/shared/qcommon/q_math.h

/*
===========================================================================
Copyright (C) 1999 - 2005, Id Software, Inc.
Copyright (C) 2000 - 2013, Raven Software, Inc.
Copyright (C) 2001 - 2013, Activision, Inc.
Copyright (C) 2013 - 2015, OpenJK contributors

This file is part of the OpenJK source code.

OpenJK is free software; you can redistribute it and/or modify it
under the terms of the GNU General Public License version 2 as
published by the Free Software Foundation.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, see <http://www.gnu.org/licenses/>.
===========================================================================
*/
#pragma once

#include "q_platform.h"

typedef float vec_t;
typedef float vec2_t[2], vec3_t[3], vec4_t[4], vec5_t[5];
typedef int	  ivec2_t[2], ivec3_t[3], ivec4_t[4], ivec5_t[5];
typedef vec3_t vec3pair_t[2], matrix3_t[3];

typedef	int	fixed4_t, fixed8_t, fixed16_t;

#ifndef M_PI
#define M_PI		3.14159265358979323846f	// matches value in gcc v2 math.h
#endif

#define	MAX_QINT			0x7fffffff
#define	MIN_QINT			(-MAX_QINT-1)


///////////////////////////////////////////////////////////////////////////
//
//      DIRECTION ENCODING
//
///////////////////////////////////////////////////////////////////////////
int DirToByte( vec3_t dir );
void ByteToDir( int b, vec3_t dir );
void NormalToLatLong( const vec3_t normal, byte bytes[2] );


///////////////////////////////////////////////////////////////////////////
//
//      RANDOM NUMBER GENERATION
//
///////////////////////////////////////////////////////////////////////////
#define QRAND_MAX 32768

int   Q_rand( int *seed );
float Q_random( int *seed );
float Q_crandom( int *seed );

void  Rand_Init( int seed );
float Q_flrand( float min, float max );
int   Q_irand( int value1, int value2 );
float flrand( float min, float max );
int   irand( int min, int max );

float erandom( float mean );


///////////////////////////////////////////////////////////////////////////
//
//      MATH UTILITIES
//
///////////////////////////////////////////////////////////////////////////
#define minimum( x, y ) ((x) < (y) ? (x) : (y))
#define maximum( x, y ) ((x) > (y) ? (x) : (y))

#define PI_DIV_180		0.017453292519943295769236907684886f
#define INV_PI_DIV_180	57.295779513082320876798154814105f

#define DEG2RAD( a ) ( ( (a) * PI_DIV_180 ) )
#define RAD2DEG( a ) ( ( (a) * INV_PI_DIV_180 ) )

#define SQRTFAST( x ) ( (x) * Q_rsqrt( x ) )

#define Q_min(x,y) ((x)<(y)?(x):(y))
#define Q_max(x,y) ((x)>(y)?(x):(y))

#if defined(_MSC_VER)
static __inline long Q_ftol( float f )
{
	return (long)f;
}
#else
static inline long Q_ftol( float f )
{
	return (long)f;
}
#endif

signed char ClampChar( int i );
signed short ClampShort( int i );
int Com_Clampi( int min, int max, int value );
float Com_Clamp( float min, float max, float value );
int Com_AbsClampi( int min, int max, int value );
float Com_AbsClamp( float min, float max, float value );

float Q_rsqrt( float number );
float Q_fabs( float f );

float Q_acos(float c);
float Q_asin(float c);
float Q_powf ( float x, int y );
qboolean Q_isnan (float f);
int Q_log2( int val );

float LerpAngle(float from, float to, float frac);
float AngleSubtract( float a1, float a2 );
void AnglesSubtract( vec3_t v1, vec3_t v2, vec3_t v3 );
float AngleMod(float a);
float AngleNormalize360 ( float angle );
float AngleNormalize180 ( float angle );
float AngleDelta( float angle1, float angle2 );


///////////////////////////////////////////////////////////////////////////
//
//      GEOMETRIC UTILITIES
//
///////////////////////////////////////////////////////////////////////////
// angle indexes
#define	PITCH	0		// up / down
#define	YAW		1		// left / right
#define	ROLL	2		// fall over

qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c );
void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
void RotateAroundDirection( matrix3_t axis, float yaw );
void vectoangles( const vec3_t value1, vec3_t angles );
vec_t GetYawForDirection( const vec3_t p1, const vec3_t p2 );
void GetAnglesForDirection( const vec3_t p1, const vec3_t p2, vec3_t out );
void ProjectPointOnPlane( vec3_t dst, const vec3_t p, const vec3_t normal );
qboolean G_FindClosestPointOnLineSegment( const vec3_t start, const vec3_t end, const vec3_t from, vec3_t result );
float G_PointDistFromLineSegment( const vec3_t start, const vec3_t end, const vec3_t from );
void MatrixMultiply(float in1[3][3], float in2[3][3], float out[3][3]);


///////////////////////////////////////////////////////////////////////////
//
//      BOUNDING BOX
//
///////////////////////////////////////////////////////////////////////////
float RadiusFromBounds( const vec3_t mins, const vec3_t maxs );
void ClearBounds( vec3_t mins, vec3_t maxs );
void AddPointToBounds( const vec3_t v, vec3_t mins, vec3_t maxs );


///////////////////////////////////////////////////////////////////////////
//
//      PLANE
//
///////////////////////////////////////////////////////////////////////////
// plane types are used to speed some tests
// 0-2 are axial planes
#define	PLANE_X			0
#define	PLANE_Y			1
#define	PLANE_Z			2
#define	PLANE_NON_AXIAL	3

// plane_t structure
typedef struct cplane_s {
	vec3_t	normal;
	float	dist;
	byte	type;			// for fast side tests: 0,1,2 = axial, 3 = nonaxial
	byte	signbits;		// signx + (signy<<1) + (signz<<2), used as lookup during collision
	byte	pad[2];
} cplane_t;

void SetPlaneSignbits( cplane_t *out );
int	PlaneTypeForNormal( vec3_t normal );
int BoxOnPlaneSide(vec3_t emins, vec3_t emaxs, cplane_t *p);


///////////////////////////////////////////////////////////////////////////
//
//      AXIS
//
///////////////////////////////////////////////////////////////////////////
extern matrix3_t axisDefault;

void AxisClear( matrix3_t axis );
void AxisCopy( matrix3_t in, matrix3_t out );
void AnglesToAxis( const vec3_t angles, matrix3_t axis );


///////////////////////////////////////////////////////////////////////////
//
//      VEC2
//
///////////////////////////////////////////////////////////////////////////
extern vec2_t vec3_zero;

#define VectorScale2M(v, factor, dst) \
	(dst)[0] = (v[0]) * (factor), \
	(dst)[1] = (v[1]) * (factor)
#define VectorCopy2M(src, dst) \
	(dst)[0] = (src[0]), \
	(dst)[1] = (src[1])
#define VectorClear2M(dst) \
	memset((dst), 0, sizeof((dst)[0]) * 2)

void VectorAdd2( const vec2_t vec1, const vec2_t vec2, vec2_t vecOut );
void VectorSubtract2( const vec2_t vec1, const vec2_t vec2, vec2_t vec2_t );
void VectorScale2( const vec2_t vecIn, float scale, vec2_t vecOut );
void VectorMA2( const vec2_t vec1, float scale, const vec2_t vec2, vec2_t vecOut );
void VectorSet2( vec2_t vec, float x, float y );
void VectorClear2( vec2_t vec );
void VectorCopy2( const vec2_t vecIn, vec2_t vecOut );


///////////////////////////////////////////////////////////////////////////
//
//      VEC3
//
///////////////////////////////////////////////////////////////////////////
extern vec3_t vec3_origin;

#define VectorScaleM(v, factor, dst) \
	(dst)[0] = (v[0]) * (factor), \
	(dst)[1] = (v[1]) * (factor), \
	(dst)[2] = (v[2]) * (factor)
#define VectorCopyM(src, dst) \
	(dst)[0] = (src[0]), \
	(dst)[1] = (src[1]), \
	(dst)[2] = (src[2])
#define VectorClearM(dst) \
	memset((dst), 0, sizeof((dst)[0]) * 3)

void VectorAdd( const vec3_t vec1, const vec3_t vec2, vec3_t vecOut );
void VectorSubtract( const vec3_t vec1, const vec3_t vec2, vec3_t vecOut );
void VectorScale( const vec3_t vecIn, float scale, vec3_t vecOut );
void VectorMA( const vec3_t vec1, float scale, const vec3_t vec2, vec3_t vecOut );
void VectorSet( vec3_t vec, float x, float y, float z );
void VectorClear( vec3_t vec );
void VectorCopy( const vec3_t vecIn, vec3_t vecOut );
float VectorLength( const vec3_t vec );
float VectorLengthSquared( const vec3_t vec );
void VectorNormalizeFast( vec3_t vec );
float VectorNormalize( vec3_t vec );
float VectorNormalize2( const vec3_t vec, vec3_t vecOut );
void VectorAdvance( const vec3_t veca, const float scale, const vec3_t vecb, vec3_t vecc);
void VectorInc( vec3_t vec );
void VectorDec( vec3_t vec );
void VectorInverse( vec3_t vec );
void CrossProduct( const vec3_t vec1, const vec3_t vec2, vec3_t vecOut );
float DotProduct( const vec3_t vec1, const vec3_t vec2 );
qboolean VectorCompare( const vec3_t vec1, const vec3_t vec2 );
qboolean VectorCompare2( const vec3_t v1, const vec3_t v2 );

void SnapVector( float *v );
float Distance( const vec3_t p1, const vec3_t p2 );
float DistanceSquared( const vec3_t p1, const vec3_t p2 );
float DistanceHorizontal( const vec3_t p1, const vec3_t p2 );
float DistanceHorizontalSquared( const vec3_t p1, const vec3_t p2 );
void MakeNormalVectors( const vec3_t forward, vec3_t right, vec3_t up);
void VectorRotate( const vec3_t in, matrix3_t matrix, vec3_t out );
void AngleVectors( const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
void PerpendicularVector( vec3_t dst, const vec3_t src );
float DotProductNormalize( const vec3_t inVec1, const vec3_t inVec2 );

#define VectorScaleVector(a,b,c)		(((c)[0]=(a)[0]*(b)[0]),((c)[1]=(a)[1]*(b)[1]),((c)[2]=(a)[2]*(b)[2]))
#define VectorInverseScaleVector(a,b,c)	((c)[0]=(a)[0]/(b)[0],(c)[1]=(a)[1]/(b)[1],(c)[2]=(a)[2]/(b)[2])
#define VectorScaleVectorAdd(c,a,b,o)	((o)[0]=(c)[0]+((a)[0]*(b)[0]),(o)[1]=(c)[1]+((a)[1]*(b)[1]),(o)[2]=(c)[2]+((a)[2]*(b)[2]))
#define VectorAverage(a,b,c)			(((c)[0]=((a)[0]+(b)[0])*0.5f),((c)[1]=((a)[1]+(b)[1])*0.5f),((c)[2]=((a)[2]+(b)[2])*0.5f))
#define VectorNegate(a,b)				((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2])


///////////////////////////////////////////////////////////////////////////
//
//      VEC4
//
///////////////////////////////////////////////////////////////////////////
void VectorScale4( const vec4_t vecIn, float scale, vec4_t vecOut );
void VectorCopy4( const vec4_t vecIn, vec4_t vecOut );
void VectorSet4( vec4_t vec, float x, float y, float z, float w );
void VectorClear4( vec4_t vec );

///////////////////////////////////////////////////////////////////////////
//
//      VEC5
//
///////////////////////////////////////////////////////////////////////////
void VectorSet5( vec5_t vec, float x, float y, float z, float w, float u );