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public: reorganize mathlib, inline more functions

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This commit is contained in:
Alibek Omarov 2024-09-29 21:45:45 +03:00
parent c7ad8e4bf6
commit 13a0afef06
2 changed files with 304 additions and 380 deletions
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257
public/xash3d_mathlib.c
View file

@ -18,15 +18,15 @@ GNU General Public License for more details.
#include "com_model.h" #include "com_model.h"
#include "xash3d_mathlib.h" #include "xash3d_mathlib.h"
#include "eiface.h" #include "eiface.h"
#include "studio.h"
#define NUM_HULL_ROUNDS ARRAYSIZE( hull_table ) #define NUM_HULL_ROUNDS ARRAYSIZE( hull_table )
#define HULL_PRECISION 4 #define HULL_PRECISION 4
vec3_t vec3_origin = { 0, 0, 0 }; static const word hull_table[] = { 2, 4, 6, 8, 12, 16, 18, 24, 28, 32, 36, 40, 48, 54, 56, 60, 64, 72, 80, 112, 120, 128, 140, 176 };
static word hull_table[] = { 2, 4, 6, 8, 12, 16, 18, 24, 28, 32, 36, 40, 48, 54, 56, 60, 64, 72, 80, 112, 120, 128, 140, 176 }; const vec3_t vec3_origin = { 0, 0, 0 };
const int boxpnt[6][4] =
int boxpnt[6][4] =
{ {
{ 0, 4, 6, 2 }, // +X { 0, 4, 6, 2 }, // +X
{ 0, 1, 5, 4 }, // +Y { 0, 1, 5, 4 }, // +Y
@ -42,18 +42,7 @@ const float m_bytenormals[NUMVERTEXNORMALS][3] =
#include "anorms.h" #include "anorms.h"
}; };
/* uint16_t FloatToHalf( float v )
=================
anglemod
=================
*/
float anglemod( float a )
{
a = (360.0f / 65536) * ((int)(a*(65536/360.0f)) & 65535);
return a;
}
word FloatToHalf( float v )
{ {
unsigned int i = FloatAsUint( v ); unsigned int i = FloatAsUint( v );
unsigned int e = (i >> 23) & 0x00ff; unsigned int e = (i >> 23) & 0x00ff;
@ -69,7 +58,7 @@ word FloatToHalf( float v )
return h; return h;
} }
float HalfToFloat( word h ) float HalfToFloat( uint16_t h )
{ {
unsigned int f = (h << 16) & 0x80000000; unsigned int f = (h << 16) & 0x80000000;
unsigned int em = h & 0x7fff; unsigned int em = h & 0x7fff;
@ -151,57 +140,6 @@ void RoundUpHullSize( vec3_t size )
} }
} }
/*
=================
SignbitsForPlane
fast box on planeside test
=================
*/
int SignbitsForPlane( const vec3_t normal )
{
int bits, i;
for( bits = i = 0; i < 3; i++ )
if( normal[i] < 0.0f ) bits |= 1<<i;
return bits;
}
/*
=================
PlaneTypeForNormal
=================
*/
int PlaneTypeForNormal( const vec3_t normal )
{
if( normal[0] == 1.0f )
return PLANE_X;
if( normal[1] == 1.0f )
return PLANE_Y;
if( normal[2] == 1.0f )
return PLANE_Z;
return PLANE_NONAXIAL;
}
/*
=================
NearestPOW
=================
*/
int NearestPOW( int value, qboolean roundDown )
{
int n = 1;
if( value <= 0 ) return 1;
while( n < value ) n <<= 1;
if( roundDown )
{
if( n > value ) n >>= 1;
}
return n;
}
/* /*
================= =================
rsqrt rsqrt
@ -224,43 +162,6 @@ float rsqrt( float number )
return y; return y;
} }
/*
==============
VectorCompareEpsilon
==============
*/
qboolean VectorCompareEpsilon( const vec3_t vec1, const vec3_t vec2, vec_t epsilon )
{
vec_t ax, ay, az;
ax = fabs( vec1[0] - vec2[0] );
ay = fabs( vec1[1] - vec2[1] );
az = fabs( vec1[2] - vec2[2] );
if(( ax <= epsilon ) && ( ay <= epsilon ) && ( az <= epsilon ))
return true;
return false;
}
float VectorNormalizeLength2( const vec3_t v, vec3_t out )
{
float length, ilength;
length = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
length = sqrt( length );
if( length )
{
ilength = 1.0f / length;
out[0] = v[0] * ilength;
out[1] = v[1] * ilength;
out[2] = v[2] * ilength;
}
return length;
}
void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up ) void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up )
{ {
float d; float d;
@ -276,42 +177,6 @@ void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up )
VectorNormalize( up ); VectorNormalize( up );
} }
/*
=================
AngleVectors
=================
*/
void GAME_EXPORT AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up )
{
float sr, sp, sy, cr, cp, cy;
SinCos( DEG2RAD( angles[YAW] ), &sy, &cy );
SinCos( DEG2RAD( angles[PITCH] ), &sp, &cp );
SinCos( DEG2RAD( angles[ROLL] ), &sr, &cr );
if( forward )
{
forward[0] = cp * cy;
forward[1] = cp * sy;
forward[2] = -sp;
}
if( right )
{
right[0] = (-1.0f * sr * sp * cy + -1.0f * cr * -sy );
right[1] = (-1.0f * sr * sp * sy + -1.0f * cr * cy );
right[2] = (-1.0f * sr * cp);
}
if( up )
{
up[0] = (cr * sp * cy + -sr * -sy );
up[1] = (cr * sp * sy + -sr * cy );
up[2] = (cr * cp);
}
}
/* /*
================= =================
VectorAngles VectorAngles
@ -384,39 +249,6 @@ void VectorsAngles( const vec3_t forward, const vec3_t right, const vec3_t up, v
// //
// bounds operations // bounds operations
// //
/*
=================
AddPointToBounds
=================
*/
void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs )
{
float val;
int i;
for( i = 0; i < 3; i++ )
{
val = v[i];
if( val < mins[i] ) mins[i] = val;
if( val > maxs[i] ) maxs[i] = val;
}
}
/*
=================
ExpandBounds (not used anywhere?)
=================
*/
void ExpandBounds( vec3_t mins, vec3_t maxs, float offset )
{
mins[0] -= offset;
mins[1] -= offset;
mins[2] -= offset;
maxs[0] += offset;
maxs[1] += offset;
maxs[2] += offset;
}
/* /*
================= =================
SphereIntersect SphereIntersect
@ -457,67 +289,9 @@ void PlaneIntersect( const mplane_t *plane, const vec3_t p0, const vec3_t p1, ve
VectorMA( p0, sect, p1, out ); VectorMA( p0, sect, p1, out );
} }
/*
=================
RadiusFromBounds
=================
*/
float RadiusFromBounds( const vec3_t mins, const vec3_t maxs )
{
vec3_t corner;
int i;
for( i = 0; i < 3; i++ )
{
corner[i] = fabs( mins[i] ) > fabs( maxs[i] ) ? fabs( mins[i] ) : fabs( maxs[i] );
}
return VectorLength( corner );
}
// //
// studio utils // studio utils
// //
/*
====================
AngleQuaternion
====================
*/
void AngleQuaternion( const vec3_t angles, vec4_t q, qboolean studio )
{
float sr, sp, sy, cr, cp, cy;
if( studio )
{
SinCos( angles[ROLL] * 0.5f, &sy, &cy );
SinCos( angles[YAW] * 0.5f, &sp, &cp );
SinCos( angles[PITCH] * 0.5f, &sr, &cr );
}
else
{
SinCos( DEG2RAD( angles[YAW] ) * 0.5f, &sy, &cy );
SinCos( DEG2RAD( angles[PITCH] ) * 0.5f, &sp, &cp );
SinCos( DEG2RAD( angles[ROLL] ) * 0.5f, &sr, &cr );
}
q[0] = sr * cp * cy - cr * sp * sy; // X
q[1] = cr * sp * cy + sr * cp * sy; // Y
q[2] = cr * cp * sy - sr * sp * cy; // Z
q[3] = cr * cp * cy + sr * sp * sy; // W
}
/*
====================
QuaternionAngle
====================
*/
void QuaternionAngle( const vec4_t q, vec3_t angles )
{
matrix3x4 mat;
Matrix3x4_FromOriginQuat( mat, q, vec3_origin );
Matrix3x4_AnglesFromMatrix( mat, angles );
}
/* /*
==================== ====================
@ -680,25 +454,6 @@ int BoxOnPlaneSide( const vec3_t emins, const vec3_t emaxs, const mplane_t *p )
return sides; return sides;
} }
/*
====================
StudioSlerpBones
====================
*/
void R_StudioSlerpBones( int numbones, vec4_t q1[], float pos1[][3], const vec4_t q2[], const float pos2[][3], float s )
{
int i;
s = bound( 0.0f, s, 1.0f );
for( i = 0; i < numbones; i++ )
{
QuaternionSlerp( q1[i], q2[i], s, q1[i] );
VectorLerp( pos1[i], s, pos2[i], pos1[i] );
}
}
/* /*
==================== ====================
StudioCalcBoneQuaternion StudioCalcBoneQuaternion

359
public/xash3d_mathlib.h
View file

@ -23,9 +23,14 @@ GNU General Public License for more details.
#include "build.h" #include "build.h"
#include "xash3d_types.h" #include "xash3d_types.h"
#include "const.h"
#include "com_model.h" /*
#include "studio.h" ===========================
CONSTANTS AND HELPER MACROS
===========================
*/
// euler angle order // euler angle order
#define PITCH 0 #define PITCH 0
@ -36,10 +41,7 @@ GNU General Public License for more details.
#define M_PI (double)3.14159265358979323846 #define M_PI (double)3.14159265358979323846
#endif #endif
#ifndef M_PI2
#define M_PI2 ((double)(M_PI * 2)) #define M_PI2 ((double)(M_PI * 2))
#endif
#define M_PI_F ((float)(M_PI)) #define M_PI_F ((float)(M_PI))
#define M_PI2_F ((float)(M_PI2)) #define M_PI2_F ((float)(M_PI2))
@ -75,21 +77,10 @@ GNU General Public License for more details.
#define Q_max( a, b ) (((a) > (b)) ? (a) : (b)) #define Q_max( a, b ) (((a) > (b)) ? (a) : (b))
#define Q_equal_e( a, b, e ) (((a) >= ((b) - (e))) && ((a) <= ((b) + (e)))) #define Q_equal_e( a, b, e ) (((a) >= ((b) - (e))) && ((a) <= ((b) + (e))))
#define Q_equal( a, b ) Q_equal_e( a, b, EQUAL_EPSILON ) #define Q_equal( a, b ) Q_equal_e( a, b, EQUAL_EPSILON )
#define Q_recip( a ) ((float)(1.0f / (float)(a)))
#define Q_floor( a ) ((float)(int)(a)) #define Q_floor( a ) ((float)(int)(a))
#define Q_ceil( a ) ((float)(int)((a) + 1)) #define Q_ceil( a ) ((float)(int)((a) + 1))
#define Q_round( x, y ) (floor( x / y + 0.5f ) * y ) #define Q_round( x, y ) (floor( x / y + 0.5f ) * y )
#define Q_rint(x) ((x) < 0.0f ? ((int)((x)-0.5f)) : ((int)((x)+0.5f))) #define Q_rint(x) ((x) < 0.0f ? ((int)((x)-0.5f)) : ((int)((x)+0.5f)))
#ifdef XASH_IRIX
#undef isnan
#endif
#ifdef isnan // check for C99 isnan
#define IS_NAN isnan
#else
#define IS_NAN(x) (((*(int *)&x) & (255<<23)) == (255<<23))
#endif
#define ALIGN( x, a ) ((( x ) + (( size_t )( a ) - 1 )) & ~(( size_t )( a ) - 1 )) #define ALIGN( x, a ) ((( x ) + (( size_t )( a ) - 1 )) & ~(( size_t )( a ) - 1 ))
#define VectorIsNAN(v) (IS_NAN(v[0]) || IS_NAN(v[1]) || IS_NAN(v[2])) #define VectorIsNAN(v) (IS_NAN(v[0]) || IS_NAN(v[1]) || IS_NAN(v[2]))
@ -141,9 +132,85 @@ GNU General Public License for more details.
#define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist) #define PlaneDiff(point,plane) (((plane)->type < 3 ? (point)[(plane)->type] : DotProduct((point), (plane)->normal)) - (plane)->dist)
#define bound( min, num, max ) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min)) #define bound( min, num, max ) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min))
/*
===========================
CONSTANTS GLOBALS
===========================
*/
extern const vec3_t vec3_origin;
extern const int boxpnt[6][4];
extern const matrix3x4 m_matrix3x4_identity;
extern const matrix4x4 m_matrix4x4_identity;
extern const float m_bytenormals[NUMVERTEXNORMALS][3];
/*
===========================
MATH FUNCTIONS
===========================
*/
typedef struct mplane_s mplane_t;
typedef struct mstudiobone_s mstudiobone_t;
typedef struct mstudioanim_s mstudioanim_t;
float rsqrt( float number );
uint16_t FloatToHalf( float v );
float HalfToFloat( uint16_t h );
void RoundUpHullSize( vec3_t size );
void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up );
void VectorAngles( const float *forward, float *angles );
void VectorsAngles( const vec3_t forward, const vec3_t right, const vec3_t up, vec3_t angles );
void PlaneIntersect( const mplane_t *plane, const vec3_t p0, const vec3_t p1, vec3_t out );
qboolean SphereIntersect( const vec3_t vSphereCenter, float fSphereRadiusSquared, const vec3_t vLinePt, const vec3_t vLineDir );
void QuaternionSlerp( const vec4_t p, const vec4_t q, float t, vec4_t qt );
void R_StudioCalcBoneQuaternion( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const float *adj, vec4_t q );
void R_StudioCalcBonePosition( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const vec3_t adj, vec3_t pos );
int BoxOnPlaneSide( const vec3_t emins, const vec3_t emaxs, const mplane_t *p );
#define BOX_ON_PLANE_SIDE( emins, emaxs, p ) \
((( p )->type < 3 ) ? \
( \
((p)->dist <= (emins)[(p)->type]) ? 1 : \
( \
((p)->dist >= (emaxs)[(p)->type] ) ? 2 : 3 \
) \
) : BoxOnPlaneSide(( emins ), ( emaxs ), ( p )))
//
// matrixlib.c
//
#define Matrix3x4_LoadIdentity( mat ) Matrix3x4_Copy( mat, m_matrix3x4_identity )
#define Matrix3x4_Copy( out, in ) memcpy( out, in, sizeof( matrix3x4 ))
void Matrix3x4_VectorTransform( const matrix3x4 in, const float v[3], float out[3] );
void Matrix3x4_VectorITransform( const matrix3x4 in, const float v[3], float out[3] );
void Matrix3x4_VectorRotate( const matrix3x4 in, const float v[3], float out[3] );
void Matrix3x4_VectorIRotate( const matrix3x4 in, const float v[3], float out[3] );
void Matrix3x4_ConcatTransforms( matrix3x4 out, const matrix3x4 in1, const matrix3x4 in2 );
void Matrix3x4_FromOriginQuat( matrix3x4 out, const vec4_t quaternion, const vec3_t origin );
void Matrix3x4_CreateFromEntity( matrix3x4 out, const vec3_t angles, const vec3_t origin, float scale );
void Matrix3x4_TransformAABB( const matrix3x4 world, const vec3_t mins, const vec3_t maxs, vec3_t absmin, vec3_t absmax );
void Matrix3x4_AnglesFromMatrix( const matrix3x4 in, vec3_t out );
#define Matrix4x4_LoadIdentity( mat ) Matrix4x4_Copy( mat, m_matrix4x4_identity )
#define Matrix4x4_Copy( out, in ) memcpy( out, in, sizeof( matrix4x4 ))
void Matrix4x4_VectorTransform( const matrix4x4 in, const float v[3], float out[3] );
void Matrix4x4_VectorITransform( const matrix4x4 in, const float v[3], float out[3] );
void Matrix4x4_VectorRotate( const matrix4x4 in, const float v[3], float out[3] );
void Matrix4x4_VectorIRotate( const matrix4x4 in, const float v[3], float out[3] );
void Matrix4x4_ConcatTransforms( matrix4x4 out, const matrix4x4 in1, const matrix4x4 in2 );
void Matrix4x4_CreateFromEntity( matrix4x4 out, const vec3_t angles, const vec3_t origin, float scale );
void Matrix4x4_TransformPositivePlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist );
void Matrix4x4_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin );
void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 );
qboolean Matrix4x4_Invert_Full( matrix4x4 out, const matrix4x4 in1 );
// horrible cast but helps not breaking strict aliasing in mathlib // horrible cast but helps not breaking strict aliasing in mathlib
// as union type punning should be fine in C but not in C++ // as union type punning should be fine in C but not in C++
// so don't carry over this to C++ code // so don't carry over this to C++ code
#ifndef __cplusplus
typedef union typedef union
{ {
float fl; float fl;
@ -176,28 +243,98 @@ static inline float UintAsFloat( uint32_t u )
bits.u = u; bits.u = u;
return bits.fl; return bits.fl;
} }
#endif // __cplusplus
// isnan implementation is broken on IRIX as reported in https://github.com/FWGS/xash3d-fwgs/pull/1211
#if defined( XASH_IRIX ) || !defined( isnan )
static inline int IS_NAN( float x )
{
int32_t i = FloatAsInt( x ); // only C
return i & ( 255 << 23 ) == ( 255 << 23 );
}
#else
#define IS_NAN isnan
#endif
static inline float anglemod( float a )
{
a = (360.0f / 65536) * ((int)(a*(65536/360.0f)) & 65535);
return a;
}
static inline void SinCos( float radians, float *sine, float *cosine ) static inline void SinCos( float radians, float *sine, float *cosine )
{ {
*sine = sin(radians); *sine = sin( radians );
*cosine = cos(radians); *cosine = cos( radians );
} }
float rsqrt( float number ); static inline int NearestPOW( int value, qboolean roundDown )
float anglemod( float a ); {
word FloatToHalf( float v ); int n = 1;
float HalfToFloat( word h );
void RoundUpHullSize( vec3_t size ); if( value <= 0 ) return 1;
int SignbitsForPlane( const vec3_t normal ); while( n < value ) n <<= 1;
int PlaneTypeForNormal( const vec3_t normal );
int NearestPOW( int value, qboolean roundDown ); if( roundDown )
float VectorNormalizeLength2( const vec3_t v, vec3_t out ); {
qboolean VectorCompareEpsilon( const vec3_t vec1, const vec3_t vec2, vec_t epsilon ); if( n > value ) n >>= 1;
void VectorVectors( const vec3_t forward, vec3_t right, vec3_t up ); }
void VectorAngles( const float *forward, float *angles ); return n;
void AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up ); }
void VectorsAngles( const vec3_t forward, const vec3_t right, const vec3_t up, vec3_t angles );
void PlaneIntersect( const struct mplane_s *plane, const vec3_t p0, const vec3_t p1, vec3_t out ); static inline qboolean VectorCompareEpsilon( const vec3_t vec1, const vec3_t vec2, vec_t epsilon )
{
vec_t ax = fabs( vec1[0] - vec2[0] );
vec_t ay = fabs( vec1[1] - vec2[1] );
vec_t az = fabs( vec1[2] - vec2[2] );
return ( ax <= epsilon ) && ( ay <= epsilon ) && ( az <= epsilon ) ? true : false;
}
static inline float VectorNormalizeLength2( const vec3_t v, vec3_t out )
{
float length = VectorLength( v );
if( length )
{
float ilength = 1.0f / length;
out[0] = v[0] * ilength;
out[1] = v[1] * ilength;
out[2] = v[2] * ilength;
}
return length;
}
static inline void GAME_EXPORT AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up )
{
float sr, sp, sy, cr, cp, cy;
SinCos( DEG2RAD( angles[YAW] ), &sy, &cy );
SinCos( DEG2RAD( angles[PITCH] ), &sp, &cp );
SinCos( DEG2RAD( angles[ROLL] ), &sr, &cr );
if( forward )
{
forward[0] = cp * cy;
forward[1] = cp * sy;
forward[2] = -sp;
}
if( right )
{
right[0] = (-1.0f * sr * sp * cy + -1.0f * cr * -sy );
right[1] = (-1.0f * sr * sp * sy + -1.0f * cr * cy );
right[2] = (-1.0f * sr * cp);
}
if( up )
{
up[0] = (cr * sp * cy + -sr * -sy );
up[1] = (cr * sp * sy + -sr * cy );
up[2] = (cr * cp);
}
}
static inline void ClearBounds( vec3_t mins, vec3_t maxs ) static inline void ClearBounds( vec3_t mins, vec3_t maxs )
{ {
@ -224,20 +361,85 @@ static inline qboolean BoundsAndSphereIntersect( const vec3_t mins, const vec3_t
return true; return true;
} }
void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs ); static inline float RadiusFromBounds( const vec3_t mins, const vec3_t maxs )
qboolean SphereIntersect( const vec3_t vSphereCenter, float fSphereRadiusSquared, const vec3_t vLinePt, const vec3_t vLineDir ); {
float RadiusFromBounds( const vec3_t mins, const vec3_t maxs ); vec3_t corner;
void ExpandBounds( vec3_t mins, vec3_t maxs, float offset ); int i;
void AngleQuaternion( const vec3_t angles, vec4_t q, qboolean studio ); for( i = 0; i < 3; i++ )
void QuaternionAngle( const vec4_t q, vec3_t angles ); {
void QuaternionSlerp( const vec4_t p, const vec4_t q, float t, vec4_t qt ); float a = fabs( mins[i] );
float b = fabs( maxs[i] );
corner[i] = Q_max( a, b );
}
// return VectorLength( corner );
// matrixlib.c }
//
#define Matrix3x4_LoadIdentity( mat ) Matrix3x4_Copy( mat, m_matrix3x4_identity ) static inline void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs )
#define Matrix3x4_Copy( out, in ) memcpy( out, in, sizeof( matrix3x4 )) {
int i;
for( i = 0; i < 3; i++ )
{
float val = v[i];
if( val < mins[i] ) mins[i] = val;
if( val > maxs[i] ) maxs[i] = val;
}
}
static inline void ExpandBounds( vec3_t mins, vec3_t maxs, float offset )
{
mins[0] -= offset;
mins[1] -= offset;
mins[2] -= offset;
maxs[0] += offset;
maxs[1] += offset;
maxs[2] += offset;
}
static inline int SignbitsForPlane( const vec3_t normal )
{
int bits, i;
for( bits = i = 0; i < 3; i++ )
if( normal[i] < 0.0f ) bits |= 1<<i;
return bits;
}
static inline int PlaneTypeForNormal( const vec3_t normal )
{
if( normal[0] == 1.0f )
return PLANE_X;
if( normal[1] == 1.0f )
return PLANE_Y;
if( normal[2] == 1.0f )
return PLANE_Z;
return PLANE_NONAXIAL;
}
static inline void AngleQuaternion( const vec3_t angles, vec4_t q, qboolean studio )
{
float sr, sp, sy, cr, cp, cy;
if( studio )
{
SinCos( angles[ROLL] * 0.5f, &sy, &cy );
SinCos( angles[YAW] * 0.5f, &sp, &cp );
SinCos( angles[PITCH] * 0.5f, &sr, &cr );
}
else
{
SinCos( DEG2RAD( angles[YAW] ) * 0.5f, &sy, &cy );
SinCos( DEG2RAD( angles[PITCH] ) * 0.5f, &sp, &cp );
SinCos( DEG2RAD( angles[ROLL] ) * 0.5f, &sr, &cr );
}
q[0] = sr * cp * cy - cr * sp * sy; // X
q[1] = cr * sp * cy + sr * cp * sy; // Y
q[2] = cr * cp * sy - sr * sp * cy; // Z
q[3] = cr * cp * cy + sr * sp * sy; // W
}
static inline void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z ) static inline void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z )
{ {
@ -253,56 +455,23 @@ static inline void Matrix3x4_OriginFromMatrix( const matrix3x4 in, float *out )
out[2] = in[2][3]; out[2] = in[2][3];
} }
void Matrix3x4_VectorTransform( const matrix3x4 in, const float v[3], float out[3] ); static inline void QuaternionAngle( const vec4_t q, vec3_t angles )
void Matrix3x4_VectorITransform( const matrix3x4 in, const float v[3], float out[3] ); {
void Matrix3x4_VectorRotate( const matrix3x4 in, const float v[3], float out[3] ); matrix3x4 mat;
void Matrix3x4_VectorIRotate( const matrix3x4 in, const float v[3], float out[3] ); Matrix3x4_FromOriginQuat( mat, q, vec3_origin );
void Matrix3x4_ConcatTransforms( matrix3x4 out, const matrix3x4 in1, const matrix3x4 in2 ); Matrix3x4_AnglesFromMatrix( mat, angles );
void Matrix3x4_FromOriginQuat( matrix3x4 out, const vec4_t quaternion, const vec3_t origin ); }
void Matrix3x4_CreateFromEntity( matrix3x4 out, const vec3_t angles, const vec3_t origin, float scale );
void Matrix3x4_TransformAABB( const matrix3x4 world, const vec3_t mins, const vec3_t maxs, vec3_t absmin, vec3_t absmax );
void Matrix3x4_AnglesFromMatrix( const matrix3x4 in, vec3_t out );
#define Matrix4x4_LoadIdentity( mat ) Matrix4x4_Copy( mat, m_matrix4x4_identity ) static inline void R_StudioSlerpBones( int numbones, vec4_t q1[], float pos1[][3], const vec4_t q2[], const float pos2[][3], float s )
#define Matrix4x4_Copy( out, in ) memcpy( out, in, sizeof( matrix4x4 )) {
int i;
s = bound( 0.0f, s, 1.0f );
void Matrix4x4_VectorTransform( const matrix4x4 in, const float v[3], float out[3] ); for( i = 0; i < numbones; i++ )
void Matrix4x4_VectorITransform( const matrix4x4 in, const float v[3], float out[3] ); {
void Matrix4x4_VectorRotate( const matrix4x4 in, const float v[3], float out[3] ); QuaternionSlerp( q1[i], q2[i], s, q1[i] );
void Matrix4x4_VectorIRotate( const matrix4x4 in, const float v[3], float out[3] ); VectorLerp( pos1[i], s, pos2[i], pos1[i] );
void Matrix4x4_ConcatTransforms( matrix4x4 out, const matrix4x4 in1, const matrix4x4 in2 ); }
void Matrix4x4_CreateFromEntity( matrix4x4 out, const vec3_t angles, const vec3_t origin, float scale ); }
void Matrix4x4_TransformPositivePlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist );
void Matrix4x4_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin );
void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 );
qboolean Matrix4x4_Invert_Full( matrix4x4 out, const matrix4x4 in1 );
void R_StudioSlerpBones( int numbones, vec4_t q1[], float pos1[][3], const vec4_t q2[], const float pos2[][3], float s );
void R_StudioCalcBoneQuaternion( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const float *adj, vec4_t q );
void R_StudioCalcBonePosition( int frame, float s, const mstudiobone_t *pbone, const mstudioanim_t *panim, const vec3_t adj, vec3_t pos );
int BoxOnPlaneSide( const vec3_t emins, const vec3_t emaxs, const mplane_t *p );
#define BOX_ON_PLANE_SIDE( emins, emaxs, p ) \
((( p )->type < 3 ) ? \
( \
((p)->dist <= (emins)[(p)->type]) ? \
1 \
: \
( \
((p)->dist >= (emaxs)[(p)->type]) ? \
2 \
: \
3 \
) \
) \
: \
BoxOnPlaneSide(( emins ), ( emaxs ), ( p )))
extern vec3_t vec3_origin;
extern int boxpnt[6][4];
extern const matrix3x4 m_matrix3x4_identity;
extern const matrix4x4 m_matrix4x4_identity;
extern const float m_bytenormals[NUMVERTEXNORMALS][3];
#endif // XASH3D_MATHLIB_H #endif // XASH3D_MATHLIB_H