (n, m_bytenormals[i]);
 126                 if (distance > bestdistance)
 127                 {
 128                         bestdistance = distance;
 129                         best = i;
 130                 }
 131         }
 132         return best;
 133 }
 134
 135 // note: uses byte partly to force unsigned for the validity check
 136 void ByteToNormal(qbyte num, vec3_t n)
 137 {
 138         if (num < NUMVERTEXNORMALS)
 139                 VectorCopy(m_bytenormals[num], n);
 140         else
 141                 VectorClear(n); // FIXME: complain?
 142 }
 143
 144 // assumes "src" is normalized
 145 void PerpendicularVector( vec3_t dst, const vec3_t src )
 146 {
 147         // LordHavoc: optimized to death and beyond
 148         int pos;
 149         float minelem;
 150
 151         if (src[0])
 152         {
 153                 dst[0] = 0;
 154                 if (src[1])
 155                 {
 156                         dst[1] = 0;
 157                         if (src[2])
 158                         {
 159                                 dst[2] = 0;
 160                                 pos = 0;
 161                                 minelem = fabs(src[0]);
 162                                 if (fabs(src[1]) < minelem)
 163                                 {
 164                                         pos = 1;
 165                                         minelem = fabs(src[1]);
 166                                 }
 167                                 if (fabs(src[2]) < minelem)
 168                                         pos = 2;
 169
 170                                 dst[pos] = 1;
 171                                 dst[0] -= src[pos] * src[0];
 172                                 dst[1] -= src[pos] * src[1];
 173                                 dst[2] -= src[pos] * src[2];
 174
 175                                 // normalize the result
 176                                 VectorNormalize(dst);
 177                         }
 178                         else
 179                                 dst[2] = 1;
 180                 }
 181                 else
 182                 {
 183                         dst[1] = 1;
 184                         dst[2] = 0;
 185                 }
 186         }
 187         else
 188         {
 189                 dst[0] = 1;
 190                 dst[1] = 0;
 191                 dst[2] = 0;
 192         }
 193 }
 194 #endif
 195
 196
 197 // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
 198 void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
 199 {
 200         float d;
 201
 202         right[0] = forward[2];
 203         right[1] = -forward[0];
 204         right[2] = forward[1];
 205
 206         d = DotProduct(forward, right);
 207         VectorMA(right, -d, forward, right);
 208         VectorNormalize(right);
 209         CrossProduct(right, forward, up);
 210 }
 211
 212 void VectorVectorsDouble(const double *forward, double *right, double *up)
 213 {
 214         double d;
 215
 216         right[0] = forward[2];
 217         right[1] = -forward[0];
 218         right[2] = forward[1];
 219
 220         d = DotProduct(forward, right);
 221         VectorMA(right, -d, forward, right);
 222         VectorNormalize(right);
 223         CrossProduct(right, forward, up);
 224 }
 225
 226 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
 227 {
 228         float t0, t1;
 229         float angle, c, s;
 230         vec3_t vr, vu, vf;
 231
 232         angle = DEG2RAD(degrees);
 233         c = cos(angle);
 234         s = sin(angle);
 235         VectorCopy(dir, vf);
 236         VectorVectors(vf, vr, vu);
 237
 238         t0 = vr[0] *  c + vu[0] * -s;
 239         t1 = vr[0] *  s + vu[0] *  c;
 240         dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
 241                + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
 242                + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
 243
 244         t0 = vr[1] *  c + vu[1] * -s;
 245         t1 = vr[1] *  s + vu[1] *  c;
 246         dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
 247                + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
 248                + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
 249
 250         t0 = vr[2] *  c + vu[2] * -s;
 251         t1 = vr[2] *  s + vu[2] *  c;
 252         dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
 253                + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
 254                + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
 255 }
 256
 257 /*-----------------------------------------------------------------*/
 258
 259
 260 void PlaneClassify(mplane_t *p)
 261 {
 262         // for optimized plane comparisons
 263         if (p->normal[0] == 1)
 264                 p->type = 0;
 265         else if (p->normal[1] == 1)
 266                 p->type = 1;
 267         else if (p->normal[2] == 1)
 268                 p->type = 2;
 269         else
 270                 p->type = 3;
 271         // for BoxOnPlaneSide
 272         p->signbits = 0;
 273         if (p->normal[0] < 0) // 1
 274                 p->signbits |= 1;
 275         if (p->normal[1] < 0) // 2
 276                 p->signbits |= 2;
 277         if (p->normal[2] < 0) // 4
 278                 p->signbits |= 4;
 279 }
 280
 281 int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
 282 {
 283         if (p->type < 3)
 284                 return ((emaxs[p->type] >= p->dist) | ((emins[p->type] < p->dist) << 1));
 285         switch(p->signbits)
 286         {
 287         default:
 288         case 0: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
 289         case 1: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) < p->dist) << 1));
 290         case 2: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
 291         case 3: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) < p->dist) << 1));
 292         case 4: return (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
 293         case 5: return (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
 294         case 6: return (((p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
 295         case 7: return (((p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2]) >= p->dist) | (((p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2]) < p->dist) << 1));
 296         }
 297 }
 298
 299 int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist)
 300 {
 301         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 302         {
 303         default:
 304         case 0: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
 305         case 1: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) < dist) << 1));
 306         case 2: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
 307         case 3: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) < dist) << 1));
 308         case 4: return (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
 309         case 5: return (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2]) < dist) << 1));
 310         case 6: return (((normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
 311         case 7: return (((normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2]) >= dist) | (((normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2]) < dist) << 1));
 312         }
 313 }
 314
 315 void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar)
 316 {
 317         if (p->type < 3)
 318         {
 319                 outnear[0] = outnear[1] = outnear[2] = outfar[0] = outfar[1] = outfar[2] = 0;
 320                 outnear[p->type] = emins[p->type];
 321                 outfar[p->type] = emaxs[p->type];
 322                 return;
 323         }
 324         switch(p->signbits)
 325         {
 326         default:
 327         case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
 328         case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
 329         case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
 330         case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
 331         case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
 332         case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
 333         case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
 334         case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
 335         }
 336 }
 337
 338 void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar)
 339 {
 340         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 341         {
 342         default:
 343         case 0: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
 344         case 1: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emins[2];break;
 345         case 2: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
 346         case 3: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emaxs[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emins[2];break;
 347         case 4: outnear[0] = emaxs[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
 348         case 5: outnear[0] = emins[0];outnear[1] = emaxs[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emins[1];outfar[2] = emaxs[2];break;
 349         case 6: outnear[0] = emaxs[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emins[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
 350         case 7: outnear[0] = emins[0];outnear[1] = emins[1];outnear[2] = emins[2];outfar[0] = emaxs[0];outfar[1] = emaxs[1];outfar[2] = emaxs[2];break;
 351         }
 352 }
 353
 354 void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist)
 355 {
 356         if (p->type < 3)
 357         {
 358                 *outneardist = emins[p->type] - p->dist;
 359                 *outfardist = emaxs[p->type] - p->dist;
 360                 return;
 361         }
 362         switch(p->signbits)
 363         {
 364         default:
 365         case 0: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
 366         case 1: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;break;
 367         case 2: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
 368         case 3: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;break;
 369         case 4: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
 370         case 5: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emaxs[2] - p->dist;break;
 371         case 6: *outneardist = p->normal[0] * emaxs[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emins[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
 372         case 7: *outneardist = p->normal[0] * emins[0] + p->normal[1] * emins[1] + p->normal[2] * emins[2] - p->dist;*outfardist = p->normal[0] * emaxs[0] + p->normal[1] * emaxs[1] + p->normal[2] * emaxs[2] - p->dist;break;
 373         }
 374 }
 375
 376 void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outneardist, vec_t *outfardist)
 377 {
 378         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 379         {
 380         default:
 381         case 0: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
 382         case 1: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];break;
 383         case 2: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
 384         case 3: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];break;
 385         case 4: *outneardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
 386         case 5: *outneardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emaxs[2];break;
 387         case 6: *outneardist = normal[0] * emaxs[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emins[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
 388         case 7: *outneardist = normal[0] * emins[0] + normal[1] * emins[1] + normal[2] * emins[2];*outfardist = normal[0] * emaxs[0] + normal[1] * emaxs[1] + normal[2] * emaxs[2];break;
 389         }
 390 }
 391
 392 void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
 393 {
 394         double angle, sr, sp, sy, cr, cp, cy;
 395
 396         angle = angles[YAW] * (M_PI*2 / 360);
 397         sy = sin(angle);
 398         cy = cos(angle);
 399         angle = angles[PITCH] * (M_PI*2 / 360);
 400         sp = sin(angle);
 401         cp = cos(angle);
 402         if (forward)
 403         {
 404                 forward[0] = cp*cy;
 405                 forward[1] = cp*sy;
 406                 forward[2] = -sp;
 407         }
 408         if (right || up)
 409         {
 410                 if (angles[ROLL])
 411                 {
 412                         angle = angles[ROLL] * (M_PI*2 / 360);
 413                         sr = sin(angle);
 414                         cr = cos(angle);
 415                         if (right)
 416                         {
 417                                 right[0] = -1*(sr*sp*cy+cr*-sy);
 418                                 right[1] = -1*(sr*sp*sy+cr*cy);
 419                                 right[2] = -1*(sr*cp);
 420                         }
 421                         if (up)
 422                         {
 423                                 up[0] = (cr*sp*cy+-sr*-sy);
 424                                 up[1] = (cr*sp*sy+-sr*cy);
 425                                 up[2] = cr*cp;
 426                         }
 427                 }
 428                 else
 429                 {
 430                         if (right)
 431                         {
 432                                 right[0] = sy;
 433                                 right[1] = -cy;
 434                                 right[2] = 0;
 435                         }
 436                         if (up)
 437                         {
 438                                 up[0] = (sp*cy);
 439                                 up[1] = (sp*sy);
 440                                 up[2] = cp;
 441                         }
 442                 }
 443         }
 444 }
 445
 446 void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
 447 {
 448         double angle, sr, sp, sy, cr, cp, cy;
 449
 450         angle = angles[YAW] * (M_PI*2 / 360);
 451         sy = sin(angle);
 452         cy = cos(angle);
 453         angle = angles[PITCH] * (M_PI*2 / 360);
 454         sp = sin(angle);
 455         cp = cos(angle);
 456         if (forward)
 457         {
 458                 forward[0] = cp*cy;
 459                 forward[1] = cp*sy;
 460                 forward[2] = -sp;
 461         }
 462         if (left || up)
 463         {
 464                 if (angles[ROLL])
 465                 {
 466                         angle = angles[ROLL] * (M_PI*2 / 360);
 467                         sr = sin(angle);
 468                         cr = cos(angle);
 469                         if (left)
 470                         {
 471                                 left[0] = sr*sp*cy+cr*-sy;
 472                                 left[1] = sr*sp*sy+cr*cy;
 473                                 left[2] = sr*cp;
 474                         }
 475                         if (up)
 476                         {
 477                                 up[0] = cr*sp*cy+-sr*-sy;
 478                                 up[1] = cr*sp*sy+-sr*cy;
 479                                 up[2] = cr*cp;
 480                         }
 481                 }
 482                 else
 483                 {
 484                         if (left)
 485                         {
 486                                 left[0] = -sy;
 487                                 left[1] = cy;
 488                                 left[2] = 0;
 489                         }
 490                         if (up)
 491                         {
 492                                 up[0] = sp*cy;
 493                                 up[1] = sp*sy;
 494                                 up[2] = cp;
 495                         }
 496                 }
 497         }
 498 }
 499
 500 #if 0
 501 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
 502 {
 503         double angle, sr, sp, sy, cr, cp, cy;
 504
 505         angle = angles[YAW] * (M_PI*2 / 360);
 506         sy = sin(angle);
 507         cy = cos(angle);
 508         angle = angles[PITCH] * (M_PI*2 / 360);
 509         sp = sin(angle);
 510         cp = cos(angle);
 511         angle = angles[ROLL] * (M_PI*2 / 360);
 512         sr = sin(angle);
 513         cr = cos(angle);
 514         matrix[0][0] = cp*cy;
 515         matrix[0][1] = sr*sp*cy+cr*-sy;
 516         matrix[0][2] = cr*sp*cy+-sr*-sy;
 517         matrix[0][3] = translate[0];
 518         matrix[1][0] = cp*sy;
 519         matrix[1][1] = sr*sp*sy+cr*cy;
 520         matrix[1][2] = cr*sp*sy+-sr*cy;
 521         matrix[1][3] = translate[1];
 522         matrix[2][0] = -sp;
 523         matrix[2][1] = sr*cp;
 524         matrix[2][2] = cr*cp;
 525         matrix[2][3] = translate[2];
 526 }
 527 #endif
 528
 529
 530 // LordHavoc: renamed this to Length, and made the normal one a #define
 531 float VectorNormalizeLength (vec3_t v)
 532 {
 533         float length, ilength;
 534
 535         length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
 536         length = sqrt (length);
 537
 538         if (length)
 539         {
 540                 ilength = 1/length;
 541                 v[0] *= ilength;
 542                 v[1] *= ilength;
 543                 v[2] *= ilength;
 544         }
 545
 546         return length;
 547
 548 }
 549
 550
 551 /*
 552 ================
 553 R_ConcatRotations
 554 ================
 555 */
 556 void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3])
 557 {
 558         out[0*3+0] = in1[0*3+0] * in2[0*3+0] + in1[0*3+1] * in2[1*3+0] + in1[0*3+2] * in2[2*3+0];
 559         out[0*3+1] = in1[0*3+0] * in2[0*3+1] + in1[0*3+1] * in2[1*3+1] + in1[0*3+2] * in2[2*3+1];
 560         out[0*3+2] = in1[0*3+0] * in2[0*3+2] + in1[0*3+1] * in2[1*3+2] + in1[0*3+2] * in2[2*3+2];
 561         out[1*3+0] = in1[1*3+0] * in2[0*3+0] + in1[1*3+1] * in2[1*3+0] + in1[1*3+2] * in2[2*3+0];
 562         out[1*3+1] = in1[1*3+0] * in2[0*3+1] + in1[1*3+1] * in2[1*3+1] + in1[1*3+2] * in2[2*3+1];
 563         out[1*3+2] = in1[1*3+0] * in2[0*3+2] + in1[1*3+1] * in2[1*3+2] + in1[1*3+2] * in2[2*3+2];
 564         out[2*3+0] = in1[2*3+0] * in2[0*3+0] + in1[2*3+1] * in2[1*3+0] + in1[2*3+2] * in2[2*3+0];
 565         out[2*3+1] = in1[2*3+0] * in2[0*3+1] + in1[2*3+1] * in2[1*3+1] + in1[2*3+2] * in2[2*3+1];
 566         out[2*3+2] = in1[2*3+0] * in2[0*3+2] + in1[2*3+1] * in2[1*3+2] + in1[2*3+2] * in2[2*3+2];
 567 }
 568
 569
 570 /*
 571 ================
 572 R_ConcatTransforms
 573 ================
 574 */
 575 void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4])
 576 {
 577         out[0*4+0] = in1[0*4+0] * in2[0*4+0] + in1[0*4+1] * in2[1*4+0] + in1[0*4+2] * in2[2*4+0];
 578         out[0*4+1] = in1[0*4+0] * in2[0*4+1] + in1[0*4+1] * in2[1*4+1] + in1[0*4+2] * in2[2*4+1];
 579         out[0*4+2] = in1[0*4+0] * in2[0*4+2] + in1[0*4+1] * in2[1*4+2] + in1[0*4+2] * in2[2*4+2];
 580         out[0*4+3] = in1[0*4+0] * in2[0*4+3] + in1[0*4+1] * in2[1*4+3] + in1[0*4+2] * in2[2*4+3] + in1[0*4+3];
 581         out[1*4+0] = in1[1*4+0] * in2[0*4+0] + in1[1*4+1] * in2[1*4+0] + in1[1*4+2] * in2[2*4+0];
 582         out[1*4+1] = in1[1*4+0] * in2[0*4+1] + in1[1*4+1] * in2[1*4+1] + in1[1*4+2] * in2[2*4+1];
 583         out[1*4+2] = in1[1*4+0] * in2[0*4+2] + in1[1*4+1] * in2[1*4+2] + in1[1*4+2] * in2[2*4+2];
 584         out[1*4+3] = in1[1*4+0] * in2[0*4+3] + in1[1*4+1] * in2[1*4+3] + in1[1*4+2] * in2[2*4+3] + in1[1*4+3];
 585         out[2*4+0] = in1[2*4+0] * in2[0*4+0] + in1[2*4+1] * in2[1*4+0] + in1[2*4+2] * in2[2*4+0];
 586         out[2*4+1] = in1[2*4+0] * in2[0*4+1] + in1[2*4+1] * in2[1*4+1] + in1[2*4+2] * in2[2*4+1];
 587         out[2*4+2] = in1[2*4+0] * in2[0*4+2] + in1[2*4+1] * in2[1*4+2] + in1[2*4+2] * in2[2*4+2];
 588         out[2*4+3] = in1[2*4+0] * in2[0*4+3] + in1[2*4+1] * in2[1*4+3] + in1[2*4+2] * in2[2*4+3] + in1[2*4+3];
 589 }
 590
 591 float RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
 592 {
 593         vec3_t m1, m2;
 594         VectorMultiply(mins, mins, m1);
 595         VectorMultiply(maxs, maxs, m2);
 596         return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
 597 }
 598
 599 float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin)
 600 {
 601         vec3_t m1, m2;
 602         VectorSubtract(mins, origin, m1);VectorMultiply(m1, m1, m1);
 603         VectorSubtract(maxs, origin, m2);VectorMultiply(m2, m2, m2);
 604         return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
 605 }
 606
 607 void Mathlib_Init(void)
 608 {
 609         int a;
 610
 611         // LordHavoc: setup 1.0f / N table for quick recipricols of integers
 612         ixtable[0] = 0;
 613         for (a = 1;a < 4096;a++)
 614                 ixtable[a] = 1.0f / a;
 615 }
 616
 617 #include "matrixlib.h"
 618
 619 void Matrix4x4_Print(const matrix4x4_t *in)
 620 {
 621         Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
 622         , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
 623         , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
 624         , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
 625         , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
 626 }
 627
 628 int Math_atov(const char *s, vec3_t out)
 629 {
 630         int i;
 631         VectorClear(out);
 632         if (*s == '\'')
 633                 s++;
 634         for (i = 0;i < 3;i++)
 635         {
 636                 while (*s == ' ' || *s == '\t')
 637                         s++;
 638                 out[i] = atof (s);
 639                 if (out[i] == 0 && *s != '-' && *s != '+' && (*s < '0' || *s > '9'))
 640                         break; // not a number
 641                 while (*s && *s != ' ' && *s !='\t' && *s != '\'')
 642                         s++;
 643                 if (*s == '\'')
 644                         break;
 645         }
 646         return i;
 647 }
 648
 649 void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f)
 650 {
 651         int i;
 652         VectorCopy(point3f, mins);
 653         VectorCopy(point3f, maxs);
 654         for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3)
 655         {
 656                 mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]);
 657                 mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]);
 658                 mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]);
 659         }
 660 }
 661