1 ; $Id: vecmata.asm,v 1.5 2003-12-08 21:21:16 btb Exp $
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11 ;COPYRIGHT 1993-1998 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
14 ; Source for vector/matrix library
17 ; Revision 1.54 1995/01/31 00:14:50 matt
18 ; Took out int3 from dotprod overflow, since it saturates now
20 ; Revision 1.53 1994/12/14 18:29:33 matt
21 ; Made dotprod overflow check stay in, and return saturated value
23 ; Revision 1.52 1994/12/14 12:34:13 matt
24 ; Disabled now-unused vector_2_matrix_norm()
26 ; Revision 1.51 1994/12/13 16:55:13 matt
27 ; Ripped out optimization from last version, which was bogus
29 ; Revision 1.50 1994/12/13 14:55:18 matt
30 ; Use quick normalize in a couple of places where it was safe to do so
32 ; Revision 1.49 1994/12/13 14:44:12 matt
33 ; Added vm_vector_2_matrix_norm()
35 ; Revision 1.48 1994/12/13 13:26:49 matt
36 ; Fixed overflow check
38 ; Revision 1.47 1994/12/03 15:39:54 matt
39 ; Gracefully handle some vector_2_matrix problems
41 ; Revision 1.46 1994/11/19 17:15:05 matt
42 ; Assemble out some code not used in DESCENT
44 ; Revision 1.45 1994/11/17 11:41:05 matt
45 ; Put handling in extract_angles_from_matrix to deal with bad matrices
47 ; Revision 1.44 1994/11/16 11:48:10 matt
48 ; Added error checking to vm_extract_angles_matrix()
50 ; Revision 1.43 1994/09/19 22:00:10 matt
51 ; Fixed register trash
53 ; Revision 1.42 1994/09/11 19:23:05 matt
54 ; Added vm_vec_normalized_dir_quick()
56 ; Revision 1.41 1994/08/14 13:28:38 matt
57 ; Put in check for zero-length vector in extract angles
59 ; Revision 1.40 1994/07/19 18:52:53 matt
60 ; Added vm_vec_normalize_quick() and vm_vec_copy_normalize_quick()
62 ; Revision 1.39 1994/06/16 18:24:22 matt
63 ; Added vm_vec_mag_quick()
65 ; Revision 1.38 1994/06/10 23:18:38 matt
66 ; Added new code for vm_vec_ang_2_matrix() which may be better, but may
69 ; Revision 1.37 1994/05/22 18:17:29 mike
70 ; Optimize vm_vec_dist_quick, using jns in place of abs_eax.
72 ; Revision 1.36 1994/05/19 12:07:04 matt
73 ; Fixed globals and macros and added a constant
75 ; Revision 1.35 1994/05/19 09:19:00 matt
76 ; Made vm_vec_normalized_dir() return mag of vector
78 ; Revision 1.34 1994/05/18 22:28:01 matt
79 ; Added function vm_vec_normalized_dir()
80 ; Added C macros IS_ZERO_VEC(), vm_vec_zero(), and vm_set_identity()
81 ; Added C global static vars vmd_zero_vector & vmd_identity_matrix
83 ; Revision 1.33 1994/05/18 21:44:16 matt
85 ; vm_extract_angles_vector()
86 ; vm_extract_angles_vector_normalized()
87 ; vm_vec_copy_normalize()
89 ; Revision 1.32 1994/05/13 12:41:51 matt
90 ; Added new function, vm_vec_dist_quick(), which does an approximation.
92 ; Revision 1.31 1994/05/04 17:41:31 mike
93 ; Comment out debug_brk on null vector.
95 ; Revision 1.30 1994/04/15 21:41:31 matt
96 ; Check for foward vector straigt up in extract angles routine
98 ; Revision 1.29 1994/03/30 15:45:05 matt
99 ; Added two functions, vm_vec_scale_add() & vm_vec_scale_add2()
101 ; Revision 1.28 1994/02/26 19:23:35 matt
102 ; Do an int3 when we get a null vector when computing surface normal
104 ; Revision 1.27 1994/02/10 18:29:45 matt
105 ; Changed 'if DEBUG_ON' to 'ifndef NDEBUG'
107 ; Revision 1.26 1994/02/10 18:28:55 matt
108 ; Fixed bugs in extract angles function
110 ; Revision 1.25 1994/01/31 22:46:07 matt
111 ; Added vm_extract_angles_matrix() function
113 ; Revision 1.24 1994/01/30 19:29:55 matt
114 ; Put in debug_brk when vm_vec_2_matrix got zero-length vector
116 ; Revision 1.23 1994/01/25 15:27:59 matt
117 ; Added debugging check for dotprod overflow
119 ; Revision 1.22 1994/01/24 11:52:59 matt
120 ; Added checking for dest==src for several functions where this is not allowed
122 ; Revision 1.21 1994/01/19 23:13:02 matt
123 ; Fixed bug in vm_vec_ang_2_matrix()
125 ; Revision 1.20 1994/01/04 12:33:43 mike
126 ; Prevent divide overflow in vm_vec_scale2
128 ; Revision 1.19 1993/12/21 19:46:26 matt
129 ; Added function vm_dist_to_plane()
131 ; Revision 1.18 1993/12/13 17:26:23 matt
132 ; Added vm_vec_dist()
134 ; Revision 1.17 1993/12/02 12:43:39 matt
135 ; New functions: vm_vec_copy_scale(), vm_vec_scale2()
137 ; Revision 1.16 1993/10/29 22:39:29 matt
138 ; Changed matrix order, making direction vectors the rows
140 ; Revision 1.15 1993/10/29 18:06:01 matt
141 ; Fixed vm_vector_2_matrix() bug when forward vector was straight down
143 ; Revision 1.14 1993/10/26 18:51:26 matt
144 ; Fixed some register trashes in vm_vec_ang_2_matrix()
146 ; Revision 1.13 1993/10/25 11:49:37 matt
147 ; Made vm_vec_delta_ang() take optional forward vector to return signed delta
149 ; Revision 1.12 1993/10/20 01:09:42 matt
150 ; Added vm_vec_delta_ang(), vm_vec_delta_ang_norm(), and vm_vec_ang_2_matrix()
152 ; Revision 1.11 1993/10/17 17:03:08 matt
153 ; vm_vector_2_matrix() now takes optional right vector
155 ; Revision 1.10 1993/10/10 18:11:42 matt
156 ; Changed angles_2_matrix so that heading & bank rotate in the
157 ; correct directions.
159 ; Revision 1.9 1993/09/30 16:17:59 matt
160 ; Fixed bug in vector_2_matrix() by adding another normalize
162 ; Revision 1.8 1993/09/29 10:51:58 matt
163 ; Fixed bad register trashes in crossprod, perp, & normal
165 ; Revision 1.7 1993/09/28 12:16:46 matt
166 ; Fixed bugs in cross product
167 ; Added func vm_vector_2_matrix()
169 ; Revision 1.6 1993/09/24 21:19:37 matt
170 ; Added vm_vec_avg() and vm_vec_avg4()
172 ; Revision 1.5 1993/09/20 18:15:07 matt
173 ; Trap zero-length vectors in vm_vec_normalize(), vm_vec_perp(), and vm_vec_normal()
175 ; Revision 1.4 1993/09/20 14:56:43 matt
176 ; Fixed bug in vm_vec_normal(), made that routine normalize the results,
177 ; and added new function vm_vec_perp().
179 ; Revision 1.3 1993/09/20 10:12:06 mike
182 ; Revision 1.2 1993/09/17 11:10:33 matt
183 ; Added vm_vec_add2() and vm_vec_sub2(), which take 2 args (dest==src0)
185 ; Revision 1.1 1993/09/16 20:10:24 matt
196 ; Cater for ELF compilers which don't prefix underscores...
198 %define _vmd_zero_vector vmd_zero_vector
199 %define _vmd_identity_matrix vmd_identity_matrix
201 %define _vm_vec_add vm_vec_add
202 %define _vm_vec_sub vm_vec_sub
203 %define _vm_vec_add2 vm_vec_add2
204 %define _vm_vec_sub2 vm_vec_sub2
205 %define _vm_vec_avg vm_vec_avg
206 %define _vm_vec_scale vm_vec_scale
207 %define _vm_vec_copy_scale vm_vec_copy_scale
208 %define _vm_vec_scale2 vm_vec_scale2
209 %define _vm_vec_scale_add vm_vec_scale_add
210 %define _vm_vec_scale_add2 vm_vec_scale_add2
211 %define _vm_vec_mag vm_vec_mag
212 %define _vm_vec_dist vm_vec_dist
213 %define _vm_vec_mag_quick vm_vec_mag_quick
214 %define _vm_vec_dist_quick vm_vec_dist_quick
215 %define _vm_vec_normalize vm_vec_normalize
216 %define _vm_vec_normalize_quick vm_vec_normalize_quick
217 %define _vm_vec_normalized_dir vm_vec_normalized_dir
218 %define _vm_vec_normalized_dir_quick vm_vec_normalized_dir_quick
219 %define _vm_vec_copy_normalize vm_vec_copy_normalize
220 %define _vm_vec_copy_normalize_quick vm_vec_copy_normalize_quick
221 %define _vm_vec_dotprod vm_vec_dotprod
222 %define _vm_vec_crossprod vm_vec_crossprod
223 %define _vm_vec_perp vm_vec_perp
224 %define _vm_vec_normal vm_vec_normal
225 %define _vm_vec_rotate vm_vec_rotate
226 %define _vm_vec_delta_ang vm_vec_delta_ang
227 %define _vm_vec_delta_ang_norm vm_vec_delta_ang_norm
228 %define _vm_vector_2_matrix vm_vector_2_matrix
229 %define _vm_vec_ang_2_matrix vm_vec_ang_2_matrix
230 %define _vm_angles_2_matrix vm_angles_2_matrix
231 %define _vm_transpose_matrix vm_transpose_matrix
232 %define _vm_copy_transpose_matrix vm_copy_transpose_matrix
233 %define _vm_matrix_x_matrix vm_matrix_x_matrix
238 ;temporary vectors for surface normal calculation
248 ;sine & cosine values for angles_2_matrix
256 global _vmd_zero_vector,_vmd_identity_matrix
258 ;These should never be changed!
262 _vmd_identity_matrix:
269 extern fix_sincos_asm
272 ; calling convention is arguments on stack from right to left,
273 ; eax,ecx,edx possibly destroyed, ebx,esi,edi,ebp preserved,
274 ; caller removes arguments.
281 global _vm_vec_copy_scale
282 global _vm_vec_scale2
283 global _vm_vec_scale_add
284 global _vm_vec_scale_add2
287 global _vm_vec_mag_quick
288 global _vm_vec_dist_quick
289 global _vm_vec_normalize
290 global _vm_vec_normalize_quick
291 global _vm_vec_normalized_dir
292 global _vm_vec_normalized_dir_quick
293 global _vm_vec_copy_normalize
294 global _vm_vec_copy_normalize_quick
295 global _vm_vec_dotprod
296 global _vm_vec_crossprod
298 global _vm_vec_normal
299 global _vm_angles_2_matrix
300 global _vm_vec_rotate
301 global _vm_vec_delta_ang
302 global _vm_vec_delta_ang_norm
303 global _vm_transpose_matrix
304 global _vm_copy_transpose_matrix
305 global _vm_matrix_x_matrix
306 global _vm_vector_2_matrix
307 global _vm_vec_ang_2_matrix
340 ; offsets in fixang struct (packed)
354 ;vector offsets in matrix
359 ; vec *vm_vec_add(vec *dest, vec *src1, vec *src2);
377 ; vec *vm_vec_sub(vec *dest, vec *src1, vec *src2);
395 ; vec *vm_vec_add2(vec *dest, vec *src);
409 ; vec *vm_vec_sub2(vec *dest, vec *src);
423 ; vec *vm_vec_avg(vec *dest, vec *src1, vec *src2);
442 ; vec *vm_vec_scale(vec *dest, fix scale);
460 ; vec *vm_vec_copy_scale(vec *dest, vec *src, fix scale);
481 ; vec *vm_vec_scale_add(vec *dest, vec *src1, vec *src2, fix scale);
483 ; dest=src1+src2*scale
506 ; vec *vm_vec_scale_add2(vec *dest, vec *src, fix scale);
527 ; vec *vm_vec_scale2(vec *dest, fix n, fix d);
552 ;compute magnitude of vector. takes esi=vector, returns eax=mag
579 ;compute the distance between two points. (does sub and mag)
601 call quad_sqrt_asm ; asm version, takes eax,edx
608 ;computes an approximation of the magnitude of a vector
609 ;uses dist = largest + next_largest*3/8 + smallest*3/16
633 mag_quick_eax_ebx_ecx:
638 no_swap_ab: cmp ebx,ecx
645 do_add: sar ebx,2 ; b*1/4
647 add ebx,ecx ; b*1/4 + c*1/8
648 add eax,ebx ;a + b*1/4 + c*1/8
649 sar ebx,1 ; b*1/8 + c*1/16
650 add eax,ebx ;a + b*3/4 + c*3/16
657 ;computes an approximation of the distance between two points.
658 ;uses dist = largest + next_largest*3/8 + smallest*3/16
685 jmp mag_quick_eax_ebx_ecx
688 ;return the normalized direction vector between two points
689 ;dest = normalized(end - start).
690 ;takes edi=dest, esi=endpoint, ebx=startpoint. Returns mag of dir vec
691 ;NOTE: the order of the parameters matches the vector subtraction
692 _vm_vec_normalized_dir:
724 mov ecx,eax ;mag in ecx
743 ;normalize a vector in place.
751 jmp vm_vec_copy_normalize_nopar
753 ;normalize a vector. takes edi=dest, esi=vector
754 ;returns ecx=mag of source vec
755 _vm_vec_copy_normalize:
761 vm_vec_copy_normalize_nopar:
780 mov ecx,eax ;mag in ecx
798 ;normalize a vector in place.
800 _vm_vec_normalize_quick:
805 jmp vm_vec_copy_normalize_quick_nopar
807 ;save as vm_vec_normalized_dir, but with quick sqrt
808 ;takes dest, endpoint, startpoint. Returns mag of dir vec
809 _vm_vec_normalized_dir_quick:
823 jmp vm_vec_copy_normalize_quick_nopar
827 _vm_vec_copy_normalize_quick:
833 vm_vec_copy_normalize_quick_nopar:
835 call _vm_vec_mag_quick
838 mov ecx,eax ;mag in ecx
856 ;compute dot product of two vectors. takes esi,edi=vectors, returns eax=dotprod
881 ;ifndef NDEBUG ;check for overflow
882 ;always do overflow check, and return saturated value
883 sar edx,16 ;get real sign from high word
885 cdq ;get sign of our result
886 cmp bx,dx ;same sign?
888 ;;debug_brk 'overflow in vm_vec_dotprod'
890 or ebx,ebx ;check desired sign
901 ;computes cross product of two vectors.
902 ;Note: this magnitude of the resultant vector is the
903 ;product of the magnitudes of the two source vectors. This means it is
904 ;quite easy for this routine to overflow and underflow. Be careful that
906 ; takes dest, src vectors
918 break_if e,'crossprod: dest==src0'
920 break_if e,'crossprod: dest==src1'
932 %ifndef NDEBUG ;check for overflow
934 cdq ;get sign of result
935 shr ebx,16 ;get high 16 of quad result
936 cmp dx,bx ;sign extension the same?
937 break_if ne,'overflow in crossprod'
950 %ifndef NDEBUG ;check for overflow
952 cdq ;get sign of result
953 shr ebx,16 ;get high 16 of quad result
954 cmp dx,bx ;sign extension the same?
955 break_if ne,'overflow in crossprod'
968 %ifndef NDEBUG ;check for overflow
970 cdq ;get sign of result
971 shr ebx,16 ;get high 16 of quad result
972 cmp dx,bx ;sign extension the same?
973 break_if ne,'overflow in crossprod'
977 mov eax,ebp ;return dest in eax
986 ;computes surface normal from three points. takes ebx=dest, eax,esi,edi=vecs
987 ;returns eax=dest. Result vector is normalized.
989 push dword [esp+16+00];src2
990 push dword [esp+12+04];src1
991 push dword [esp+08+08];src0
992 push dword [esp+04+12];dest
993 call _vm_vec_perp ;get unnormalized
996 call _vm_vec_normalize
1001 ;make sure a vector is reasonably sized to go into a cross product
1002 ;takes vector in esi
1003 ;trashes eax,ebx,cl,edx
1016 xor cl,cl ;init shift count
1018 test ebx,0fffc0000h ;too big
1020 check_4_down: test ebx,000f00000h
1025 check_2_down: test ebx,0fffc0000h
1032 sar dword [esi+4],cl
1033 sar dword [esi+8],cl
1037 not_too_big: test ebx,0ffff8000h
1039 check_4_up: test ebx,0fffff000h
1044 check_2_up: test ebx,0ffff8000h
1051 sal dword [esi+4],cl
1052 sal dword [esi+8],cl
1057 ; debug_brk commented out by mk on 05/04/94
1058 ;** debug_brk "null vector in check_vec"
1062 ;computes surface normal from three points. takes ebx=dest, eax,esi,edi=vecs
1063 ;returns eax=dest. Result vector is NOT normalized, but this routine does
1064 ;make an effort that cross product does not overflow or underflow
1070 mov ebx,[esp+20] ;src0
1071 mov ecx,[esp+24] ;src1
1072 mov edx,[esp+28] ;src2
1076 %assign i 0 ;tempv1=src2-src1
1083 %assign i 0 ;tempv0=src1-src0
1090 ; esi=tempv0, edi=tempv1
1091 call check_vec ;make sure reasonable value
1093 call check_vec ;make sure reasonable value
1094 ; edi=tempv0, esi=tempv1
1097 push dword [esp+16+8] ;dest
1098 call _vm_vec_crossprod
1107 ;compute a rotation matrix from three angles. takes edi=dest matrix,
1108 ;esi=angles vector. returns dest matrix.
1109 _vm_angles_2_matrix:
1113 mov edi,[esp+16];dest
1114 mov esi,[esp+20];angles
1116 ;get sines & cosines
1132 ;alternate entry point with sines & cosines already computed.
1133 ;Note all the registers already pushed.
1136 ;now calculate the 9 elements
1140 mov ecx,eax ;save sbsh
1145 mov esi,eax ;save cbch
1147 mov [edi+m1],eax ;m1=cbch+sbspsh
1149 mov eax,esi ;get cbch
1151 add eax,ecx ;add sbsh
1152 mov [edi+m8],eax ;m8=sbsh+cbchsp
1157 mov ecx,eax ;save cbsh
1162 mov esi,eax ;save sbch
1164 mov [edi+m2],ebx ;m2=cbshsp-sbch
1166 mov eax,esi ;get sbch
1168 sub eax,ecx ;sub from cbsh
1169 mov [edi+m7],eax ;m7=sbchsp-cbsh
1174 mov [edi+m3],eax ;m3=shcp
1178 mov [edi+m4],eax ;m4=sbcp
1182 mov [edi+m5],eax ;m5=cbcp
1186 mov [edi+m6],eax ;m6=-sp
1190 mov [edi+m9],eax ;m9=chcp
1209 ;create a rotation matrix from one or two vectors.
1210 ;requires forward vec, and assumes zero bank if up & right vecs==NULL
1211 ;up/right vector need not be exactly perpendicular to forward vec
1212 ;takes edi=matrix, esi=forward vec, eax=up vec, ebx=right vec.
1213 ;returns edi=matrix. trashes eax,ebx,esi
1214 ;Note: this routine loses precision as the forward vector approaches
1215 ;straigt up or down (I think)
1216 _vm_vector_2_matrix:
1221 mov esi,[esp+20];fvec
1222 mov eax,[esp+24];uvec
1223 mov ebx,[esp+28];rvec
1227 break_if z,"vm_vector_2_matrix: forward vec cannot be NULL!"
1230 or eax,eax ;up vector present?
1231 jnz near use_up_vec ;..yep
1233 or ebx,ebx ;right vector present?
1234 jz near just_forward_vec ;..nope
1236 push edi ;save matrix
1240 call _vm_vec_copy_normalize
1247 call _vm_vec_copy_normalize
1252 push dword xvec;src1
1253 push dword zvec;src0
1254 push dword yvec;dest
1255 call _vm_vec_crossprod ;get y = z cross x
1258 ;normalize new perpendicular vector
1259 push eax ;get new vec (up) in esi
1260 call _vm_vec_normalize
1265 ;now recompute right vector, in case it wasn't entirely perpendiclar
1267 push dword zvec;src1
1268 push dword yvec;src0
1269 push dword xvec;dest
1270 call _vm_vec_crossprod ;x = y cross z
1273 pop edi ;get matrix back
1275 jmp copy_into_matrix
1278 ;one of the non-forward vectors caused a problem, so ignore them and
1279 ;use just the forward vector
1284 jmp just_forward_vec_norm
1286 ;use forward and up vectors
1288 push edi ;save matrix
1292 call _vm_vec_copy_normalize
1299 call _vm_vec_copy_normalize
1304 push dword zvec;src1
1305 push dword yvec;src0
1306 push dword xvec;dest
1307 call _vm_vec_crossprod ;get x = y cross z
1310 ;normalize new perpendicular vector
1311 push eax ;get new vec (up) in esi
1312 call _vm_vec_normalize
1317 ;now recompute right vector, in case it wasn't entirely perpendiclar
1319 push dword xvec;src1
1320 push dword zvec;src0
1321 push dword yvec;dest
1322 call _vm_vec_crossprod ;y = z cross x
1325 pop edi ;get matrix back
1328 vm_copy edi+rvec,xvec
1329 vm_copy edi+uvec,yvec
1330 vm_copy edi+fvec,zvec
1344 debug_brk '0-len vec in vec_2_mat'
1347 ;only the forward vector is present
1352 call _vm_vec_copy_normalize
1356 just_forward_vec_norm:
1359 or eax,[esi+8] ;check both x & z == 0
1362 ;forward vector is straight up (or down)
1364 mov dword [edi+m1],f1_0
1365 mov eax,[esi+4] ;get y componant
1369 sub eax,edx ;make sign correct
1381 m2m_neg [edi+8],[esi+0]
1383 call _vm_vec_normalize
1390 call _vm_vec_crossprod
1401 ;multiply (dot) two vectors. assumes dest ptr in ebp, src pointers in esi,edi.
1402 ;trashes ebx,ecx,edx
1405 ;macro dest,x0,y0,z0,x1,y1,z1
1421 shrd ebx,ecx,16 ;fixup ebx
1426 ;rotate a vector by a rotation matrix
1427 ;eax=dest vector, esi=src vector, edi=matrix. returns eax=dest vector
1431 break_if e,'vec_rotate: dest==src'
1437 mov ebp,[esp+20];dest vec
1438 mov esi,[esp+24];src vec
1439 mov edi,[esp+28];matrix
1442 vv_mul 0, 0,4,8, m1,m4,m7
1443 vv_mul 4, 0,4,8, m2,m5,m8
1444 vv_mul 8, 0,4,8, m3,m6,m9
1446 mov eax,ebp ;return eax=dest
1454 ;transpose a matrix in place. Takes matrix. returns matrix
1455 _vm_transpose_matrix:
1474 ;copy and transpose a matrix. Takes edi=dest, esi=src. returns edi=dest
1475 _vm_copy_transpose_matrix:
1476 mov edx,[esp+4];dest
1510 ;mulitply 2 matrices, fill in dest. returns ptr to dest
1511 ;takes dest, src0, scr1
1512 _vm_matrix_x_matrix:
1515 break_if e,'matrix_x_matrix: dest==src0'
1517 break_if e,'matrix_x_matrix: dest==src1'
1523 mov ebp,[esp+20] ;ebp=dest
1524 mov esi,[esp+24] ;esi=src0
1525 mov edi,[esp+28] ;edi=src1
1527 ;;This code would do the same as the nine lines below it, but I'm sure
1528 ;;Mike would disapprove
1529 ;; for s0,<<m1,m2,m3>,<m4,m5,m6>,<m7,m8,m9>>
1530 ;; for s1,<<m1,m4,m7>,<m2,m5,m8>,<m3,m6,m9>>
1531 ;; vv_mul @ArgI(1,s0)+@ArgI(1,s1), s0, s1
1535 vv_mul m1, m1,m2,m3, m1,m4,m7
1536 vv_mul m2, m1,m2,m3, m2,m5,m8
1537 vv_mul m3, m1,m2,m3, m3,m6,m9
1539 vv_mul m4, m4,m5,m6, m1,m4,m7
1540 vv_mul m5, m4,m5,m6, m2,m5,m8
1541 vv_mul m6, m4,m5,m6, m3,m6,m9
1543 vv_mul m7, m7,m8,m9, m1,m4,m7
1544 vv_mul m8, m7,m8,m9, m2,m5,m8
1545 vv_mul m9, m7,m8,m9, m3,m6,m9
1547 mov eax,ebp ;eax=ptr to dest
1554 ;computes the delta angle between two vectors
1555 ;two entry points: normalized and non-normalized vectors
1556 ;takes esi,edi=vectors, eax=optional forward vector
1557 ;returns ax=delta angle
1558 ;if the forward vector is NULL, the absolute values of the delta angle
1559 ;is returned. If it is specified, the rotation around that vector from
1560 ;esi to edi is returned.
1570 call _vm_vec_normalize
1573 call _vm_vec_normalize
1577 _vm_vec_delta_ang_norm:
1586 call _vm_vec_dotprod
1588 call fix_acos_asm ;now angle in ax
1589 mov ebx,[esp+24] ;get forward vec
1592 ;do cross product to find sign of angle
1593 push eax ;save angle
1597 push dword tempv0 ;new vec
1598 call _vm_vec_crossprod
1600 push ebx ;forward vec
1601 push eax ;new vector
1602 call _vm_vec_dotprod ;eax=dotprod
1608 sub eax,edx ;make sign correct
1616 ;compute a rotation matrix from the forward vector and a rotation around
1617 ;that vector. takes esi=vector, ax=angle, edi=matrix. returns edi=dest matrix.
1619 _vm_vec_ang_2_matrix:
1632 ;extract heading & pitch from vector
1634 mov eax,[esi+4] ;m6=-sp
1640 call long_sqrt_asm ;eax=cp
1656 ;compute the distance from a point to a plane. takes the normalized normal
1657 ;of the plane (ebx), a point on the plane (edi), and the point to check (esi).
1658 ;returns distance in eax
1659 ;distance is signed, so negative dist is on the back of the plane
1664 call vm_vec_sub ;vecs in esi,edi
1666 mov esi,eax ;vector plane -> point
1673 ;extract the angles from a matrix. takes esi=matrix, fills in edi=angvec
1674 vm_extract_angles_matrix:
1675 pushm eax,ebx,edx,ecx
1677 ;extract heading & pitch from forward vector
1679 mov eax,[esi].fvec.z ;ch
1680 mov ebx,[esi].fvec.x ;sh
1682 mov ecx,ebx ;check for z==x==0
1684 jz zero_head ;zero, use head=0
1686 zero_head: mov [edi].head,ax ;save heading
1688 call fix_sincos_asm ;get back sh
1692 mov ecx,eax ;save abs(sine)
1695 cmp eax,ecx ;which is larger?
1696 pop eax ;get sine back
1699 ;sine is larger, so use it
1700 mov ebx,eax ;ebx=sine heading
1701 mov eax,[esi].m3 ;cp = shcp / sh
1704 ;cosine is larger, so use it
1707 mov eax,[esi].fvec.z ;get chcp
1708 get_cosp: fixdiv ebx ;cp = chcp / ch
1714 mov ebx,[esi].fvec.y ;fvec.y = -sp
1715 neg ebx ;ebx = y (sin)
1716 mov ecx,ebx ;check for z==x==0
1718 jz zero_pitch ;bogus vec, set p=0
1720 zero_pitch: mov [edi].pitch,ax
1725 mov eax,[esi].m4 ;m4 = sbcp
1727 mov ebx,eax ;save sb
1729 mov eax,[esi].m5 ;get cbcp
1731 mov ecx,ebx ;check for z==x==0
1733 jz zero_bank ;bogus vec, set n=0
1735 zero_bank: mov [edi].bank,ax
1738 popm eax,ebx,edx,ecx
1742 ;the cosine of pitch is zero. we're pitched straight up. say no bank
1743 cp_zero: mov [edi].bank,0 ;no bank
1745 popm eax,ebx,edx,ecx
1749 ;extract the angles from a vector, assuming zero bank.
1750 ;takes esi=vec, edi=angvec
1751 ;note versions for normalized and not normalized vector
1752 ;unnormalized version TRASHES ESI
1753 vm_extract_angles_vector:
1756 call vm_vec_copy_normalize ;ecx=mag
1761 vm_extract_angles_vector_normalized:
1764 mov [edi].bank,0 ;always zero bank
1769 mov [edi].pitch,ax ;p = asin(-y)
1774 jz zero_head2 ;check for up vector
1776 mov ebx,[esi].x ;get x again
1778 zero_head2: mov [edi].head,ax ;h = atan2(x,z) (or zero)