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 float Q_RSqrt(float number)
 145 {
 146         float y;
 147
 148         if (number == 0.0f)
 149                 return 0.0f;
 150
 151         *((int *)&y) = 0x5f3759df - ((* (int *) &number) >> 1);
 152         return y * (1.5f - (number * 0.5f * y * y));
 153 }
 154
 155 // assumes "src" is normalized
 156 void PerpendicularVector( vec3_t dst, const vec3_t src )
 157 {
 158         // LordHavoc: optimized to death and beyond
 159         int pos;
 160         float minelem;
 161
 162         if (src[0])
 163         {
 164                 dst[0] = 0;
 165                 if (src[1])
 166                 {
 167                         dst[1] = 0;
 168                         if (src[2])
 169                         {
 170                                 dst[2] = 0;
 171                                 pos = 0;
 172                                 minelem = fabs(src[0]);
 173                                 if (fabs(src[1]) < minelem)
 174                                 {
 175                                         pos = 1;
 176                                         minelem = fabs(src[1]);
 177                                 }
 178                                 if (fabs(src[2]) < minelem)
 179                                         pos = 2;
 180
 181                                 dst[pos] = 1;
 182                                 dst[0] -= src[pos] * src[0];
 183                                 dst[1] -= src[pos] * src[1];
 184                                 dst[2] -= src[pos] * src[2];
 185
 186                                 // normalize the result
 187                                 VectorNormalize(dst);
 188                         }
 189                         else
 190                                 dst[2] = 1;
 191                 }
 192                 else
 193                 {
 194                         dst[1] = 1;
 195                         dst[2] = 0;
 196                 }
 197         }
 198         else
 199         {
 200                 dst[0] = 1;
 201                 dst[1] = 0;
 202                 dst[2] = 0;
 203         }
 204 }
 205 #endif
 206
 207
 208 // LordHavoc: like AngleVectors, but taking a forward vector instead of angles, useful!
 209 void VectorVectors(const vec3_t forward, vec3_t right, vec3_t up)
 210 {
 211         float d;
 212
 213         right[0] = forward[2];
 214         right[1] = -forward[0];
 215         right[2] = forward[1];
 216
 217         d = DotProduct(forward, right);
 218         VectorMA(right, -d, forward, right);
 219         VectorNormalizeFast(right);
 220         CrossProduct(right, forward, up);
 221 }
 222
 223 void VectorVectorsDouble(const double *forward, double *right, double *up)
 224 {
 225         double d;
 226
 227         right[0] = forward[2];
 228         right[1] = -forward[0];
 229         right[2] = forward[1];
 230
 231         d = DotProduct(forward, right);
 232         VectorMA(right, -d, forward, right);
 233         VectorNormalize(right);
 234         CrossProduct(right, forward, up);
 235 }
 236
 237 void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
 238 {
 239         float t0, t1;
 240         float angle, c, s;
 241         vec3_t vr, vu, vf;
 242
 243         angle = DEG2RAD(degrees);
 244         c = cos(angle);
 245         s = sin(angle);
 246         VectorCopy(dir, vf);
 247         VectorVectors(vf, vr, vu);
 248
 249         t0 = vr[0] *  c + vu[0] * -s;
 250         t1 = vr[0] *  s + vu[0] *  c;
 251         dst[0] = (t0 * vr[0] + t1 * vu[0] + vf[0] * vf[0]) * point[0]
 252                + (t0 * vr[1] + t1 * vu[1] + vf[0] * vf[1]) * point[1]
 253                + (t0 * vr[2] + t1 * vu[2] + vf[0] * vf[2]) * point[2];
 254
 255         t0 = vr[1] *  c + vu[1] * -s;
 256         t1 = vr[1] *  s + vu[1] *  c;
 257         dst[1] = (t0 * vr[0] + t1 * vu[0] + vf[1] * vf[0]) * point[0]
 258                + (t0 * vr[1] + t1 * vu[1] + vf[1] * vf[1]) * point[1]
 259                + (t0 * vr[2] + t1 * vu[2] + vf[1] * vf[2]) * point[2];
 260
 261         t0 = vr[2] *  c + vu[2] * -s;
 262         t1 = vr[2] *  s + vu[2] *  c;
 263         dst[2] = (t0 * vr[0] + t1 * vu[0] + vf[2] * vf[0]) * point[0]
 264                + (t0 * vr[1] + t1 * vu[1] + vf[2] * vf[1]) * point[1]
 265                + (t0 * vr[2] + t1 * vu[2] + vf[2] * vf[2]) * point[2];
 266 }
 267
 268 /*-----------------------------------------------------------------*/
 269
 270
 271 void PlaneClassify(mplane_t *p)
 272 {
 273         // for optimized plane comparisons
 274         if (p->normal[0] == 1)
 275                 p->type = 0;
 276         else if (p->normal[1] == 1)
 277                 p->type = 1;
 278         else if (p->normal[2] == 1)
 279                 p->type = 2;
 280         else
 281                 p->type = 3;
 282         // for BoxOnPlaneSide
 283         p->signbits = 0;
 284         if (p->normal[0] < 0) // 1
 285                 p->signbits |= 1;
 286         if (p->normal[1] < 0) // 2
 287                 p->signbits |= 2;
 288         if (p->normal[2] < 0) // 4
 289                 p->signbits |= 4;
 290 }
 291
 292 int BoxOnPlaneSide(const vec3_t emins, const vec3_t emaxs, const mplane_t *p)
 293 {
 294         if (p->type < 3)
 295                 return ((emaxs[p->type] >= p->dist) | ((emins[p->type] < p->dist) << 1));
 296         switch(p->signbits)
 297         {
 298         default:
 299         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));
 300         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));
 301         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));
 302         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));
 303         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));
 304         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));
 305         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));
 306         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));
 307         }
 308 }
 309
 310 int BoxOnPlaneSide_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, const vec_t dist)
 311 {
 312         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 313         {
 314         default:
 315         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));
 316         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));
 317         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));
 318         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));
 319         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));
 320         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));
 321         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));
 322         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));
 323         }
 324 }
 325
 326 void BoxPlaneCorners(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec3_t outnear, vec3_t outfar)
 327 {
 328         if (p->type < 3)
 329         {
 330                 outnear[0] = outnear[1] = outnear[2] = outfar[0] = outfar[1] = outfar[2] = 0;
 331                 outnear[p->type] = emins[p->type];
 332                 outfar[p->type] = emaxs[p->type];
 333                 return;
 334         }
 335         switch(p->signbits)
 336         {
 337         default:
 338         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;
 339         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;
 340         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;
 341         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;
 342         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;
 343         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;
 344         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;
 345         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;
 346         }
 347 }
 348
 349 void BoxPlaneCorners_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec3_t outnear, vec3_t outfar)
 350 {
 351         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 352         {
 353         default:
 354         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;
 355         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;
 356         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;
 357         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;
 358         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;
 359         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;
 360         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;
 361         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;
 362         }
 363 }
 364
 365 void BoxPlaneCornerDistances(const vec3_t emins, const vec3_t emaxs, const mplane_t *p, vec_t *outneardist, vec_t *outfardist)
 366 {
 367         if (p->type < 3)
 368         {
 369                 *outneardist = emins[p->type] - p->dist;
 370                 *outfardist = emaxs[p->type] - p->dist;
 371                 return;
 372         }
 373         switch(p->signbits)
 374         {
 375         default:
 376         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;
 377         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;
 378         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;
 379         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;
 380         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;
 381         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;
 382         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;
 383         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;
 384         }
 385 }
 386
 387 void BoxPlaneCornerDistances_Separate(const vec3_t emins, const vec3_t emaxs, const vec3_t normal, vec_t *outneardist, vec_t *outfardist)
 388 {
 389         switch((normal[0] < 0) | ((normal[1] < 0) << 1) | ((normal[2] < 0) << 2))
 390         {
 391         default:
 392         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;
 393         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;
 394         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;
 395         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;
 396         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;
 397         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;
 398         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;
 399         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;
 400         }
 401 }
 402
 403 void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
 404 {
 405         double angle, sr, sp, sy, cr, cp, cy;
 406
 407         angle = angles[YAW] * (M_PI*2 / 360);
 408         sy = sin(angle);
 409         cy = cos(angle);
 410         angle = angles[PITCH] * (M_PI*2 / 360);
 411         sp = sin(angle);
 412         cp = cos(angle);
 413         if (forward)
 414         {
 415                 forward[0] = cp*cy;
 416                 forward[1] = cp*sy;
 417                 forward[2] = -sp;
 418         }
 419         if (right || up)
 420         {
 421                 if (angles[ROLL])
 422                 {
 423                         angle = angles[ROLL] * (M_PI*2 / 360);
 424                         sr = sin(angle);
 425                         cr = cos(angle);
 426                         if (right)
 427                         {
 428                                 right[0] = -1*(sr*sp*cy+cr*-sy);
 429                                 right[1] = -1*(sr*sp*sy+cr*cy);
 430                                 right[2] = -1*(sr*cp);
 431                         }
 432                         if (up)
 433                         {
 434                                 up[0] = (cr*sp*cy+-sr*-sy);
 435                                 up[1] = (cr*sp*sy+-sr*cy);
 436                                 up[2] = cr*cp;
 437                         }
 438                 }
 439                 else
 440                 {
 441                         if (right)
 442                         {
 443                                 right[0] = sy;
 444                                 right[1] = -cy;
 445                                 right[2] = 0;
 446                         }
 447                         if (up)
 448                         {
 449                                 up[0] = (sp*cy);
 450                                 up[1] = (sp*sy);
 451                                 up[2] = cp;
 452                         }
 453                 }
 454         }
 455 }
 456
 457 void AngleVectorsFLU (const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
 458 {
 459         double angle, sr, sp, sy, cr, cp, cy;
 460
 461         angle = angles[YAW] * (M_PI*2 / 360);
 462         sy = sin(angle);
 463         cy = cos(angle);
 464         angle = angles[PITCH] * (M_PI*2 / 360);
 465         sp = sin(angle);
 466         cp = cos(angle);
 467         if (forward)
 468         {
 469                 forward[0] = cp*cy;
 470                 forward[1] = cp*sy;
 471                 forward[2] = -sp;
 472         }
 473         if (left || up)
 474         {
 475                 if (angles[ROLL])
 476                 {
 477                         angle = angles[ROLL] * (M_PI*2 / 360);
 478                         sr = sin(angle);
 479                         cr = cos(angle);
 480                         if (left)
 481                         {
 482                                 left[0] = sr*sp*cy+cr*-sy;
 483                                 left[1] = sr*sp*sy+cr*cy;
 484                                 left[2] = sr*cp;
 485                         }
 486                         if (up)
 487                         {
 488                                 up[0] = cr*sp*cy+-sr*-sy;
 489                                 up[1] = cr*sp*sy+-sr*cy;
 490                                 up[2] = cr*cp;
 491                         }
 492                 }
 493                 else
 494                 {
 495                         if (left)
 496                         {
 497                                 left[0] = -sy;
 498                                 left[1] = cy;
 499                                 left[2] = 0;
 500                         }
 501                         if (up)
 502                         {
 503                                 up[0] = sp*cy;
 504                                 up[1] = sp*sy;
 505                                 up[2] = cp;
 506                         }
 507                 }
 508         }
 509 }
 510
 511 #if 0
 512 void AngleMatrix (const vec3_t angles, const vec3_t translate, vec_t matrix[][4])
 513 {
 514         double angle, sr, sp, sy, cr, cp, cy;
 515
 516         angle = angles[YAW] * (M_PI*2 / 360);
 517         sy = sin(angle);
 518         cy = cos(angle);
 519         angle = angles[PITCH] * (M_PI*2 / 360);
 520         sp = sin(angle);
 521         cp = cos(angle);
 522         angle = angles[ROLL] * (M_PI*2 / 360);
 523         sr = sin(angle);
 524         cr = cos(angle);
 525         matrix[0][0] = cp*cy;
 526         matrix[0][1] = sr*sp*cy+cr*-sy;
 527         matrix[0][2] = cr*sp*cy+-sr*-sy;
 528         matrix[0][3] = translate[0];
 529         matrix[1][0] = cp*sy;
 530         matrix[1][1] = sr*sp*sy+cr*cy;
 531         matrix[1][2] = cr*sp*sy+-sr*cy;
 532         matrix[1][3] = translate[1];
 533         matrix[2][0] = -sp;
 534         matrix[2][1] = sr*cp;
 535         matrix[2][2] = cr*cp;
 536         matrix[2][3] = translate[2];
 537 }
 538 #endif
 539
 540
 541 // LordHavoc: renamed this to Length, and made the normal one a #define
 542 float VectorNormalizeLength (vec3_t v)
 543 {
 544         float length, ilength;
 545
 546         length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
 547         length = sqrt (length);
 548
 549         if (length)
 550         {
 551                 ilength = 1/length;
 552                 v[0] *= ilength;
 553                 v[1] *= ilength;
 554                 v[2] *= ilength;
 555         }
 556
 557         return length;
 558
 559 }
 560
 561
 562 /*
 563 ================
 564 R_ConcatRotations
 565 ================
 566 */
 567 void R_ConcatRotations (const float in1[3*3], const float in2[3*3], float out[3*3])
 568 {
 569         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];
 570         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];
 571         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];
 572         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];
 573         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];
 574         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];
 575         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];
 576         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];
 577         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];
 578 }
 579
 580
 581 /*
 582 ================
 583 R_ConcatTransforms
 584 ================
 585 */
 586 void R_ConcatTransforms (const float in1[3*4], const float in2[3*4], float out[3*4])
 587 {
 588         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];
 589         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];
 590         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];
 591         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];
 592         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];
 593         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];
 594         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];
 595         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];
 596         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];
 597         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];
 598         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];
 599         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];
 600 }
 601
 602 float RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
 603 {
 604         vec3_t m1, m2;
 605         VectorMultiply(mins, mins, m1);
 606         VectorMultiply(maxs, maxs, m2);
 607         return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
 608 }
 609
 610 float RadiusFromBoundsAndOrigin (const vec3_t mins, const vec3_t maxs, const vec3_t origin)
 611 {
 612         vec3_t m1, m2;
 613         VectorSubtract(mins, origin, m1);VectorMultiply(m1, m1, m1);
 614         VectorSubtract(maxs, origin, m2);VectorMultiply(m2, m2, m2);
 615         return sqrt(max(m1[0], m2[0]) + max(m1[1], m2[1]) + max(m1[2], m2[2]));
 616 }
 617
 618 void Mathlib_Init(void)
 619 {
 620         int a;
 621
 622         // LordHavoc: setup 1.0f / N table for quick recipricols of integers
 623         ixtable[0] = 0;
 624         for (a = 1;a < 4096;a++)
 625                 ixtable[a] = 1.0f / a;
 626 }
 627
 628 #include "matrixlib.h"
 629
 630 void Matrix4x4_Print(const matrix4x4_t *in)
 631 {
 632         Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
 633         , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
 634         , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
 635         , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
 636         , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
 637 }
 638
 639 int Math_atov(const char *s, vec3_t out)
 640 {
 641         int i;
 642         VectorClear(out);
 643         if (*s == '\'')
 644                 s++;
 645         for (i = 0;i < 3;i++)
 646         {
 647                 while (*s == ' ' || *s == '\t')
 648                         s++;
 649                 out[i] = atof (s);
 650                 if (out[i] == 0 && *s != '-' && *s != '+' && (*s < '0' || *s > '9'))
 651                         break; // not a number
 652                 while (*s && *s != ' ' && *s !='\t' && *s != '\'')
 653                         s++;
 654                 if (*s == '\'')
 655                         break;
 656         }
 657         return i;
 658 }
 659
 660 void BoxFromPoints(vec3_t mins, vec3_t maxs, int numpoints, vec_t *point3f)
 661 {
 662         int i;
 663         VectorCopy(point3f, mins);
 664         VectorCopy(point3f, maxs);
 665         for (i = 1, point3f += 3;i < numpoints;i++, point3f += 3)
 666         {
 667                 mins[0] = min(mins[0], point3f[0]);maxs[0] = max(maxs[0], point3f[0]);
 668                 mins[1] = min(mins[1], point3f[1]);maxs[1] = max(maxs[1], point3f[1]);
 669                 mins[2] = min(mins[2], point3f[2]);maxs[2] = max(maxs[2], point3f[2]);
 670         }
 671 }
 672