q_math.c File Reference

#include "q_shared.h"

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Functions
vec_t	_DotProduct (const vec3_t v1, const vec3_t v2)
void	_VectorAdd (const vec3_t veca, const vec3_t vecb, vec3_t out)
void	_VectorCopy (const vec3_t in, vec3_t out)
void	_VectorMA (const vec3_t veca, float scale, const vec3_t vecb, vec3_t vecc)
void	_VectorScale (const vec3_t in, vec_t scale, vec3_t out)
void	_VectorSubtract (const vec3_t veca, const vec3_t vecb, vec3_t out)
void	AddPointToBounds (const vec3_t v, vec3_t mins, vec3_t maxs)
float	AngleDelta (float angle1, float angle2)
float	AngleMod (float a)
float	AngleNormalize180 (float angle)
float	AngleNormalize360 (float angle)
void	AnglesSubtract (vec3_t v1, vec3_t v2, vec3_t v3)
void	AnglesToAxis (const vec3_t angles, vec3_t axis[3])
float	AngleSubtract (float a1, float a2)
void	AngleVectors (const vec3_t angles, vec3_t forward, vec3_t right, vec3_t up)
void	AxisClear (vec3_t axis[3])
void	AxisCopy (vec3_t in[3], vec3_t out[3])
int	BoxOnPlaneSide (vec3_t emins, vec3_t emaxs, struct cplane_s *p)
void	ByteToDir (int b, vec3_t dir)
signed char	ClampChar (int i)
signed short	ClampShort (int i)
void	ClearBounds (vec3_t mins, vec3_t maxs)
unsigned	ColorBytes3 (float r, float g, float b)
unsigned	ColorBytes4 (float r, float g, float b, float a)
int	DirToByte (vec3_t dir)
float	LerpAngle (float from, float to, float frac)
void	MakeNormalVectors (const vec3_t forward, vec3_t right, vec3_t up)
void	MatrixMultiply (float in1[3][3], float in2[3][3], float out[3][3])
float	NormalizeColor (const vec3_t in, vec3_t out)
void	PerpendicularVector (vec3_t dst, const vec3_t src)
qboolean	PlaneFromPoints (vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c)
void	ProjectPointOnPlane (vec3_t dst, const vec3_t p, const vec3_t normal)
float	Q_crandom (int *seed)
float	Q_fabs (float f)
int	Q_log2 (int val)
int	Q_rand (int *seed)
float	Q_random (int *seed)
float	Q_rsqrt (float number)
float	RadiusFromBounds (const vec3_t mins, const vec3_t maxs)
void	RotateAroundDirection (vec3_t axis[3], float yaw)
void	RotatePointAroundVector (vec3_t dst, const vec3_t dir, const vec3_t point, float degrees)
void	SetPlaneSignbits (cplane_t *out)
void	vectoangles (const vec3_t value1, vec3_t angles)
void	Vector4Scale (const vec4_t in, vec_t scale, vec4_t out)
vec_t	VectorNormalize (vec3_t v)
vec_t	VectorNormalize2 (const vec3_t v, vec3_t out)
void	VectorRotate (vec3_t in, vec3_t matrix[3], vec3_t out)
Variables
vec3_t	axisDefault [3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }
vec3_t	bytedirs [NUMVERTEXNORMALS]
vec4_t	colorBlack = {0, 0, 0, 1}
vec4_t	colorBlue = {0, 0, 1, 1}
vec4_t	colorCyan = {0, 1, 1, 1}
vec4_t	colorDkGrey = {0.25, 0.25, 0.25, 1}
vec4_t	colorGreen = {0, 1, 0, 1}
vec4_t	colorLtGrey = {0.75, 0.75, 0.75, 1}
vec4_t	colorMagenta = {1, 0, 1, 1}
vec4_t	colorMdGrey = {0.5, 0.5, 0.5, 1}
vec4_t	colorRed = {1, 0, 0, 1}
vec4_t	colorWhite = {1, 1, 1, 1}
vec4_t	colorYellow = {1, 1, 0, 1}
vec4_t	g_color_table [8]
vec3_t	vec3_origin = {0,0,0}

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Function Documentation

vec_t _DotProduct (  const vec3_t  v1, const vec3_t  v2 )

Definition at line 1144 of file q_math.c. References v1, v2, and vec_t. { return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; }

void _VectorAdd (  const vec3_t  veca, const vec3_t  vecb, vec3_t  out )

Definition at line 1154 of file q_math.c. { out[0] = veca[0]+vecb[0]; out[1] = veca[1]+vecb[1]; out[2] = veca[2]+vecb[2]; }

void _VectorCopy (  const vec3_t  in, vec3_t  out )

Definition at line 1160 of file q_math.c. References in. { out[0] = in[0]; out[1] = in[1]; out[2] = in[2]; }

void _VectorMA (  const vec3_t  veca, float  scale, const vec3_t  vecb, vec3_t  vecc )

Definition at line 1137 of file q_math.c. { vecc[0] = veca[0] + scale*vecb[0]; vecc[1] = veca[1] + scale*vecb[1]; vecc[2] = veca[2] + scale*vecb[2]; }

void _VectorScale (  const vec3_t  in, vec_t  scale, vec3_t  out )

Definition at line 1166 of file q_math.c. References in. { out[0] = in[0]*scale; out[1] = in[1]*scale; out[2] = in[2]*scale; }

void _VectorSubtract (  const vec3_t  veca, const vec3_t  vecb, vec3_t  out )

Definition at line 1148 of file q_math.c. { out[0] = veca[0]-vecb[0]; out[1] = veca[1]-vecb[1]; out[2] = veca[2]-vecb[2]; }

void AddPointToBounds (  const vec3_t  v, vec3_t  mins, vec3_t  maxs )

Definition at line 1070 of file q_math.c. References v. { if ( v[0] < mins[0] ) { mins[0] = v[0]; } if ( v[0] > maxs[0]) { maxs[0] = v[0]; } if ( v[1] < mins[1] ) { mins[1] = v[1]; } if ( v[1] > maxs[1]) { maxs[1] = v[1]; } if ( v[2] < mins[2] ) { mins[2] = v[2]; } if ( v[2] > maxs[2]) { maxs[2] = v[2]; } }

float AngleDelta (  float  angle1, float  angle2 )

Definition at line 673 of file q_math.c. References AngleNormalize180(). { return AngleNormalize180( angle1 - angle2 ); }

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float AngleMod (  float  a  )

Definition at line 632 of file q_math.c. References a. Referenced by BotAI(), BotAimAtEnemy(), BotChangeViewAngle(), BotChangeViewAngles(), BotMapScripts(), BotUpdateInput(), CG_MachinegunSpinAngle(), CG_PlayerAngles(), CG_SwingAngles(), InFieldOfVision(), UI_MachinegunSpinAngle(), UI_PlayerAngles(), and UI_SwingAngles(). { a = (360.0/65536) * ((int)(a*(65536/360.0)) & 65535); return a; }

float AngleNormalize180 (  float  angle  )

Definition at line 657 of file q_math.c. References AngleNormalize360(). Referenced by AngleDelta(), and BG_TouchJumpPad(). { angle = AngleNormalize360( angle ); if ( angle > 180.0 ) { angle -= 360.0; } return angle; }

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float AngleNormalize360 (  float  angle  )

Definition at line 645 of file q_math.c. Referenced by AngleNormalize180(). { return (360.0 / 65536) * ((int)(angle * (65536 / 360.0)) & 65535); }

void AnglesSubtract (  vec3_t  v1, vec3_t  v2, vec3_t  v3 )

Definition at line 625 of file q_math.c. References AngleSubtract(), v1, and v2. Referenced by CG_PlayerAngles(), and UI_PlayerAngles(). { v3[0] = AngleSubtract( v1[0], v2[0] ); v3[1] = AngleSubtract( v1[1], v2[1] ); v3[2] = AngleSubtract( v1[2], v2[2] ); }

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void AnglesToAxis (  const vec3_t  angles, vec3_t  axis[3] )

Definition at line 466 of file q_math.c. References AngleVectors(), right, vec3_origin, vec3_t, and VectorSubtract. Referenced by CG_AddFragment(), CG_AddPacketEntities(), CG_AddPlayerWeapon(), CG_AddViewWeapon(), CG_CalcViewValues(), CG_Draw3DModel(), CG_General(), CG_Item(), CG_LightningBolt(), CG_MachineGunEjectBrass(), CG_Missile(), CG_Mover(), CG_PlasmaTrail(), CG_Player(), CG_PlayerAngles(), CG_PlayerFlag(), CG_ScorePlum(), CG_ShotgunEjectBrass(), CG_TeamBase(), CG_TestModel_f(), CG_TrailItem(), Item_Model_Paint(), Main_MenuDraw(), UI_DrawPlayer(), and UI_PlayerAngles(). { vec3_t right; // angle vectors returns "right" instead of "y axis" AngleVectors( angles, axis[0], right, axis[2] ); VectorSubtract( vec3_origin, right, axis[1] ); }

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float AngleSubtract (  float  a1, float  a2 )

Definition at line 611 of file q_math.c. References a. Referenced by AnglesSubtract(), CG_SwingAngles(), and UI_SwingAngles(). { float a; a = a1 - a2; while ( a > 180 ) { a -= 360; } while ( a < -180 ) { a += 360; } return a; }

void AngleVectors (  const vec3_t  angles, vec3_t  forward, vec3_t  right, vec3_t  up )

Definition at line 1238 of file q_math.c. References cos(), cp, M_PI, right, sin(), and 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; } }

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void AxisClear (  vec3_t  axis[3]  )

Definition at line 474 of file q_math.c. Referenced by CG_Beam(), CG_Draw3DModel(), CG_GrappleTrail(), CG_MakeExplosion(), CG_RailTrail(), CG_SpawnEffect(), Item_Model_Paint(), Main_MenuDraw(), R_LerpTag(), and UI_DrawPlayer(). { axis[0][0] = 1; axis[0][1] = 0; axis[0][2] = 0; axis[1][0] = 0; axis[1][1] = 1; axis[1][2] = 0; axis[2][0] = 0; axis[2][1] = 0; axis[2][2] = 1; }

void AxisCopy (  vec3_t  in[3], vec3_t  out[3] )

Definition at line 486 of file q_math.c. References in, and VectorCopy. Referenced by CG_Item(), CG_LaunchExplode(), CG_LaunchGib(), CG_MachineGunEjectBrass(), CG_PlasmaTrail(), CG_ShotgunEjectBrass(), and R_GetPortalOrientations(). { VectorCopy( in[0], out[0] ); VectorCopy( in[1], out[1] ); VectorCopy( in[2], out[2] ); }

int BoxOnPlaneSide (  vec3_t  emins, vec3_t  emaxs, struct cplane_s *  p )

Definition at line 745 of file q_math.c. { 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 break; } sides = 0; if (dist1 >= p->dist) sides = 1; if (dist2 < p->dist) sides |= 2; return sides; }

void ByteToDir (  int  b, vec3_t  dir )

Definition at line 260 of file q_math.c. References b, bytedirs, vec3_origin, and VectorCopy. Referenced by CG_EntityEvent(), and CG_Portal(). { if ( b < 0 || b >= NUMVERTEXNORMALS ) { VectorCopy( vec3_origin, dir ); return; } VectorCopy (bytedirs[b], dir); }

signed char ClampChar (  int  i  )

Definition at line 215 of file q_math.c. References i. Referenced by CL_JoystickMove(), CL_KeyMove(), and CL_MouseMove(). { if ( i < -128 ) { return -128; } if ( i > 127 ) { return 127; } return i; }

signed short ClampShort (  int  i  )

Definition at line 225 of file q_math.c. References i. { if ( i < -32768 ) { return -32768; } if ( i > 0x7fff ) { return 0x7fff; } return i; }

void ClearBounds (  vec3_t  mins, vec3_t  maxs )

Definition at line 1065 of file q_math.c. { mins[0] = mins[1] = mins[2] = 99999; maxs[0] = maxs[1] = maxs[2] = -99999; }

unsigned ColorBytes3 (  float  r, float  g, float  b )

Definition at line 269 of file q_math.c. References b, byte, g(), and r. { unsigned i; ( (byte *)&i )[0] = r * 255; ( (byte *)&i )[1] = g * 255; ( (byte *)&i )[2] = b * 255; return i; }

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unsigned ColorBytes4 (  float  r, float  g, float  b, float  a )

Definition at line 279 of file q_math.c. References a, b, byte, g(), and r. Referenced by R_LoadFogs(). { unsigned i; ( (byte *)&i )[0] = r * 255; ( (byte *)&i )[1] = g * 255; ( (byte *)&i )[2] = b * 255; ( (byte *)&i )[3] = a * 255; return i; }

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int DirToByte (  vec3_t  dir  )

Definition at line 237 of file q_math.c. References bytedirs, d, DotProduct, and i. Referenced by Bullet_Fire(), CheckGauntletAttack(), G_ExplodeMissile(), G_MissileImpact(), locateCamera(), Weapon_LightningFire(), and weapon_railgun_fire(). { int i, best; float d, bestd; if ( !dir ) { return 0; } bestd = 0; best = 0; for (i=0 ; i<NUMVERTEXNORMALS ; i++) { d = DotProduct (dir, bytedirs[i]); if (d > bestd) { bestd = d; best = i; } } return best; }

float LerpAngle (  float  from, float  to, float  frac )

Definition at line 589 of file q_math.c. References a. Referenced by CG_InterpolateEntityPosition(), and CG_InterpolatePlayerState(). { float a; if ( to - from > 180 ) { to -= 360; } if ( to - from < -180 ) { to += 360; } a = from + frac * (to - from); return a; }

void MakeNormalVectors (  const vec3_t  forward, vec3_t  right, vec3_t  up )

Definition at line 523 of file q_math.c. { float d; // this rotate and negate guarantees a vector // not colinear with the original right[1] = -forward[0]; right[2] = forward[1]; right[0] = forward[2]; d = DotProduct (right, forward); VectorMA (right, -d, forward, right); VectorNormalize (right); CrossProduct (right, forward, up); }

void MatrixMultiply (  float  in1[3][3], float  in2[3][3], float  out[3][3] )

Definition at line 1216 of file q_math.c. { 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]; }

float NormalizeColor (  const vec3_t  in, vec3_t  out )

Definition at line 290 of file q_math.c. References in, max, and VectorClear. { float max; max = in[0]; if ( in[1] > max ) { max = in[1]; } if ( in[2] > max ) { max = in[2]; } if ( !max ) { VectorClear( out ); } else { out[0] = in[0] / max; out[1] = in[1] / max; out[2] = in[2] / max; } return max; }

void PerpendicularVector (  vec3_t  dst, const vec3_t  src )

Definition at line 1276 of file q_math.c. { 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 ); }

qboolean PlaneFromPoints (  vec4_t  plane, const vec3_t  a, const vec3_t  b, const vec3_t  c )

Definition at line 320 of file q_math.c. { vec3_t d1, d2; VectorSubtract( b, a, d1 ); VectorSubtract( c, a, d2 ); CrossProduct( d2, d1, plane ); if ( VectorNormalize( plane ) == 0 ) { return qfalse; } plane[3] = DotProduct( a, plane ); return qtrue; }

void ProjectPointOnPlane (  vec3_t  dst, const vec3_t  p, const vec3_t  normal )

Definition at line 492 of file q_math.c. { float d; vec3_t n; float inv_denom; inv_denom = DotProduct( normal, normal ); #ifndef Q3_VM assert( Q_fabs(inv_denom) != 0.0f ); // bk010122 - zero vectors get here #endif inv_denom = 1.0f / inv_denom; 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]; }

float Q_crandom (  int *  seed  )

Definition at line 152 of file q_math.c. References Q_random(). Referenced by CG_ShotgunPattern(), and ShotgunPattern(). { return 2.0 * ( Q_random( seed ) - 0.5 ); }

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float Q_fabs (  float  f  )

Definition at line 574 of file q_math.c. { int tmp = * ( int * ) &f; tmp &= 0x7FFFFFFF; return * ( float * ) &tmp; }

int Q_log2 (  int  val  )

Definition at line 1180 of file q_math.c. { int answer; answer = 0; while ( ( val>>=1 ) != 0 ) { answer++; } return answer; }

int Q_rand (  int *  seed  )

Definition at line 143 of file q_math.c. Referenced by Q_random(). { *seed = (69069 * *seed + 1); return *seed; }

float Q_random (  int *  seed  )

Definition at line 148 of file q_math.c. References Q_rand(). Referenced by CG_SmokePuff(), Com_EventLoop(), and Q_crandom(). { return ( Q_rand( seed ) & 0xffff ) / (float)0x10000; }

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float Q_rsqrt (  float  number  )

Definition at line 552 of file q_math.c. References assert, i, number, x2, and y. Referenced by RB_CalcSpecularAlpha(), and VectorNormalizeFast(). { long i; float x2, y; const float threehalfs = 1.5F; x2 = number * 0.5F; y = number; i = * ( long * ) &y; // evil floating point bit level hacking i = 0x5f3759df - ( i >> 1 ); // what the fuck? y = * ( float * ) &i; y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed #ifndef Q3_VM #ifdef __linux__ assert( !isnan(y) ); // bk010122 - FPE? #endif #endif return y; }

float RadiusFromBounds (  const vec3_t  mins, const vec3_t  maxs )

Definition at line 1050 of file q_math.c. References a, b, fabs(), i, vec3_t, and VectorLength(). Referenced by BotImport_BSPModelMinsMaxsOrigin(), G_MoverPush(), R_ComputeLOD(), and SV_LinkEntity(). { int i; vec3_t corner; float a, b; for (i=0 ; i<3 ; i++) { a = fabs( mins[i] ); b = fabs( maxs[i] ); corner[i] = a > b ? a : b; } return VectorLength (corner); }

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void RotateAroundDirection (  vec3_t  axis[3], float  yaw )

Definition at line 402 of file q_math.c. References CrossProduct(), PerpendicularVector(), RotatePointAroundVector(), vec3_t, and VectorCopy. Referenced by CG_MakeExplosion(), and CG_Missile(). { // create an arbitrary axis[1] PerpendicularVector( axis[1], axis[0] ); // rotate it around axis[0] by yaw if ( yaw ) { vec3_t temp; VectorCopy( axis[1], temp ); RotatePointAroundVector( axis[1], axis[0], temp, yaw ); } // cross to get axis[2] CrossProduct( axis[0], axis[1], axis[2] ); }

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void RotatePointAroundVector (  vec3_t  dst, const vec3_t  dir, const vec3_t  point, float  degrees )

Definition at line 341 of file q_math.c. { 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; float rad; 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; rad = DEG2RAD( degrees ); zrot[0][0] = cos( rad ); zrot[0][1] = sin( rad ); zrot[1][0] = -sin( rad ); zrot[1][1] = cos( rad );