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422 lines
8.0 KiB
422 lines
8.0 KiB
/*** |
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* |
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* Copyright (c) 1996-2002, Valve LLC. All rights reserved. |
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* |
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* This product contains software technology licensed from Id |
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* Software, Inc. ("Id Technology"). Id Technology (c) 1996 Id Software, Inc. |
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* All Rights Reserved. |
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* |
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* Use, distribution, and modification of this source code and/or resulting |
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* object code is restricted to non-commercial enhancements to products from |
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* Valve LLC. All other use, distribution, or modification is prohibited |
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* without written permission from Valve LLC. |
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* |
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****/ |
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// pm_math.c -- math primitives |
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#include "mathlib.h" |
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#include "const.h" |
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#include <math.h> |
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// up / down |
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#define PITCH 0 |
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// left / right |
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#define YAW 1 |
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// fall over |
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#define ROLL 2 |
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#pragma warning(disable : 4244) |
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vec3_t vec3_origin = {0,0,0}; |
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int nanmask = 255<<23; |
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float anglemod(float a) |
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{ |
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a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535); |
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return a; |
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} |
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void AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) |
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{ |
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float angle; |
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float sr, sp, sy, cr, cp, cy; |
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angle = angles[YAW] * (M_PI*2 / 360); |
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sy = sin(angle); |
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cy = cos(angle); |
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angle = angles[PITCH] * (M_PI*2 / 360); |
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sp = sin(angle); |
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cp = cos(angle); |
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angle = angles[ROLL] * (M_PI*2 / 360); |
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sr = sin(angle); |
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cr = cos(angle); |
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if (forward) |
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{ |
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forward[0] = cp*cy; |
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forward[1] = cp*sy; |
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forward[2] = -sp; |
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} |
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if (right) |
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{ |
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right[0] = (-1*sr*sp*cy+-1*cr*-sy); |
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right[1] = (-1*sr*sp*sy+-1*cr*cy); |
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right[2] = -1*sr*cp; |
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} |
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if (up) |
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{ |
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up[0] = (cr*sp*cy+-sr*-sy); |
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up[1] = (cr*sp*sy+-sr*cy); |
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up[2] = cr*cp; |
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} |
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} |
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void AngleVectorsTranspose (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up) |
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{ |
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float angle; |
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float sr, sp, sy, cr, cp, cy; |
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angle = angles[YAW] * (M_PI*2 / 360); |
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sy = sin(angle); |
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cy = cos(angle); |
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angle = angles[PITCH] * (M_PI*2 / 360); |
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sp = sin(angle); |
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cp = cos(angle); |
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angle = angles[ROLL] * (M_PI*2 / 360); |
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sr = sin(angle); |
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cr = cos(angle); |
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if (forward) |
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{ |
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forward[0] = cp*cy; |
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forward[1] = (sr*sp*cy+cr*-sy); |
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forward[2] = (cr*sp*cy+-sr*-sy); |
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} |
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if (right) |
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{ |
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right[0] = cp*sy; |
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right[1] = (sr*sp*sy+cr*cy); |
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right[2] = (cr*sp*sy+-sr*cy); |
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} |
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if (up) |
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{ |
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up[0] = -sp; |
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up[1] = sr*cp; |
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up[2] = cr*cp; |
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} |
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} |
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void AngleMatrix (const vec3_t angles, float (*matrix)[4] ) |
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{ |
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float angle; |
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float sr, sp, sy, cr, cp, cy; |
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angle = angles[YAW] * (M_PI*2 / 360); |
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sy = sin(angle); |
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cy = cos(angle); |
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angle = angles[PITCH] * (M_PI*2 / 360); |
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sp = sin(angle); |
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cp = cos(angle); |
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angle = angles[ROLL] * (M_PI*2 / 360); |
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sr = sin(angle); |
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cr = cos(angle); |
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// matrix = (YAW * PITCH) * ROLL |
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matrix[0][0] = cp*cy; |
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matrix[1][0] = cp*sy; |
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matrix[2][0] = -sp; |
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matrix[0][1] = sr*sp*cy+cr*-sy; |
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matrix[1][1] = sr*sp*sy+cr*cy; |
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matrix[2][1] = sr*cp; |
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matrix[0][2] = (cr*sp*cy+-sr*-sy); |
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matrix[1][2] = (cr*sp*sy+-sr*cy); |
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matrix[2][2] = cr*cp; |
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matrix[0][3] = 0.0; |
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matrix[1][3] = 0.0; |
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matrix[2][3] = 0.0; |
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} |
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void AngleIMatrix (const vec3_t angles, float matrix[3][4] ) |
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{ |
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float angle; |
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float sr, sp, sy, cr, cp, cy; |
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angle = angles[YAW] * (M_PI*2 / 360); |
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sy = sin(angle); |
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cy = cos(angle); |
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angle = angles[PITCH] * (M_PI*2 / 360); |
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sp = sin(angle); |
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cp = cos(angle); |
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angle = angles[ROLL] * (M_PI*2 / 360); |
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sr = sin(angle); |
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cr = cos(angle); |
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// matrix = (YAW * PITCH) * ROLL |
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matrix[0][0] = cp*cy; |
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matrix[0][1] = cp*sy; |
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matrix[0][2] = -sp; |
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matrix[1][0] = sr*sp*cy+cr*-sy; |
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matrix[1][1] = sr*sp*sy+cr*cy; |
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matrix[1][2] = sr*cp; |
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matrix[2][0] = (cr*sp*cy+-sr*-sy); |
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matrix[2][1] = (cr*sp*sy+-sr*cy); |
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matrix[2][2] = cr*cp; |
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matrix[0][3] = 0.0; |
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matrix[1][3] = 0.0; |
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matrix[2][3] = 0.0; |
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} |
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void NormalizeAngles( float *angles ) |
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{ |
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int i; |
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// Normalize angles |
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for ( i = 0; i < 3; i++ ) |
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{ |
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if ( angles[i] > 180.0 ) |
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{ |
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angles[i] -= 360.0; |
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} |
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else if ( angles[i] < -180.0 ) |
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{ |
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angles[i] += 360.0; |
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} |
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} |
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} |
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/* |
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=================== |
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InterpolateAngles |
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Interpolate Euler angles. |
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FIXME: Use Quaternions to avoid discontinuities |
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Frac is 0.0 to 1.0 ( i.e., should probably be clamped, but doesn't have to be ) |
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=================== |
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*/ |
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void InterpolateAngles( float *start, float *end, float *output, float frac ) |
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{ |
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int i; |
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float ang1, ang2; |
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float d; |
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NormalizeAngles( start ); |
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NormalizeAngles( end ); |
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for ( i = 0 ; i < 3 ; i++ ) |
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{ |
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ang1 = start[i]; |
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ang2 = end[i]; |
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d = ang2 - ang1; |
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if ( d > 180 ) |
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{ |
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d -= 360; |
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} |
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else if ( d < -180 ) |
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{ |
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d += 360; |
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} |
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output[i] = ang1 + d * frac; |
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} |
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NormalizeAngles( output ); |
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} |
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/* |
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=================== |
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AngleBetweenVectors |
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=================== |
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*/ |
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float AngleBetweenVectors( const vec3_t v1, const vec3_t v2 ) |
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{ |
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float angle; |
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float l1 = Length( v1 ); |
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float l2 = Length( v2 ); |
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if ( !l1 || !l2 ) |
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return 0.0f; |
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angle = acos( DotProduct( v1, v2 ) ) / (l1*l2); |
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angle = ( angle * 180.0f ) / M_PI; |
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return angle; |
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} |
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void VectorTransform (const vec3_t in1, float in2[3][4], vec3_t out) |
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{ |
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out[0] = DotProduct(in1, in2[0]) + in2[0][3]; |
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out[1] = DotProduct(in1, in2[1]) + in2[1][3]; |
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out[2] = DotProduct(in1, in2[2]) + in2[2][3]; |
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} |
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int VectorCompare (const vec3_t v1, const vec3_t v2) |
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{ |
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int i; |
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for (i=0 ; i<3 ; i++) |
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if (v1[i] != v2[i]) |
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return 0; |
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return 1; |
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} |
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void VectorMA (const vec3_t veca, float scale, const vec3_t vecb, vec3_t vecc) |
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{ |
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vecc[0] = veca[0] + scale*vecb[0]; |
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vecc[1] = veca[1] + scale*vecb[1]; |
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vecc[2] = veca[2] + scale*vecb[2]; |
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} |
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vec_t _DotProduct (vec3_t v1, vec3_t v2) |
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{ |
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return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; |
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} |
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void _VectorSubtract (vec3_t veca, vec3_t vecb, vec3_t out) |
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{ |
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out[0] = veca[0]-vecb[0]; |
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out[1] = veca[1]-vecb[1]; |
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out[2] = veca[2]-vecb[2]; |
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} |
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void _VectorAdd (vec3_t veca, vec3_t vecb, vec3_t out) |
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{ |
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out[0] = veca[0]+vecb[0]; |
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out[1] = veca[1]+vecb[1]; |
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out[2] = veca[2]+vecb[2]; |
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} |
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void _VectorCopy (vec3_t in, vec3_t out) |
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{ |
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out[0] = in[0]; |
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out[1] = in[1]; |
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out[2] = in[2]; |
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} |
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void CrossProduct (const vec3_t v1, const vec3_t v2, vec3_t cross) |
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{ |
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cross[0] = v1[1]*v2[2] - v1[2]*v2[1]; |
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cross[1] = v1[2]*v2[0] - v1[0]*v2[2]; |
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cross[2] = v1[0]*v2[1] - v1[1]*v2[0]; |
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} |
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double sqrt(double x); |
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float Length(const vec3_t v) |
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{ |
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int i; |
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float length = 0.0f; |
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for (i=0 ; i< 3 ; i++) |
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length += v[i]*v[i]; |
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length = sqrt (length); // FIXME |
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return length; |
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} |
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float Distance(const vec3_t v1, const vec3_t v2) |
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{ |
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vec3_t d; |
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VectorSubtract(v2,v1,d); |
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return Length(d); |
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} |
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float VectorNormalize (vec3_t v) |
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{ |
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float length, ilength; |
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length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; |
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length = sqrt (length); // FIXME |
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if (length) |
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{ |
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ilength = 1/length; |
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v[0] *= ilength; |
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v[1] *= ilength; |
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v[2] *= ilength; |
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} |
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return length; |
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} |
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void VectorInverse (vec3_t v) |
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{ |
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v[0] = -v[0]; |
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v[1] = -v[1]; |
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v[2] = -v[2]; |
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} |
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void VectorScale (const vec3_t in, vec_t scale, vec3_t out) |
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{ |
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out[0] = in[0]*scale; |
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out[1] = in[1]*scale; |
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out[2] = in[2]*scale; |
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} |
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int Q_log2(int val) |
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{ |
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int answer=0; |
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while (val>>=1) |
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answer++; |
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return answer; |
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} |
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void VectorMatrix( vec3_t forward, vec3_t right, vec3_t up) |
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{ |
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vec3_t tmp; |
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if (forward[0] == 0 && forward[1] == 0) |
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{ |
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right[0] = 1; |
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right[1] = 0; |
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right[2] = 0; |
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up[0] = -forward[2]; |
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up[1] = 0; |
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up[2] = 0; |
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return; |
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} |
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tmp[0] = 0; tmp[1] = 0; tmp[2] = 1.0; |
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CrossProduct( forward, tmp, right ); |
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VectorNormalize( right ); |
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CrossProduct( right, forward, up ); |
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VectorNormalize( up ); |
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} |
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void VectorAngles( const vec3_t forward, vec3_t angles ) |
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{ |
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float tmp, yaw, pitch; |
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if (forward[1] == 0 && forward[0] == 0) |
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{ |
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yaw = 0; |
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if (forward[2] > 0) |
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pitch = 90; |
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else |
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pitch = 270; |
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} |
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else |
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{ |
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yaw = (atan2(forward[1], forward[0]) * 180 / M_PI); |
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if (yaw < 0) |
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yaw += 360; |
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tmp = sqrt (forward[0]*forward[0] + forward[1]*forward[1]); |
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pitch = (atan2(forward[2], tmp) * 180 / M_PI); |
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if (pitch < 0) |
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pitch += 360; |
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} |
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angles[0] = pitch; |
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angles[1] = yaw; |
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angles[2] = 0; |
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}
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