439 lines
13 KiB
C
439 lines
13 KiB
C
/*
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* Portions of this file are copyright Rebirth contributors and licensed as
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* described in COPYING.txt.
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* Portions of this file are copyright Parallax Software and licensed
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* according to the Parallax license below.
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* See COPYING.txt for license details.
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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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*/
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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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#ifdef __cplusplus
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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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struct vms_vector
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{
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union {
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struct
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{
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fix x, y, z;
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};
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struct {
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fix xyz[3];
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};
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};
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};
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typedef struct vms_vector vms_vector_array;
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//Angle vector. Used to store orientations
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struct vms_angvec
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{
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fixang p, b, h;
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};
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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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struct vms_matrix
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{
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vms_vector rvec, uvec, fvec;
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};
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// Quaternion structure
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struct vms_quaternion
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{
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signed short w, x, y, z;
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};
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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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#ifdef __unix__
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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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"mov 0[eax],edx" \
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"mov 4[eax],ebx" \
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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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"mov 0[eax],dx" \
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"mov 2[eax],bx" \
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"mov 4[eax],cx";
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#endif
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//Global constants
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extern const vms_vector vmd_zero_vector;
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extern const 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 /* 0 */
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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, const vms_vector * src0, const 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, const vms_vector * src0, const 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, const 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, const vms_vector * src);
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#else /* INLINE */
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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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(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 /* INLINE */
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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, const vms_vector * src0, const 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, const vms_vector * src0, const vms_vector * src1, const vms_vector * src2, const 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, const 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, const vms_vector * src1, const 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, const 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 (const vms_vector * v);
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//computes the distance between two points. (does sub and mag)
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fix vm_vec_dist (const vms_vector * v0, const 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 (const vms_vector * v);
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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 (const vms_vector * v0, const vms_vector * v1);
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//normalize a vector. returns mag of source vec
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fix vm_vec_copy_normalize (vms_vector * dest, const vms_vector * src);
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fix vm_vec_normalize (vms_vector * v);
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//normalize a vector. returns mag of source vec. uses approx mag
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fix vm_vec_copy_normalize_quick (vms_vector * dest, const vms_vector * src);
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fix vm_vec_normalize_quick (vms_vector * v);
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//return the normalized direction vector between two points
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//dest = normalized(end - start). Returns mag of direction vector
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//NOTE: the order of the parameters matches the vector subtraction
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fix vm_vec_normalized_dir (vms_vector * dest, const vms_vector * end, const vms_vector * start);
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fix vm_vec_normalized_dir_quick (vms_vector * dest, const vms_vector * end, const vms_vector * start);
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////returns dot product of two vectors
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fix vm_vec_dotprod (const vms_vector * v0, const vms_vector * v1);
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#define vm_vec_dot(v0,v1) vm_vec_dotprod((v0),(v1))
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#ifdef INLINE
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#ifdef __WATCOMC__
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#pragma aux vm_vec_dotprod parm [esi] [edi] value [eax] modify exact [eax ebx ecx edx] = \
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"mov eax,[esi]" \
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"imul dword ptr [edi]" \
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"mov ebx,eax" \
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"mov ecx,edx" \
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\
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"mov eax,4[esi]" \
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"imul dword ptr 4[edi]" \
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"add ebx,eax" \
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"adc ecx,edx" \
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\
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"mov eax,8[esi]" \
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"imul dword ptr 8[edi]" \
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"add eax,ebx" \
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"adc edx,ecx" \
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\
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"shrd eax,edx,16";
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#endif
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#endif /* INLINE */
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//computes cross product of two vectors. returns ptr to dest
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//dest CANNOT equal either source
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vms_vector * vm_vec_crossprod (vms_vector * dest, const vms_vector * src0, const vms_vector * src1);
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#define vm_vec_cross(dest,src0,src1) vm_vec_crossprod((dest),(src0),(src1))
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//computes surface normal from three points. result is normalized
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//returns ptr to dest
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//dest CANNOT equal either source
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vms_vector * vm_vec_normal (vms_vector * dest, const vms_vector * p0, const vms_vector * p1, const vms_vector * p2);
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//computes non-normalized surface normal from three points.
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//returns ptr to dest
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//dest CANNOT equal either source
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vms_vector * vm_vec_perp (vms_vector * dest, const vms_vector * p0, const vms_vector * p1, const vms_vector * p2);
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//computes the delta angle between two vectors.
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//vectors need not be normalized. if they are, call vm_vec_delta_ang_norm()
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//the forward vector (third parameter) can be NULL, in which case the absolute
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//value of the angle in returned. Otherwise the angle around that vector is
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//returned.
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fixang vm_vec_delta_ang (const vms_vector * v0, const vms_vector * v1, const vms_vector * fvec);
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//computes the delta angle between two normalized vectors.
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fixang vm_vec_delta_ang_norm (const vms_vector * v0, const vms_vector * v1, const vms_vector * fvec);
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//computes a matrix from a set of three angles. returns ptr to matrix
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vms_matrix * vm_angles_2_matrix (vms_matrix * m, const vms_angvec * a);
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//computes a matrix from a forward vector and an angle
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vms_matrix * vm_vec_ang_2_matrix (vms_matrix * m, const vms_vector * v, fixang a);
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//computes a matrix from one or more vectors. The forward vector is required,
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//with the other two being optional. If both up & right vectors are passed,
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//the up vector is used. If only the forward vector is passed, a bank of
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//zero is assumed
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//returns ptr to matrix
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vms_matrix * vm_vector_2_matrix (vms_matrix * m, vms_vector * fvec, vms_vector * uvec, vms_vector * rvec);
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//rotates a vector through a matrix. returns ptr to dest vector
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//dest CANNOT equal either source
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vms_vector * vm_vec_rotate (vms_vector * dest, const vms_vector * src, const vms_matrix * m);
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//transpose a matrix in place. returns ptr to matrix
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vms_matrix * vm_transpose_matrix (vms_matrix * m);
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#define vm_transpose(m) vm_transpose_matrix(m)
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//copy and transpose a matrix. returns ptr to matrix
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//dest CANNOT equal source. use vm_transpose_matrix() if this is the case
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vms_matrix * vm_copy_transpose_matrix (vms_matrix * dest, const vms_matrix * src);
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#define vm_copy_transpose(dest,src) vm_copy_transpose_matrix((dest),(src))
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//mulitply 2 matrices, fill in dest. returns ptr to dest
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//dest CANNOT equal either source
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vms_matrix * vm_matrix_x_matrix (vms_matrix * dest, const vms_matrix * src0, const vms_matrix * src1);
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//extract angles from a matrix
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vms_angvec * vm_extract_angles_matrix (vms_angvec * a, const vms_matrix * m);
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//extract heading and pitch from a vector, assuming bank==0
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vms_angvec * vm_extract_angles_vector (vms_angvec * a, const vms_vector * v);
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//compute the distance from a point to a plane. takes the normalized normal
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//of the plane (ebx), a point on the plane (edi), and the point to check (esi).
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//returns distance in eax
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//distance is signed, so negative dist is on the back of the plane
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fix vm_dist_to_plane (const vms_vector * checkp, const vms_vector * norm, const vms_vector * planep);
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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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// convert from quaternion to vector matrix and back
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void vms_quaternion_from_matrix(vms_quaternion * q, const vms_matrix * m);
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void vms_matrix_from_quaternion(vms_matrix * m, const vms_quaternion * q);
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#endif
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#endif /* !_VECMAT_H */
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