// mathlib.c -- math primitives #include <math.h>#include "quakedef.h" void Sys_Error (char *error, ...); vec3_t vec3_origin = {0,0,0};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];} /*** 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 = 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 );} 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]; 	memmove( 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]; 	memset( zrot, 0, sizeof( zrot ) );	zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F; 	zrot[0][0] = cos( DEG2RAD( degrees ) );	zrot[0][1] = sin( DEG2RAD( degrees ) );	zrot[1][0] = -sin( DEG2RAD( degrees ) );	zrot[1][1] = 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];	}} /*-----------------------------------------------------------------*/ float anglemod(float a){#if 0	if (a >= 0)		a -= 360*(int)(a/360);	else		a += 360*( 1 + (int)(-a/360) );#endif	a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535);	return a;} /*==================BOPS_Error Split out like this for ASM to call.==================*/void BOPS_Error (void){	Sys_Error ("BoxOnPlaneSide: Bad signbits");} /*==================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 PARANOIDif (sides == 0)	Sys_Error ("BoxOnPlaneSide: sides==0");#endif 	return sides;} void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up){	float angle;	float sr, sp, sy, cr, cp, cy; 	angle = angles[YAW] * (M_PI*2 / 360);	sy = sin(angle);	cy = cos(angle);	angle = angles[PITCH] * (M_PI*2 / 360);	sp = sin(angle);	cp = cos(angle);	angle = angles[ROLL] * (M_PI*2 / 360);	sr = sin(angle);	cr = 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;} 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;} 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];} 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];} double sqrt(double x); vec_t Length(vec3_t v){	int i;	float length; 	length = 0;	for (i=0 ; i< 3 ; i++)		length += v[i]*v[i];	length = sqrt (length); // FIXME 	return length;} float VectorNormalize (vec3_t v){	float length, ilength; 	length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];	length = sqrt (length); // FIXME 	if (length)	{		ilength = 1/length;		v[0] *= ilength;		v[1] *= ilength;		v[2] *= ilength;	} 	return length; } void VectorInverse (vec3_t v){	v[0] = -v[0];	v[1] = -v[1];	v[2] = -v[2];} 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;} 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];} /*================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];} /*===================FloorDivMod Returns mathematically correct (floor-based) quotient and remainder fornumer and denom, both of which should contain no fractional part. Thequotient must fit in 32 bits.====================*/ void FloorDivMod (double numer, double denom, int *quotient,		int *rem){	int q, r;	double x; #ifndef PARANOID	if (denom <= 0.0)		Sys_Error ("FloorDivMod: bad denominator %d\n", denom); // if ((floor(numer) != numer) || (floor(denom) != denom))// Sys_Error ("FloorDivMod: non-integer numer or denom %f %f\n",// numer, denom);#endif 	if (numer >= 0.0)	{ 		x = floor(numer / denom);		q = (int)x;		r = (int)floor(numer - (x * denom));	}	else	{	//	// perform operations with positive values, and fix mod to make floor-based	//		x = floor(-numer / denom);		q = -(int)x;		r = (int)floor(-numer - (x * denom));		if (r != 0)		{			q--;			r = (int)denom - r;		}	} 	*quotient = q;	*rem = r;} 

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