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mathlib.c
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mathlib.c
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/*
Copyright (C) 1996-1997 Id Software, Inc.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
// mathlib.c -- math primitives
//Dan East:
//I've made many additions to this file, recreating various original functions to use
//my Fixed Point Math routines. My additions all contain the acronym FPM
#include <math.h>
#include "quakedef.h"
void Sys_Error (char *error, ...);
vec3_t vec3_origin = {0,0,0};
#ifdef USEFPM
vec3_FPM_t vec3_originFPM = {0,0,0};
#endif
int nanmask = 255<<23;
/*-----------------------------------------------------------------*/
#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal )
{
float d;
vec3_t n;
float inv_denom;
inv_denom = 1.0F / DotProduct( normal, normal );
d = DotProduct( normal, p ) * inv_denom;
n[0] = normal[0] * inv_denom;
n[1] = normal[1] * inv_denom;
n[2] = normal[2] * inv_denom;
dst[0] = p[0] - d * n[0];
dst[1] = p[1] - d * n[1];
dst[2] = p[2] - d * n[2];
}
#ifdef USEFPM
void ProjectPointOnPlaneFPM( vec3_FPM_t dst, const vec3_FPM_t p, const vec3_FPM_t normal )
{
fixedpoint_t d;
vec3_FPM_t n;
fixedpoint_t inv_denom;
inv_denom = /*1.0F*/0x10000 / DotProductFPM( normal, normal );
d = DotProductFPM( normal, p ) * inv_denom;
n[0] = FPM_MUL(normal[0], inv_denom);
n[1] = FPM_MUL(normal[1], inv_denom);
n[2] = FPM_MUL(normal[2], inv_denom);
dst[0] = FPM_SUB(p[0], FPM_MUL(d, n[0]));
dst[1] = FPM_SUB(p[1], FPM_MUL(d, n[1]));
dst[2] = FPM_SUB(p[2], FPM_MUL(d, n[2]));
}
#endif
/*
** assumes "src" is normalized
*/
void PerpendicularVector( vec3_t dst, const vec3_t src )
{
int pos;
int i;
float minelem = 1.0F;
vec3_t tempvec;
/*
** find the smallest magnitude axially aligned vector
*/
for ( pos = 0, i = 0; i < 3; i++ )
{
if ( fabs( src[i] ) < minelem )
{
pos = i;
minelem = (float)fabs( src[i] );
}
}
tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
tempvec[pos] = 1.0F;
/*
** project the point onto the plane defined by src
*/
ProjectPointOnPlane( dst, tempvec, src );
/*
** normalize the result
*/
VectorNormalize( dst );
}
#ifdef USEFPM
void PerpendicularVectorFPM( vec3_FPM_t dst, const vec3_FPM_t src )
{
int pos;
int i;
fixedpoint_t minelem = 0x00010000;
vec3_FPM_t tempvec;
/*
** find the smallest magnitude axially aligned vector
*/
for ( pos = 0, i = 0; i < 3; i++ )
{
if ( FPM_ABS( src[i] ) < minelem )
{
pos = i;
minelem = FPM_ABS( src[i] );
}
}
tempvec[0] = tempvec[1] = tempvec[2] = 0;
tempvec[pos] = 0x10000;
/*
** project the point onto the plane defined by src
*/
ProjectPointOnPlaneFPM( dst, tempvec, src );
/*
** normalize the result
*/
VectorNormalizeFPM( dst );
}
#endif
#ifdef _WIN32
#pragma optimize( "", off )
#endif
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees )
{
float m[3][3];
float im[3][3];
float zrot[3][3];
float tmpmat[3][3];
float rot[3][3];
int i;
vec3_t vr, vup, vf;
vf[0] = dir[0];
vf[1] = dir[1];
vf[2] = dir[2];
PerpendicularVector( vr, dir );
CrossProduct( vr, vf, vup );
m[0][0] = vr[0];
m[1][0] = vr[1];
m[2][0] = vr[2];
m[0][1] = vup[0];
m[1][1] = vup[1];
m[2][1] = vup[2];
m[0][2] = vf[0];
m[1][2] = vf[1];
m[2][2] = vf[2];
Q_memcpy( im, m, sizeof( im ) );
im[0][1] = m[1][0];
im[0][2] = m[2][0];
im[1][0] = m[0][1];
im[1][2] = m[2][1];
im[2][0] = m[0][2];
im[2][1] = m[1][2];
Q_memset( zrot, 0, sizeof( zrot ) );
zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
zrot[0][0] = (float)cos( DEG2RAD( degrees ) );
zrot[0][1] = (float)sin( DEG2RAD( degrees ) );
zrot[1][0] = (float)-sin( DEG2RAD( degrees ) );
zrot[1][1] = (float)cos( DEG2RAD( degrees ) );
R_ConcatRotations( m, zrot, tmpmat );
R_ConcatRotations( tmpmat, im, rot );
for ( i = 0; i < 3; i++ )
{
dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
}
}
#ifdef USEFPM
void RotatePointAroundVectorFPM( vec3_FPM_t dst, const vec3_FPM_t dir, const vec3_FPM_t point, fixedpoint_t degrees )
{
fixedpoint_t m[3][3];
fixedpoint_t im[3][3];
fixedpoint_t zrot[3][3];
fixedpoint_t tmpmat[3][3];
fixedpoint_t rot[3][3];
int i;
vec3_FPM_t vr, vup, vf;
vf[0] = dir[0];
vf[1] = dir[1];
vf[2] = dir[2];
PerpendicularVectorFPM( vr, dir );
CrossProductFPM( vr, vf, vup );
m[0][0] = vr[0];
m[1][0] = vr[1];
m[2][0] = vr[2];
m[0][1] = vup[0];
m[1][1] = vup[1];
m[2][1] = vup[2];
m[0][2] = vf[0];
m[1][2] = vf[1];
m[2][2] = vf[2];
Q_memcpy( im, m, sizeof( im ) );
im[0][1] = m[1][0];
im[0][2] = m[2][0];
im[1][0] = m[0][1];
im[1][2] = m[2][1];
im[2][0] = m[0][2];
im[2][1] = m[1][2];
Q_memset( zrot, 0, sizeof( zrot ) );
zrot[0][0] = zrot[1][1] = zrot[2][2] = 0x10000;
zrot[1][0]=-(zrot[0][0] = FPM_SIN_DEG(degrees));
zrot[1][1] = FPM_COS_DEG( degrees );
R_ConcatRotationsFPM( m, zrot, tmpmat );
R_ConcatRotationsFPM( tmpmat, im, rot );
for ( i = 0; i < 3; i++ )
{
dst[i] = FPM_ADD3(FPM_MUL(rot[i][0], point[0]), FPM_MUL(rot[i][1], point[1]), FPM_MUL(rot[i][2], point[2]));
}
}
#endif
#ifdef _WIN32
#pragma optimize( "", on )
#endif
/*-----------------------------------------------------------------*/
float anglemod(float a)
{
#if 0
if (a >= 0)
a -= 360*(int)(a/360);
else
a += 360*( 1 + (int)(-a/360) );
#endif
a = (float)((360.0/65536) * ((int)(a*(65536/360.0)) & 65535));
return a;
}
#ifdef USEFPM
fixedpoint_t anglemodFPM(fixedpoint_t a)
{
#if 0
if (a >= 0)
a -= 360*(int)(a/360);
else
a += 360*( 1 + (int)(-a/360) );
#endif
//Dan: TODO: the following will overflow 16.16 signed fixedpoint. This algorithm
//needs to be tweaked to work with fixedpoint without overflowing.
a = FPM_FROMFLOAT((float)((360.0/65536) * ((int)(FPM_TOFLOAT(a)*(65536/360.0)) & 65535)));
// a = FPM_MUL(FPM_FROMFLOAT(360.0/65536), FPM_FROMLONG((FPM_TOLONG(FPM_MUL(a,FPM_FROMFLOAT(65536/360.0))) & 65535)));
return a;
}
#endif
/*
==================
BOPS_Error
Split out like this for ASM to call.
==================
*/
void BOPS_Error (void)
{
Sys_Error ("BoxOnPlaneSide: Bad signbits");
}
#if !id386
/*
==================
BoxOnPlaneSide
Returns 1, 2, or 1 + 2
==================
*/
int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, mplane_t *p)
{
float dist1, dist2;
int sides;
#if 0 // this is done by the BOX_ON_PLANE_SIDE macro before calling this
// function
// fast axial cases
if (p->type < 3)
{
if (p->dist <= emins[p->type])
return 1;
if (p->dist >= emaxs[p->type])
return 2;
return 3;
}
#endif
// general case
switch (p->signbits)
{
case 0:
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
break;
case 1:
dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
break;
case 2:
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
break;
case 3:
dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
break;
case 4:
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
dist2 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
break;
case 5:
dist1 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emins[2];
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emaxs[2];
break;
case 6:
dist1 = p->normal[0]*emaxs[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
dist2 = p->normal[0]*emins[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
break;
case 7:
dist1 = p->normal[0]*emins[0] + p->normal[1]*emins[1] + p->normal[2]*emins[2];
dist2 = p->normal[0]*emaxs[0] + p->normal[1]*emaxs[1] + p->normal[2]*emaxs[2];
break;
default:
dist1 = dist2 = 0; // shut up compiler
BOPS_Error ();
break;
}
#if 0
int i;
vec3_t corners[2];
for (i=0 ; i<3 ; i++)
{
if (plane->normal[i] < 0)
{
corners[0][i] = emins[i];
corners[1][i] = emaxs[i];
}
else
{
corners[1][i] = emins[i];
corners[0][i] = emaxs[i];
}
}
dist = DotProduct (plane->normal, corners[0]) - plane->dist;
dist2 = DotProduct (plane->normal, corners[1]) - plane->dist;
sides = 0;
if (dist1 >= 0)
sides = 1;
if (dist2 < 0)
sides |= 2;
#endif
sides = 0;
if (dist1 >= p->dist)
sides = 1;
if (dist2 < p->dist)
sides |= 2;
#ifdef PARANOID
if (sides == 0)
Sys_Error ("BoxOnPlaneSide: sides==0");
#endif
return sides;
}
#ifdef USEFPM
int BoxOnPlaneSideFPM (vec3_FPM_t emins, vec3_FPM_t emaxs, mplane_FPM_t *p)
{
fixedpoint_t dist1, dist2;
int sides;
// general case
switch (p->signbits)
{
case 0:
dist1 = DotProductFPM(p->normal, emaxs);
dist2 = DotProductFPM(p->normal, emins);
break;
case 1:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emaxs[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emins[2]));
break;
case 2:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emaxs[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emins[2]));
break;
case 3:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emaxs[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emins[2]));
break;
case 4:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emins[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emaxs[2]));
break;
case 5:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emins[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emaxs[2]));
break;
case 6:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emins[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emaxs[2]));
break;
case 7:
dist1 = FPM_ADD3(FPM_MUL(p->normal[0],emins[0]),FPM_MUL(p->normal[1],emins[1]),FPM_MUL(p->normal[2],emins[2]));
dist2 = FPM_ADD3(FPM_MUL(p->normal[0],emaxs[0]),FPM_MUL(p->normal[1],emaxs[1]),FPM_MUL(p->normal[2],emaxs[2]));
break;
default:
dist1 = dist2 = 0; // shut up compiler
BOPS_Error ();
break;
}
sides = 0;
if (dist1 >= p->dist)
sides = 1;
if (dist2 < p->dist)
sides |= 2;
#ifdef PARANOID
if (sides == 0)
Sys_Error ("BoxOnPlaneSide: sides==0");
#endif
return sides;
}
#endif
#endif
void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
{
float angle;
float sr, sp, sy, cr, cp, cy;
angle = (float)(angles[YAW] * (M_PI*2 / 360));
sy = (float)sin(angle);
cy = (float)cos(angle);
angle = (float)(angles[PITCH] * (M_PI*2 / 360));
sp = (float)sin(angle);
cp = (float)cos(angle);
angle = (float)(angles[ROLL] * (M_PI*2 / 360));
sr = (float)sin(angle);
cr = (float)cos(angle);
forward[0] = cp*cy;
forward[1] = cp*sy;
forward[2] = -sp;
right[0] = (-1*sr*sp*cy+-1*cr*-sy);
right[1] = (-1*sr*sp*sy+-1*cr*cy);
right[2] = -1*sr*cp;
up[0] = (cr*sp*cy+-sr*-sy);
up[1] = (cr*sp*sy+-sr*cy);
up[2] = cr*cp;
}
#ifdef USEFPM
void AngleVectorsFPM (vec3_FPM_t angles, vec3_FPM_t forward, vec3_FPM_t right, vec3_FPM_t up)
{
double source;
double angle;
// fixedpoint_t angle;
// fixedpoint_t sr, sp, sy, cr, cp, cy;
__int64 sr, sp, sy, cr, cp, cy;
register __int64 /*conv, mul,*/ accum1, accum2, accum1b, accum2b;
//Dan: ID converted all of these angles to rads for the sin, cos functions.
//My Fixed Point Math routines can calc trig based on degrees. So this routine
//is much more efficient than it was before
source=FPM_TOFLOAT(FPM_MUL(angles[YAW], FPM_DIV(FPM_PI, FPM_FROMLONGC(180))));
angle = sin(source);
sy = (__int64)(angle*(double)(2^32));
angle = cos(source);
cy = (__int64)(angle*(double)(2^32));
// sy = FPM_SIN_DEG(angles[YAW]);
// cy = FPM_COS_DEG(angles[YAW]);
source=FPM_TOFLOAT(FPM_MUL(angles[PITCH], FPM_DIV(FPM_PI, FPM_FROMLONGC(180))));
angle = sin(source);
sp = (__int64)(angle*(double)(2^32));
angle = cos(source);
cp = (__int64)(angle*(double)(2^32));
// angle = angles[PITCH] * (M_PI*2 / 360);
// sp = FPM_SIN_DEG(angles[PITCH]);
// cp = FPM_COS_DEG(angles[PITCH]);
// angle = angles[ROLL] * (M_PI*2 / 360);
source=FPM_TOFLOAT(FPM_MUL(angles[ROLL], FPM_DIV(FPM_PI, FPM_FROMLONGC(180))));
angle = sin(source);
sr = (__int64)(angle*(double)(2^32));
angle = cos(source);
cr = (__int64)(angle*(double)(2^32));
// sr = FPM_SIN_DEG(angles[ROLL]);
// cr = FPM_COS_DEG(angles[ROLL]);
forward[0] = (fixedpoint_t)((cp*cy)>>32); //FPM_MUL(cp,cy);
forward[1] = (fixedpoint_t)((cp*sy)>>32); //FPM_MUL(cp,sy);
forward[2] = (fixedpoint_t)((-sp)>>16);
accum1=-sr;
accum2=-sr;
accum1*=sp;
accum2*=sp;
accum1*=cy;
accum2b=cy;
accum1b=-cr;
accum2b*=-cr;
accum1b*=-sy;
accum2*=sy;
accum1+=accum1b;
accum2+=accum2b;
accum1>>=16;
accum2>>=16;
right[0]=(fixedpoint_t)accum1;
right[1]=(fixedpoint_t)accum2;
//right[0] = FPM_ADD(FPM_MUL(FPM_MUL(FPM_MUL(FPM_FROMLONG(-1),sr),sp),cy),FPM_MUL(FPM_MUL(FPM_FROMLONG(-1),cr),-sy));
//right[0] = (-1*sr*sp*cy+-1*cr*-sy);
//right[1] = FPM_ADD(FPM_MUL(FPM_MUL(FPM_MUL(FPM_FROMLONG(-1),sr),sp),sy),FPM_MUL(FPM_MUL(FPM_FROMLONG(-1),cr),cy));
//right[1] = (-1*sr*sp*sy+-1*cr*cy);
//right[2] = FPM_MUL(FPM_MUL(FPM_FROMLONG(-1),sr),cp);
accum1=-sr;
accum1*=cp;
accum1>>=16;
right[2]=(fixedpoint_t)accum1;
accum1=cr;
accum1*=sp;
accum1*=cy;
accum1b=-sr;
accum1b*=-sy;
accum1+=accum1b;
accum1>>=16;
up[0] = (fixedpoint_t)accum1;
//right[2] = -1*sr*cp;
//up[0] = FPM_ADD(FPM_MUL(FPM_MUL(cr,sp),cy),FPM_MUL(-sr,-sy));
//up[0] = (cr*sp*cy+-sr*-sy);
accum1=cr;
accum1*=sp;
accum1*=sy;
accum1b=-sr;
accum1b*=cy;
accum1+=accum1b;
accum1>>=16;
up[1]=(fixedpoint_t)accum1;
//up[1] = FPM_ADD(FPM_MUL(FPM_MUL(cr,sp),sy),FPM_MUL(-sr,cy));
//up[1] = (cr*sp*sy+-sr*cy);
accum1=cr;
accum1*=cp;
accum1>>=16;
up[2]=(fixedpoint_t)accum1;
//up[2] = FPM_MUL(cr,cp);
//up[2] = cr*cp;
}
#endif
int VectorCompare (vec3_t v1, vec3_t v2)
{
int i;
for (i=0 ; i<3 ; i++)
if (v1[i] != v2[i])
return 0;
return 1;
}
#ifdef USEFPM
int VectorCompareFPM (vec3_FPM_t v1, vec3_FPM_t v2)
{
int i;
for (i=0 ; i<3 ; i++)
if (v1[i] != v2[i])
return 0;
return 1;
}
#endif
void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc)
{
vecc[0] = veca[0] + scale*vecb[0];
vecc[1] = veca[1] + scale*vecb[1];
vecc[2] = veca[2] + scale*vecb[2];
}
#ifdef USEFPM
void VectorMAFPM (vec3_FPM_t veca, fixedpoint_t scale, vec3_FPM_t vecb, vec3_FPM_t vecc)
{
vecc[0] = FPM_ADD(veca[0], FPM_MUL(scale, vecb[0]));
vecc[1] = FPM_ADD(veca[1], FPM_MUL(scale, vecb[1]));
vecc[2] = FPM_ADD(veca[2], FPM_MUL(scale, vecb[2]));
}
#endif
//Dan: The following functions do not appear to be used by WinQuake
/*
vec_t _DotProduct (vec3_t v1, vec3_t v2)
{
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out)
{
out[0] = veca[0]-vecb[0];
out[1] = veca[1]-vecb[1];
out[2] = veca[2]-vecb[2];
}
void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out)
{
out[0] = veca[0]+vecb[0];
out[1] = veca[1]+vecb[1];
out[2] = veca[2]+vecb[2];
}
void _VectorCopy (vec3_t in, vec3_t out)
{
out[0] = in[0];
out[1] = in[1];
out[2] = in[2];
}
*/
void CrossProduct (vec3_t v1, vec3_t v2, vec3_t cross)
{
cross[0] = v1[1]*v2[2] - v1[2]*v2[1];
cross[1] = v1[2]*v2[0] - v1[0]*v2[2];
cross[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
#ifdef USEFPM
void CrossProductFPM (vec3_FPM_t v1, vec3_FPM_t v2, vec3_FPM_t cross)
{
cross[0] = FPM_SUB(FPM_MUL(v1[1], v2[2]), FPM_MUL(v1[2], v2[1]));
cross[1] = FPM_SUB(FPM_MUL(v1[2], v2[0]), FPM_MUL(v1[0], v2[2]));
cross[2] = FPM_SUB(FPM_MUL(v1[0], v2[1]), FPM_MUL(v1[1], v2[0]));
}
#endif
vec_t Length(vec3_t v)
{
int i;
float length;
length = 0;
for (i=0 ; i< 3 ; i++)
length += v[i]*v[i];
length = (float)sqrt (length); // FIXME
return length;
}
#ifdef USEFPM
fixedpoint_t LengthFPM(vec3_FPM_t v)
{
int i;
//Dan: squaring the vectors results in overflow, so we're hardcoding 64 bit 16.16 fixedpoint:
__int64 length, tmp;
// fixedpoint_t length;
length = 0;
for (i=0 ; i< 3 ; i++) {
tmp=v[i];
length += (tmp*tmp)>>16;
}
return (fixedpoint_t)sqrt (length/65536.0)*65536; // FIXME (not Dan's comment)
// return length;
}
#endif
float VectorNormalize (vec3_t v)
{
float length, ilength;
length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
length = (float)sqrt (length); // FIXME
if (length)
{
ilength = 1/length;
v[0] *= ilength;
v[1] *= ilength;
v[2] *= ilength;
}
return length;
}
#ifdef USEFPM
fixedpoint_t VectorNormalizeFPM (vec3_FPM_t v)
{
fixedpoint_t length;//, ilength;
length = FPM_ADD3(FPM_MUL(v[0],v[0]),FPM_MUL(v[1],v[1]),FPM_MUL(v[2],v[2]));
length = FPM_SQRT (length); // FIXME (not dan's comment)
if (length)
{
//ilength = FPM_INV(length);
v[0]=FPM_DIV(v[0], length); //FPM_MUL(v[0], ilength);
v[1]=FPM_DIV(v[1], length); //FPM_MUL(v[1], ilength);
v[2]=FPM_DIV(v[2], length); //FPM_MUL(v[2], ilength);
}
return length;
}
#endif
void VectorInverse (vec3_t v)
{
v[0] = -v[0];
v[1] = -v[1];
v[2] = -v[2];
}
#ifdef USEFPM
void VectorInverseFPM (vec3_FPM_t v)
{
v[0] = -v[0];
v[1] = -v[1];
v[2] = -v[2];
}
#endif
void VectorScale (vec3_t in, vec_t scale, vec3_t out)
{
out[0] = in[0]*scale;
out[1] = in[1]*scale;
out[2] = in[2]*scale;
}
#ifdef USEFPM
void VectorScaleFPM (vec3_FPM_t in, fixedpoint_t scale, vec3_FPM_t out)
{
out[0] = FPM_MUL(in[0], scale);
out[1] = FPM_MUL(in[1], scale);
out[2] = FPM_MUL(in[2], scale);
}
#endif
int Q_log2(int val)
{
int answer=0;
while (val>>=1)
answer++;
return answer;
}
/*
================
R_ConcatRotations
================
*/
void R_ConcatRotations (float in1[3][3], float in2[3][3], float out[3][3])
{
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
in1[0][2] * in2[2][0];
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
in1[0][2] * in2[2][1];
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
in1[0][2] * in2[2][2];
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
in1[1][2] * in2[2][0];
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
in1[1][2] * in2[2][1];
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
in1[1][2] * in2[2][2];
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
in1[2][2] * in2[2][0];
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
in1[2][2] * in2[2][1];
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
in1[2][2] * in2[2][2];
}
#ifdef USEFPM
void R_ConcatRotationsFPM (fixedpoint_t in1[3][3], fixedpoint_t in2[3][3], fixedpoint_t out[3][3])
{
out[0][0] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][0]), FPM_MUL(in1[0][1],in2[1][0]),
FPM_MUL(in1[0][2],in2[2][0]));
out[0][1] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][1]), FPM_MUL(in1[0][1],in2[1][1]),
FPM_MUL(in1[0][2],in2[2][1]));
out[0][2] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][2]), FPM_MUL(in1[0][1],in2[1][2]),
FPM_MUL(in1[0][2],in2[2][2]));
out[1][0] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][0]), FPM_MUL(in1[1][1],in2[1][0]),
FPM_MUL(in1[1][2],in2[2][0]));
out[1][1] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][1]), FPM_MUL(in1[1][1],in2[1][1]),
FPM_MUL(in1[1][2],in2[2][1]));
out[1][2] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][2]), FPM_MUL(in1[1][1],in2[1][2]),
FPM_MUL(in1[1][2],in2[2][2]));
out[2][0] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][0]), FPM_MUL(in1[2][1],in2[1][0]),
FPM_MUL(in1[2][2],in2[2][0]));
out[2][1] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][1]), FPM_MUL(in1[2][1],in2[1][1]),
FPM_MUL(in1[2][2],in2[2][1]));
out[2][2] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][2]), FPM_MUL(in1[2][1],in2[1][2]),
FPM_MUL(in1[2][2],in2[2][2]));
}
#endif
/*
================
R_ConcatTransforms
================
*/
void R_ConcatTransforms (float in1[3][4], float in2[3][4], float out[3][4])
{
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] +
in1[0][2] * in2[2][0];
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] +
in1[0][2] * in2[2][1];
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] +
in1[0][2] * in2[2][2];
out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] +
in1[0][2] * in2[2][3] + in1[0][3];
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] +
in1[1][2] * in2[2][0];
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] +
in1[1][2] * in2[2][1];
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] +
in1[1][2] * in2[2][2];
out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] +
in1[1][2] * in2[2][3] + in1[1][3];
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] +
in1[2][2] * in2[2][0];
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] +
in1[2][2] * in2[2][1];
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] +
in1[2][2] * in2[2][2];
out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] +
in1[2][2] * in2[2][3] + in1[2][3];
}
#ifdef USEFPM
void R_ConcatTransformsFPM (fixedpoint_t in1[3][4], fixedpoint_t in2[3][4], fixedpoint_t out[3][4])
{
register __int64 accum, mul;
int i;
for (i=0; i<3; i++) {
accum=in1[i][0];
accum*=in2[0][0];
mul=in1[i][1];
mul*=in2[1][0];
accum+=mul;
mul=in1[i][2];
mul*=in2[2][0];
accum+=mul;
accum>>=16;
out[i][0]=(fixedpoint_t)accum;
accum=in1[i][0];
accum*=in2[0][1];
mul=in1[i][1];
mul*=in2[1][1];
accum+=mul;
mul=in1[i][2];
mul*=in2[2][1];
accum+=mul;
accum>>=16;
out[i][1]=(fixedpoint_t)accum;
accum=in1[i][0];
accum*=in2[0][2];
mul=in1[i][1];
mul*=in2[1][2];
accum+=mul;
mul=in1[i][2];
mul*=in2[2][2];
accum+=mul;
accum>>=16;
out[i][2]=(fixedpoint_t)accum;
accum=in1[i][0];
accum*=in2[0][3];
mul=in1[i][1];
mul*=in2[1][3];
accum+=mul;
mul=in1[i][2];
mul*=in2[2][3];
accum+=mul;
mul=in1[0][3];
mul<<=16; //16.16 -> 32.32
accum+=mul;
accum>>=16;
out[i][3]=(fixedpoint_t)accum;
}
}
#endif
/*
void R_ConcatTransformsFPM (fixedpoint_t in1[3][4], fixedpoint_t in2[3][4], fixedpoint_t out[3][4])
{
out[0][0] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][0]),FPM_MUL(in1[0][1],in2[1][0]),
FPM_MUL(in1[0][2],in2[2][0]));
out[0][1] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][1]),FPM_MUL(in1[0][1],in2[1][1]),
FPM_MUL(in1[0][2],in2[2][1]));
out[0][2] = FPM_ADD3(FPM_MUL(in1[0][0],in2[0][2]),FPM_MUL(in1[0][1],in2[1][2]),
FPM_MUL(in1[0][2],in2[2][2]));
out[0][3] = FPM_ADD(FPM_ADD3(FPM_MUL(in1[0][0],in2[0][3]),FPM_MUL(in1[0][1],in2[1][3]),
FPM_MUL(in1[0][2],in2[2][3])),in1[0][3]);
out[1][0] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][0]),FPM_MUL(in1[1][1],in2[1][0]),
FPM_MUL(in1[1][2],in2[2][0]));
out[1][1] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][1]),FPM_MUL(in1[1][1],in2[1][1]),
FPM_MUL(in1[1][2],in2[2][1]));
out[1][2] = FPM_ADD3(FPM_MUL(in1[1][0],in2[0][2]),FPM_MUL(in1[1][1],in2[1][2]),
FPM_MUL(in1[1][2],in2[2][2]));
out[1][3] = FPM_ADD(FPM_ADD3(FPM_MUL(in1[1][0],in2[0][3]),FPM_MUL(in1[1][1],in2[1][3]),
FPM_MUL(in1[1][2],in2[2][3])),in1[1][3]);
out[2][0] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][0]),FPM_MUL(in1[2][1],in2[1][0]),
FPM_MUL(in1[2][2],in2[2][0]));
out[2][1] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][1]),FPM_MUL(in1[2][1],in2[1][1]),
FPM_MUL(in1[2][2],in2[2][1]));
out[2][2] = FPM_ADD3(FPM_MUL(in1[2][0],in2[0][2]),FPM_MUL(in1[2][1],in2[1][2]),
FPM_MUL(in1[2][2],in2[2][2]));
out[2][3] = FPM_ADD(FPM_ADD3(FPM_MUL(in1[2][0],in2[0][3]),FPM_MUL(in1[2][1],in2[1][3]),
FPM_MUL(in1[2][2],in2[2][3])),in1[2][3]);
}
*/
#ifdef USEFPM