#include <u.h>#include <libc.h>#include <stdio.h>#include "../dat.h"#include "../fns.h" #define DEG2RAD( a ) ( a * M_PI ) / 180.0F vec3_t vec3_origin = {0,0,0}; //============================================================================ 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]; 	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]; 	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];	}} void AngleVectors (vec3_t angles, vec3_t forward, vec3_t right, vec3_t up){	float		angle;	static float		sr, sp, sy, cr, cp, cy;	// static to help MS compiler fp bugs 	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); 	if (forward)	{		forward[0] = cp*cy;		forward[1] = cp*sy;		forward[2] = -sp;	}	if (right)	{		right[0] = (-1*sr*sp*cy+-1*cr*-sy);		right[1] = (-1*sr*sp*sy+-1*cr*cy);		right[2] = -1*sr*cp;	}	if (up)	{		up[0] = (cr*sp*cy+-sr*-sy);		up[1] = (cr*sp*sy+-sr*cy);		up[2] = cr*cp;	}}  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 );}   /*================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];} /*===============LerpAngle ===============*/float LerpAngle (float a2, float a1, float frac){	if (a1 - a2 > 180)		a1 -= 360;	if (a1 - a2 < -180)		a1 += 360;	return a2 + frac * (a1 - a2);}  float	anglemod(float a){/*	if (a >= 0)		a -= 360*(int)(a/360);	else		a += 360*( 1 + (int)(-a/360) );*/	a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535);	return a;} 	int		i;	vec3_t	corners[2];  // this is the slow, general versionint BoxOnPlaneSide2 (vec3_t emins, vec3_t emaxs, cplane_t *p){	int		i;	float	dist1, dist2;	int		sides;	vec3_t	corners[2]; 	for (i=0 ; i<3 ; i++)	{		if (p->normal[i] < 0)		{			corners[0][i] = emins[i];			corners[1][i] = emaxs[i];		}		else		{			corners[1][i] = emins[i];			corners[0][i] = emaxs[i];		}	}	dist1 = DotProduct (p->normal, corners[0]) - p->dist;	dist2 = DotProduct (p->normal, corners[1]) - p->dist;	sides = 0;	if (dist1 >= 0)		sides = 1;	if (dist2 < 0)		sides |= 2; 	return sides;} /*==================BoxOnPlaneSide Returns 1, 2, or 1 + 2==================*/int BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, cplane_t *p){	float	dist1, dist2;	int		sides; // 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;	}	// 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		assert( 0 );		break;	} 	sides = 0;	if (dist1 >= p->dist)		sides = 1;	if (dist2 < p->dist)		sides |= 2; 	assert( sides != 0 ); 	return sides;} void ClearBounds (vec3_t mins, vec3_t maxs){	mins[0] = mins[1] = mins[2] = 99999;	maxs[0] = maxs[1] = maxs[2] = -99999;} void AddPointToBounds (vec3_t v, vec3_t mins, vec3_t maxs){	int		i;	vec_t	val; 	for (i=0 ; i<3 ; i++)	{		val = v[i];		if (val < mins[i])			mins[i] = val;		if (val > maxs[i])			maxs[i] = val;	}}  int VectorCompare (vec3_t v1, vec3_t v2){	if (v1[0] != v2[0] || v1[1] != v2[1] || v1[2] != v2[2])			return 0;				return 1;}  vec_t 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; } vec_t VectorNormalize2 (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);		// FIXME 	if (length)	{		ilength = 1/length;		out[0] = v[0]*ilength;		out[1] = v[1]*ilength;		out[2] = v[2]*ilength;	}			return length; } 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 VectorLength(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;} 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;} //==================================================================================== 

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