2002-07-22 22:59:24 +00:00
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/* $ Id: $ */
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2001-01-19 03:30:16 +00:00
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/*
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THE COMPUTER CODE CONTAINED HEREIN IS THE SOLE PROPERTY OF PARALLAX
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SOFTWARE CORPORATION ("PARALLAX"). PARALLAX, IN DISTRIBUTING THE CODE TO
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END-USERS, AND SUBJECT TO ALL OF THE TERMS AND CONDITIONS HEREIN, GRANTS A
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ROYALTY-FREE, PERPETUAL LICENSE TO SUCH END-USERS FOR USE BY SUCH END-USERS
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IN USING, DISPLAYING, AND CREATING DERIVATIVE WORKS THEREOF, SO LONG AS
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SUCH USE, DISPLAY OR CREATION IS FOR NON-COMMERCIAL, ROYALTY OR REVENUE
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FREE PURPOSES. IN NO EVENT SHALL THE END-USER USE THE COMPUTER CODE
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CONTAINED HEREIN FOR REVENUE-BEARING PURPOSES. THE END-USER UNDERSTANDS
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AND AGREES TO THE TERMS HEREIN AND ACCEPTS THE SAME BY USE OF THIS FILE.
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COPYRIGHT 1993-1998 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
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*/
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/*
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*
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* Header file for vector/matrix library
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*
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2002-07-22 22:59:24 +00:00
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* Old Log:
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2001-01-19 03:30:16 +00:00
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*
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* Revision 1.1 1995/04/17 16:18:05 allender
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* Initial revision
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*
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*
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* --- PC RCS Information ---
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* Revision 1.37 1995/02/22 13:23:22 john
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* Added the vms_vector_array structure, to access a vms_vector
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* with an array.
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*
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* Revision 1.36 1995/02/22 12:34:33 john
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* Took out anonymous unions.
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*
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* Revision 1.35 1994/12/13 14:44:20 matt
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* Added vm_vector_2_matrix_norm()
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*
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* Revision 1.34 1994/09/11 19:22:55 matt
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* Added vm_vec_normalized_dir_quick()
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*
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* Revision 1.33 1994/08/04 19:45:38 matt
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* Added option to make a bunch of functions (add, sub, dotprod) inline
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*
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* Revision 1.32 1994/07/19 18:52:36 matt
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* Added vm_vec_normalize_quick() and vm_vec_copy_normalize_quick()
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*
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* Revision 1.31 1994/06/16 18:24:30 matt
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* Added vm_vec_mag_quick()
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*
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* Revision 1.30 1994/06/10 23:19:00 matt
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* New register usage for vm_vec_ang_2_matrix()
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*
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* Revision 1.29 1994/06/01 17:32:06 matt
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* Fixed modify list for vm_vec_normalized_dir()
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*
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* Revision 1.28 1994/05/19 12:07:20 matt
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* Fixed globals and macros and added a constant
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*
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* Revision 1.27 1994/05/19 09:19:15 matt
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* Made vm_vec_normalized_dir() return mag of vector
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*
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* Revision 1.26 1994/05/18 22:28:57 matt
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* Added function vm_vec_normalized_dir()
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* Added C macros IS_ZERO_VEC(), vm_vec_zero(), and vm_set_identity()
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* Added C global static vars vmd_zero_vector & vmd_identity_matrix
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*
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* Revision 1.25 1994/05/18 21:45:06 matt
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* Added functions:
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* vm_extract_angles_vector()
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* vm_extract_angles_vector_normalized()
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* vm_vec_copy_normalize()
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*
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* Revision 1.24 1994/05/13 12:42:16 matt
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* Added new function, vm_vec_dist_quick(), which does an approximation.
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*
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* Revision 1.23 1994/03/30 13:37:34 matt
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* Added prototype for vm_vec_scale_add(), and fixed typos
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*
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* Revision 1.22 1994/03/30 13:29:42 matt
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* Header for vm_vec_scale_add2()
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*
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* Revision 1.21 1994/01/31 19:45:13 matt
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* Added function vm_extract_angles_matrix()
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*
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* Revision 1.20 1993/12/21 19:46:14 matt
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* Added function vm_dist_to_plane()
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*
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* Revision 1.19 1993/12/13 17:26:41 matt
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* Added vm_vec_dist()
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*
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* Revision 1.18 1993/12/02 12:45:11 matt
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* New functions: vm_vec_copy_scale(), vm_vec_scale2()
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* Aliases: vm_transpose(), vm_vec_dot(), vm_vec_cross(), vm_copy_transpose()
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*
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* Revision 1.17 1993/10/29 22:38:36 matt
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* Changed matrix order, making direction vectors the rows
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*
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* Revision 1.16 1993/10/25 11:49:57 matt
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* Made vm_vec_delta_ang() take optional forward vector to return signed delta
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*
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* Revision 1.15 1993/10/20 01:10:05 matt
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* Added vm_vec_delta_ang(), vm_vec_delta_ang_norm(), and vm_vec_ang_2_matrix()
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*
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* Revision 1.14 1993/10/17 17:02:52 matt
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* vm_vector_2_matrix() now takes optional right vector
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*
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* Revision 1.13 1993/10/12 19:31:39 matt
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* Added IDENTITY_MATRIX constant
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*
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* Revision 1.12 1993/10/08 18:10:16 matt
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* Changed vm_vec_make() and vm_angvec_make() to be inline assembly
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* functions, to get rid of compiler warnings. Did not change vm_mat_make(),
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* which could still get warnings if the return value is unused.
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*
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* Revision 1.11 1993/09/29 12:10:07 matt
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* Changed modified regs in pragmas to include return register
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*
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* Revision 1.10 1993/09/28 12:15:41 matt
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* Added func vm_vector_2_matrix()
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*
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* Revision 1.9 1993/09/24 21:18:38 matt
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* Added vm_vec_avg(), vm_vec_avg4(), and vm_angvec_make().
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* Documented which functions could have dest==source
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*
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* Revision 1.8 1993/09/20 14:56:11 matt
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* Added new function, vm_vec_perp()
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*
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* Revision 1.7 1993/09/20 14:27:42 mike
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* unfix last fix which introduced a bug
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*
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* Revision 1.6 1993/09/20 10:11:53 mike
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* no changes
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*
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* Revision 1.5 1993/09/20 09:58:58 mike
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* Re-fix vm_vec_make
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*
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* Revision 1.4 1993/09/20 09:41:21 mike
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* Correct vm_vec_make and vm_mat_make macros to return the destination
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* as the value of the macro.
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*
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* Revision 1.3 1993/09/17 11:23:47 matt
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* Added row access (via xrow,yrow,zrow) to vms_matrix
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* Added macro vm_mat_make(), like vm_vec_make()
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*
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* Revision 1.2 1993/09/17 11:10:32 matt
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* Added vm_vec_add2() and vm_vec_sub2(), which take 2 args (dest==src0)
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*
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* Revision 1.1 1993/09/16 20:10:01 matt
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* Initial revision
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*
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*
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*/
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#ifndef _VECMAT_H
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#define _VECMAT_H
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#include "maths.h"
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//#define INLINE 1 //are some of these functions inline?
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//The basic fixed-point vector. Access elements by name or position
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typedef struct vms_vector
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{
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fix x, y, z;
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}
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__pack__ vms_vector;
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typedef struct vms_vector_array
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{
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fix xyz[3];
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}
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__pack__ vms_vector_array;
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//Short vector, used for pre-rotation points.
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//Access elements by name or position
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typedef struct vms_svec
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{
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short sv_x, sv_y, sv_z;
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}
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__pack__ vms_svec;
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//Angle vector. Used to store orientations
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typedef struct vms_angvec
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{
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fixang p, b, h;
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}
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__pack__ vms_angvec;
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//A 3x3 rotation matrix. Sorry about the numbering starting with one.
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//Ordering is across then down, so <m1,m2,m3> is the first row
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typedef struct vms_matrix
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{
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vms_vector rvec, uvec, fvec;
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}
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__pack__ vms_matrix;
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//Macros/functions to fill in fields of structures
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//macro to check if vector is zero
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#define IS_VEC_NULL(v) (v->x == 0 && v->y == 0 && v->z == 0)
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//macro to set a vector to zero. we could do this with an in-line assembly
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//macro, but it's probably better to let the compiler optimize it.
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//Note: NO RETURN VALUE
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#define vm_vec_zero(v) (v)->x=(v)->y=(v)->z=0
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//macro set set a matrix to the identity. Note: NO RETURN VALUE
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// DPH (18/9/98): Begin mod to fix linefeed problem under linux. Uses an
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// inline function instead of a multi-line macro to fix CR/LF problems.
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2002-07-22 22:59:24 +00:00
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#ifdef __unix__
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2001-01-19 03:30:16 +00:00
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static inline void vm_set_identity(vms_matrix *m)
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{
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m->rvec.x = m->uvec.y = m->fvec.z = f1_0;
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m->rvec.y = m->rvec.z = m->uvec.x = m->uvec.z = m->fvec.x = m->fvec.y = 0;
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}
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#else
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#define vm_set_identity(m) do {m->rvec.x = m->uvec.y = m->fvec.z = f1_0; \
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m->rvec.y = m->rvec.z = \
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m->uvec.x = m->uvec.z = \
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m->fvec.x = m->fvec.y = 0;} while (0)
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#endif
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// DPH (19/8/98): End changes.
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vms_vector * vm_vec_make (vms_vector * v, fix x, fix y, fix z);
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#ifdef __WATCOMC__
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#pragma aux vm_vec_make "*_" parm [eax] [edx] [ebx] [ecx] value [eax] modify exact [] = \
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2001-10-12 06:40:49 +00:00
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"mov 0[eax],edx" \
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"mov 4[eax],ebx" \
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2001-01-19 03:30:16 +00:00
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"mov 8[eax],ecx";
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#endif
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vms_angvec * vm_angvec_make (vms_angvec * v, fixang p, fixang b, fixang h);
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#ifdef __WATCOMC__
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#pragma aux vm_angvec_make "*_" parm [eax] [dx] [bx] [cx] value [eax] modify exact [] = \
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2001-10-12 06:40:49 +00:00
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"mov 0[eax],dx" \
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"mov 2[eax],bx" \
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2001-01-19 03:30:16 +00:00
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"mov 4[eax],cx";
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#endif
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//Global constants
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extern vms_vector vmd_zero_vector;
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extern vms_matrix vmd_identity_matrix;
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//Here's a handy constant
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#define ZERO_VECTOR {0,0,0}
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#define IDENTITY_MATRIX { {f1_0,0,0}, {0,f1_0,0}, {0,0,f1_0} }
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//#define vm_vec_make(v,_x,_y,_z) (((v)->x=(_x), (v)->y=(_y), (v)->z=(_z)), (v))
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//#pragma off (unreferenced)
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////make this local, so compiler can in-line it
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//static vms_vector *vm_vec_make(vms_vector *v,fix x,fix y,fix z)
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//{
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// v->x = x;
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// v->y = y;
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// v->z = z;
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//
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// return v;
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//}
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//#pragma on (unreferenced)
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////macro to fill in elements of a matrix, also for Mike
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/*
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#define vm_mat_make(m,_m1,_m2,_m3,_m4,_m5,_m6,_m7,_m8,_m9) \
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do { (m)->m1=(_m1); (m)->m2=(_m2); (m)->m3=(_m3); \
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(m)->m4=(_m4); (m)->m5=(_m5); (m)->m6=(_m6); \
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(m)->m7=(_m7); (m)->m8=(_m8); (m)->m9=(_m9);} while (0)
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*/
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#if 0 //kill this, since bogus with new matrix ordering
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//macro to fill in elements of a matrix, also for Mike
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#define vm_mat_make(m,_m1,_m2,_m3,_m4,_m5,_m6,_m7,_m8,_m9) \
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(((m)->m1 = (_m1), (m)->m2 = (_m2), (m)->m3 = (_m3), \
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(m)->m4 = (_m4), (m)->m5 = (_m5), (m)->m6 = (_m6), \
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(m)->m7 = (_m7), (m)->m8 = (_m8), (m)->m9 = (_m9)), (m))
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#endif /*
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*/
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////fills in fields of an angle vector
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//#define vm_angvec_make(v,_p,_b,_h) (((v)->p=(_p), (v)->b=(_b), (v)->h=(_h)), (v))
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//negate a vector
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#define vm_vec_negate(v) do {(v)->x = - (v)->x; (v)->y = - (v)->y; (v)->z = - (v)->z;} while (0);
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//Functions in library
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#ifndef INLINE
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//adds two vectors, fills in dest, returns ptr to dest
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//ok for dest to equal either source, but should use vm_vec_add2() if so
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vms_vector * vm_vec_add (vms_vector * dest, vms_vector * src0, vms_vector * src1);
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//subs two vectors, fills in dest, returns ptr to dest
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//ok for dest to equal either source, but should use vm_vec_sub2() if so
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vms_vector * vm_vec_sub (vms_vector * dest, vms_vector * src0, vms_vector * src1);
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//adds one vector to another. returns ptr to dest
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//dest can equal source
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vms_vector * vm_vec_add2 (vms_vector * dest, vms_vector * src);
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//subs one vector from another, returns ptr to dest
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//dest can equal source
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vms_vector * vm_vec_sub2 (vms_vector * dest, vms_vector * src);
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#else /*
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*/
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#define vm_vec_add(dest,src0,src1) do { \
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(dest)->x = (src0)->x + (src1)->x;
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\
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|
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(dest)->y = (src0)->y + (src1)->y;
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\
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(dest)->z = (src0)->z + (src1)->z;
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\
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}
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while (0);
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#define vm_vec_sub(dest,src0,src1) do { \
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(dest)->x = (src0)->x - (src1)->x;
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\
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(dest)->y = (src0)->y - (src1)->y;
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\
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(dest)->z = (src0)->z - (src1)->z;
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\
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}
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while (0);
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#define vm_vec_add2(dest,src) do { \
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(dest)->x += (src)->x;
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\
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(dest)->y += (src)->y;
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\
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(dest)->z += (src)->z;
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\
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}
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while (0);
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#define vm_vec_sub2(dest,src) do { \
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(dest)->x -= (src)->x;
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\
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(dest)->y -= (src)->y;
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\
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(dest)->z -= (src)->z;
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\
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}
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while (0);
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#endif /*
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*/
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//averages two vectors. returns ptr to dest
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//dest can equal either source
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vms_vector * vm_vec_avg (vms_vector * dest, vms_vector * src0, vms_vector * src1);
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//averages four vectors. returns ptr to dest
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//dest can equal any source
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vms_vector * vm_vec_avg4 (vms_vector * dest, vms_vector * src0, vms_vector * src1, vms_vector * src2, vms_vector * src3);
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//scales a vector in place. returns ptr to vector
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vms_vector * vm_vec_scale (vms_vector * dest, fix s);
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//scales and copies a vector. returns ptr to dest
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vms_vector * vm_vec_copy_scale (vms_vector * dest, vms_vector * src, fix s);
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//scales a vector, adds it to another, and stores in a 3rd vector
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//dest = src1 + k * src2
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vms_vector * vm_vec_scale_add (vms_vector * dest, vms_vector * src1, vms_vector * src2, fix k);
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//scales a vector and adds it to another
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|
//dest += k * src
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vms_vector * vm_vec_scale_add2 (vms_vector * dest, vms_vector * src, fix k);
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|
//scales a vector in place, taking n/d for scale. returns ptr to vector
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|
//dest *= n/d
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vms_vector * vm_vec_scale2 (vms_vector * dest, fix n, fix d);
|
|
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//returns magnitude of a vector
|
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|
fix vm_vec_mag (vms_vector * v);
|
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|
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//computes the distance between two points. (does sub and mag)
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fix vm_vec_dist (vms_vector * v0, vms_vector * v1);
|
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//computes an approximation of the magnitude of the vector
|
|
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|
//uses dist = largest + next_largest*3/8 + smallest*3/16
|
|
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|
fix vm_vec_mag_quick (vms_vector * v);
|
|
|
|
|
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|
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|
//computes an approximation of the distance between two points.
|
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|
//uses dist = largest + next_largest*3/8 + smallest*3/16
|
|
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|
fix vm_vec_dist_quick (vms_vector * v0, vms_vector * v1);
|
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|
|
|
|
|
|
|
|
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|
//normalize a vector. returns mag of source vec
|
|
|
|
fix vm_vec_copy_normalize (vms_vector * dest, vms_vector * src);
|
|
|
|
|
|
|
|
fix vm_vec_normalize (vms_vector * v);
|
|
|
|
|
|
|
|
|
|
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|
//normalize a vector. returns mag of source vec. uses approx mag
|
|
|
|
fix vm_vec_copy_normalize_quick (vms_vector * dest, vms_vector * src);
|
|
|
|
|
|
|
|
fix vm_vec_normalize_quick (vms_vector * v);
|
|
|
|
|
|
|
|
|
|
|
|
//return the normalized direction vector between two points
|
|
|
|
//dest = normalized(end - start). Returns mag of direction vector
|
|
|
|
//NOTE: the order of the parameters matches the vector subtraction
|
|
|
|
fix vm_vec_normalized_dir (vms_vector * dest, vms_vector * end, vms_vector * start);
|
|
|
|
|
|
|
|
fix vm_vec_normalized_dir_quick (vms_vector * dest, vms_vector * end, vms_vector * start);
|
|
|
|
|
|
|
|
|
|
|
|
////returns dot product of two vectors
|
|
|
|
fix vm_vec_dotprod (vms_vector * v0, vms_vector * v1);
|
|
|
|
|
|
|
|
#define vm_vec_dot(v0,v1) vm_vec_dotprod((v0),(v1))
|
|
|
|
|
|
|
|
#ifdef INLINE
|
|
|
|
#ifdef __WATCOMC__
|
|
|
|
#pragma aux vm_vec_dotprod parm [esi] [edi] value [eax] modify exact [eax ebx ecx edx] = \
|
2001-10-12 06:40:49 +00:00
|
|
|
"mov eax,[esi]" \
|
|
|
|
"imul dword ptr [edi]" \
|
|
|
|
"mov ebx,eax" \
|
|
|
|
"mov ecx,edx" \
|
2001-01-19 03:30:16 +00:00
|
|
|
\
|
2001-10-12 06:40:49 +00:00
|
|
|
"mov eax,4[esi]" \
|
|
|
|
"imul dword ptr 4[edi]" \
|
|
|
|
"add ebx,eax" \
|
|
|
|
"adc ecx,edx" \
|
2001-01-19 03:30:16 +00:00
|
|
|
\
|
2001-10-12 06:40:49 +00:00
|
|
|
"mov eax,8[esi]" \
|
|
|
|
"imul dword ptr 8[edi]" \
|
|
|
|
"add eax,ebx" \
|
|
|
|
"adc edx,ecx" \
|
2001-01-19 03:30:16 +00:00
|
|
|
\
|
|
|
|
"shrd eax,edx,16";
|
|
|
|
|
|
|
|
#endif
|
|
|
|
#endif /*
|
|
|
|
*/
|
|
|
|
|
|
|
|
//computes cross product of two vectors. returns ptr to dest
|
|
|
|
//dest CANNOT equal either source
|
|
|
|
vms_vector * vm_vec_crossprod (vms_vector * dest, vms_vector * src0, vms_vector * src1);
|
|
|
|
|
|
|
|
#define vm_vec_cross(dest,src0,src1) vm_vec_crossprod((dest),(src0),(src1))
|
|
|
|
|
|
|
|
//computes surface normal from three points. result is normalized
|
|
|
|
//returns ptr to dest
|
|
|
|
//dest CANNOT equal either source
|
|
|
|
vms_vector * vm_vec_normal (vms_vector * dest, vms_vector * p0, vms_vector * p1, vms_vector * p2);
|
|
|
|
|
|
|
|
|
|
|
|
//computes non-normalized surface normal from three points.
|
|
|
|
//returns ptr to dest
|
|
|
|
//dest CANNOT equal either source
|
|
|
|
vms_vector * vm_vec_perp (vms_vector * dest, vms_vector * p0, vms_vector * p1, vms_vector * p2);
|
|
|
|
|
|
|
|
|
|
|
|
//computes the delta angle between two vectors.
|
|
|
|
//vectors need not be normalized. if they are, call vm_vec_delta_ang_norm()
|
|
|
|
//the forward vector (third parameter) can be NULL, in which case the absolute
|
|
|
|
//value of the angle in returned. Otherwise the angle around that vector is
|
|
|
|
//returned.
|
|
|
|
fixang vm_vec_delta_ang (vms_vector * v0, vms_vector * v1, vms_vector * fvec);
|
|
|
|
|
|
|
|
|
|
|
|
//computes the delta angle between two normalized vectors.
|
|
|
|
fixang vm_vec_delta_ang_norm (vms_vector * v0, vms_vector * v1, vms_vector * fvec);
|
|
|
|
|
|
|
|
|
|
|
|
//computes a matrix from a set of three angles. returns ptr to matrix
|
|
|
|
vms_matrix * vm_angles_2_matrix (vms_matrix * m, vms_angvec * a);
|
|
|
|
|
|
|
|
|
|
|
|
//computes a matrix from a forward vector and an angle
|
|
|
|
vms_matrix * vm_vec_ang_2_matrix (vms_matrix * m, vms_vector * v, fixang a);
|
|
|
|
|
|
|
|
|
|
|
|
//computes a matrix from one or more vectors. The forward vector is required,
|
|
|
|
//with the other two being optional. If both up & right vectors are passed,
|
|
|
|
//the up vector is used. If only the forward vector is passed, a bank of
|
|
|
|
//zero is assumed
|
|
|
|
//returns ptr to matrix
|
|
|
|
vms_matrix * vm_vector_2_matrix (vms_matrix * m, vms_vector * fvec, vms_vector * uvec, vms_vector * rvec);
|
|
|
|
|
|
|
|
|
|
|
|
//this version of vector_2_matrix requires that the vectors be more-or-less
|
|
|
|
//normalized and close to perpendicular
|
|
|
|
vms_matrix * vm_vector_2_matrix_norm (vms_matrix * m, vms_vector * fvec, vms_vector * uvec, vms_vector * rvec);
|
|
|
|
|
|
|
|
|
|
|
|
//rotates a vector through a matrix. returns ptr to dest vector
|
|
|
|
//dest CANNOT equal either source
|
|
|
|
vms_vector * vm_vec_rotate (vms_vector * dest, vms_vector * src, vms_matrix * m);
|
|
|
|
|
|
|
|
|
|
|
|
//transpose a matrix in place. returns ptr to matrix
|
|
|
|
vms_matrix * vm_transpose_matrix (vms_matrix * m);
|
|
|
|
|
|
|
|
#define vm_transpose(m) vm_transpose_matrix(m)
|
|
|
|
|
|
|
|
//copy and transpose a matrix. returns ptr to matrix
|
|
|
|
//dest CANNOT equal source. use vm_transpose_matrix() if this is the case
|
|
|
|
vms_matrix * vm_copy_transpose_matrix (vms_matrix * dest, vms_matrix * src);
|
|
|
|
|
|
|
|
#define vm_copy_transpose(dest,src) vm_copy_transpose_matrix((dest),(src))
|
|
|
|
|
|
|
|
//mulitply 2 matrices, fill in dest. returns ptr to dest
|
|
|
|
//dest CANNOT equal either source
|
|
|
|
vms_matrix * vm_matrix_x_matrix (vms_matrix * dest, vms_matrix * src0, vms_matrix * src1);
|
|
|
|
|
|
|
|
|
|
|
|
//extract angles from a matrix
|
|
|
|
vms_angvec * vm_extract_angles_matrix (vms_angvec * a, vms_matrix * m);
|
|
|
|
|
|
|
|
|
|
|
|
//extract heading and pitch from a vector, assuming bank==0
|
|
|
|
vms_angvec * vm_extract_angles_vector (vms_angvec * a, vms_vector * v);
|
|
|
|
|
|
|
|
|
|
|
|
//compute the distance from a point to a plane. takes the normalized normal
|
|
|
|
//of the plane (ebx), a point on the plane (edi), and the point to check (esi).
|
|
|
|
//returns distance in eax
|
|
|
|
//distance is signed, so negative dist is on the back of the plane
|
|
|
|
fix vm_dist_to_plane (vms_vector * checkp, vms_vector * norm, vms_vector * planep);
|
|
|
|
|
|
|
|
|
|
|
|
//fills in fields of an angle vector
|
|
|
|
#define vm_angvec_make(v,_p,_b,_h) (((v)->p=(_p), (v)->b=(_b), (v)->h=(_h)), (v))
|
|
|
|
#endif /*
|
|
|
|
*/
|
|
|
|
|