484 lines
20 KiB
C
484 lines
20 KiB
C
/*
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Copyright (C) 1999-2006 Id Software, Inc. and contributors.
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For a list of contributors, see the accompanying CONTRIBUTORS file.
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This file is part of GtkRadiant.
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GtkRadiant is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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GtkRadiant is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with GtkRadiant; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef __MATHLIB__
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#define __MATHLIB__
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// mathlib.h
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#include <math.h>
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#include <float.h>
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#ifdef __cplusplus
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// start declarations of functions defined in C library.
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extern "C"
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{
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#endif
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#include "bytebool.h"
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typedef float vec_t;
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typedef vec_t vec3_t[3];
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typedef vec_t vec5_t[5];
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typedef vec_t vec4_t[4];
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// Smallest positive value for vec_t such that 1.0 + VEC_SMALLEST_EPSILON_AROUND_ONE != 1.0.
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// In the case of 32 bit floats (which is almost certainly the case), it's 0.00000011921.
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// Don't forget that your epsilons should depend on the possible range of values,
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// because for example adding VEC_SMALLEST_EPSILON_AROUND_ONE to 1024.0 will have no effect.
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#define VEC_SMALLEST_EPSILON_AROUND_ONE FLT_EPSILON
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#define SIDE_FRONT 0
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#define SIDE_ON 2
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#define SIDE_BACK 1
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#define SIDE_CROSS -2
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// plane types are used to speed some tests
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// 0-2 are axial planes
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#define PLANE_X 0
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#define PLANE_Y 1
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#define PLANE_Z 2
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#define PLANE_NON_AXIAL 3
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#define Q_PI 3.14159265358979323846f
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extern const vec3_t vec3_origin;
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extern const vec3_t g_vec3_axis_x;
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extern const vec3_t g_vec3_axis_y;
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extern const vec3_t g_vec3_axis_z;
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#define EQUAL_EPSILON 0.001
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#define DotProduct( x,y ) ( ( x )[0] * ( y )[0] + ( x )[1] * ( y )[1] + ( x )[2] * ( y )[2] )
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#define VectorSubtract( a,b,c ) ( ( c )[0] = ( a )[0] - ( b )[0],( c )[1] = ( a )[1] - ( b )[1],( c )[2] = ( a )[2] - ( b )[2] )
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#define VectorAdd( a,b,c ) ( ( c )[0] = ( a )[0] + ( b )[0],( c )[1] = ( a )[1] + ( b )[1],( c )[2] = ( a )[2] + ( b )[2] )
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#define VectorIncrement( a,b ) ( ( b )[0] += ( a )[0],( b )[1] += ( a )[1],( b )[2] += ( a )[2] )
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#define VectorCopy( a,b ) ( ( b )[0] = ( a )[0],( b )[1] = ( a )[1],( b )[2] = ( a )[2] )
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#define VectorSet( v, a, b, c ) ( ( v )[0] = ( a ),( v )[1] = ( b ),( v )[2] = ( c ) )
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#define VectorScale( a,b,c ) ( ( c )[0] = ( b ) * ( a )[0],( c )[1] = ( b ) * ( a )[1],( c )[2] = ( b ) * ( a )[2] )
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#define VectorMid( 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 )
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#define VectorNegate( a,b ) ( ( b )[0] = -( a )[0],( b )[1] = -( a )[1],( b )[2] = -( a )[2] )
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#define CrossProduct( a,b,c ) ( ( c )[0] = ( a )[1] * ( b )[2] - ( a )[2] * ( b )[1],( c )[1] = ( a )[2] * ( b )[0] - ( a )[0] * ( b )[2],( c )[2] = ( a )[0] * ( b )[1] - ( a )[1] * ( b )[0] )
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#define VectorClear( x ) ( ( x )[0] = ( x )[1] = ( x )[2] = 0 )
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#define FLOAT_SNAP( f,snap ) ( (float)( floor( ( f ) / ( snap ) + 0.5 ) * ( snap ) ) )
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#define FLOAT_TO_INTEGER( f ) ( (float)( floor( ( f ) + 0.5 ) ) )
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#define RGBTOGRAY( x ) ( (float)( ( x )[0] ) * 0.2989f + (float)( ( x )[1] ) * 0.5870f + (float)( ( x )[2] ) * 0.1140f )
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#define Q_rint( in ) ( (vec_t)floor( in + 0.5 ) )
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qboolean VectorCompare( const vec3_t v1, const vec3_t v2 );
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qboolean VectorIsOnAxis( vec3_t v );
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qboolean VectorIsOnAxialPlane( vec3_t v );
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vec_t VectorLength( const vec3_t v );
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void VectorMA( const vec3_t va, vec_t scale, const vec3_t vb, vec3_t vc );
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void _CrossProduct( vec3_t v1, vec3_t v2, vec3_t cross );
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// I need this define in order to test some of the regression tests from time to time.
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// This define affect the precision of VectorNormalize() function only.
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#define MATHLIB_VECTOR_NORMALIZE_PRECISION_FIX 1
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vec_t VectorNormalize( const vec3_t in, vec3_t out );
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vec_t ColorNormalize( const vec3_t in, vec3_t out );
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void VectorInverse( vec3_t v );
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void VectorPolar( vec3_t v, float radius, float theta, float phi );
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// default snapping, to 1
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void VectorSnap( vec3_t v );
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// integer snapping
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void VectorISnap( vec3_t point, int snap );
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// Gef: added snap to float for sub-integer grid sizes
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// TTimo: we still use the int version of VectorSnap when possible
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// to avoid potential rounding issues
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// TTimo: renaming to VectorFSnap for C implementation
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void VectorFSnap( vec3_t point, float snap );
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// NOTE: added these from Ritual's Q3Radiant
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void ClearBounds( vec3_t mins, vec3_t maxs );
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void AddPointToBounds( vec3_t v, vec3_t mins, vec3_t maxs );
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#define PITCH 0 // up / down
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#define YAW 1 // left / right
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#define ROLL 2 // fall over
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void AngleVectors( vec3_t angles, vec3_t forward, vec3_t right, vec3_t up );
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void VectorToAngles( vec3_t vec, vec3_t angles );
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#define ZERO_EPSILON 1.0E-6
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#define RAD2DEGMULT 57.29577951308232f
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#define DEG2RADMULT 0.01745329251994329f
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#define RAD2DEG( a ) ( ( a ) * RAD2DEGMULT )
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#define DEG2RAD( a ) ( ( a ) * DEG2RADMULT )
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void VectorRotate( vec3_t vIn, vec3_t vRotation, vec3_t out );
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void VectorRotateOrigin( vec3_t vIn, vec3_t vRotation, vec3_t vOrigin, vec3_t out );
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// some function merged from tools mathlib code
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qboolean PlaneFromPoints( vec4_t plane, const vec3_t a, const vec3_t b, const vec3_t c );
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void NormalToLatLong( const vec3_t normal, byte bytes[2] );
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int PlaneTypeForNormal( vec3_t normal );
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void RotatePointAroundVector( vec3_t dst, const vec3_t dir, const vec3_t point, float degrees );
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/*!
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\todo
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FIXME test calls such as intersect tests should be named test_
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*/
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typedef vec_t m3x3_t[9];
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/*!NOTE
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m4x4 looks like this..
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x y z
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x axis ( 0 1 2)
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y axis ( 4 5 6)
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z axis ( 8 9 10)
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translation (12 13 14)
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scale ( 0 5 10)
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*/
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typedef vec_t m4x4_t[16];
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#define M4X4_INDEX( m,row,col ) ( m[( col << 2 ) + row] )
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typedef enum { eXYZ, eYZX, eZXY, eXZY, eYXZ, eZYX } eulerOrder_t;
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#define CLIP_PASS 0x00 // 000000
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#define CLIP_LT_X 0x01 // 000001
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#define CLIP_GT_X 0x02 // 000010
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#define CLIP_LT_Y 0x04 // 000100
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#define CLIP_GT_Y 0x08 // 001000
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#define CLIP_LT_Z 0x10 // 010000
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#define CLIP_GT_Z 0x20 // 100000
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#define CLIP_FAIL 0x3F // 111111
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typedef unsigned char clipmask_t;
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extern const m4x4_t g_m4x4_identity;
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#define M4X4_COPY( dst,src ) ( \
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( dst )[0] = ( src )[0], \
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( dst )[1] = ( src )[1], \
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( dst )[2] = ( src )[2], \
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( dst )[3] = ( src )[3], \
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( dst )[4] = ( src )[4], \
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( dst )[5] = ( src )[5], \
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( dst )[6] = ( src )[6], \
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( dst )[7] = ( src )[7], \
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( dst )[8] = ( src )[8], \
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( dst )[9] = ( src )[9], \
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( dst )[10] = ( src )[10], \
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( dst )[11] = ( src )[11], \
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( dst )[12] = ( src )[12], \
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( dst )[13] = ( src )[13], \
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( dst )[14] = ( src )[14], \
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( dst )[15] = ( src )[15] )
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typedef enum
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{
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eRightHanded = 0,
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eLeftHanded = 1,
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}
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m4x4Handedness_t;
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m4x4Handedness_t m4x4_handedness( const m4x4_t matrix );
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/*! assign other m4x4 to this m4x4 */
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void m4x4_assign( m4x4_t matrix, const m4x4_t other );
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// constructors
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/*! create m4x4 as identity matrix */
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void m4x4_identity( m4x4_t matrix );
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/*! create m4x4 as a translation matrix, for a translation vec3 */
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void m4x4_translation_for_vec3( m4x4_t matrix, const vec3_t translation );
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/*! create m4x4 as a rotation matrix, for an euler angles (degrees) vec3 */
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void m4x4_rotation_for_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order );
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/*! create m4x4 as a scaling matrix, for a scale vec3 */
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void m4x4_scale_for_vec3( m4x4_t matrix, const vec3_t scale );
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/*! create m4x4 as a rotation matrix, for a quaternion vec4 */
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void m4x4_rotation_for_quat( m4x4_t matrix, const vec4_t rotation );
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/*! create m4x4 as a rotation matrix, for an axis vec3 and an angle (radians) */
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void m4x4_rotation_for_axisangle( m4x4_t matrix, const vec3_t axis, double angle );
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/*! generate a perspective matrix by specifying the view frustum */
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void m4x4_frustum( m4x4_t matrix, vec_t left, vec_t right, vec_t bottom, vec_t top, vec_t nearval, vec_t farval );
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// a valid m4x4 to access is always first argument
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/*! extract translation vec3 from matrix */
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void m4x4_get_translation_vec3( const m4x4_t matrix, vec3_t translation );
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/*! extract euler rotation angles from a rotation-only matrix */
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void m4x4_get_rotation_vec3( const m4x4_t matrix, vec3_t euler, eulerOrder_t order );
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/*! extract scale vec3 from matrix */
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void m4x4_get_scale_vec3( const m4x4_t matrix, vec3_t scale );
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/*! extract translation/euler/scale from an orthogonal matrix. NOTE: requires right-handed axis-base */
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void m4x4_get_transform_vec3( const m4x4_t matrix, vec3_t translation, vec3_t euler, eulerOrder_t order, vec3_t scale );
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// a valid m4x4 to be modified is always first argument
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/*! translate m4x4 by a translation vec3 */
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void m4x4_translate_by_vec3( m4x4_t matrix, const vec3_t translation );
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/*! rotate m4x4 by a euler (degrees) vec3 */
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void m4x4_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order );
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/*! scale m4x4 by a scaling vec3 */
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void m4x4_scale_by_vec3( m4x4_t matrix, const vec3_t scale );
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/*! rotate m4x4 by a quaternion vec4 */
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void m4x4_rotate_by_quat( m4x4_t matrix, const vec4_t rotation );
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/*! rotate m4x4 by an axis vec3 and an angle (radians) */
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void m4x4_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, double angle );
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/*! transform m4x4 by translation/eulerZYX/scaling vec3 (transform = scale * eulerZ * eulerY * eulerX * translation) */
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void m4x4_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale );
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/*! rotate m4x4 around a pivot point by eulerZYX vec3 */
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void m4x4_pivoted_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint );
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/*! scale m4x4 around a pivot point by scaling vec3 */
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void m4x4_pivoted_scale_by_vec3( m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint );
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/*! transform m4x4 around a pivot point by translation/eulerZYX/scaling vec3 */
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void m4x4_pivoted_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint );
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/*! transform m4x4 around a pivot point by translation/rotation/scaling vec3 */
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void m4x4_pivoted_transform_by_rotation( m4x4_t matrix, const vec3_t translation, const m4x4_t rotation, const vec3_t scale, const vec3_t pivotpoint );
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/*! rotate m4x4 around a pivot point by quaternion vec4 */
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void m4x4_pivoted_rotate_by_quat( m4x4_t matrix, const vec4_t quat, const vec3_t pivotpoint );
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/*! rotate m4x4 around a pivot point by axis vec3 and angle (radians) */
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void m4x4_pivoted_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, double angle, const vec3_t pivotpoint );
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/*! postmultiply m4x4 by another m4x4 */
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void m4x4_multiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
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/*! premultiply m4x4 by another m4x4 */
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void m4x4_premultiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
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/*! postmultiply orthogonal m4x4 by another orthogonal m4x4 */
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void m4x4_orthogonal_multiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
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/*! premultiply orthogonal m4x4 by another orthogonal m4x4 */
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void m4x4_orthogonal_premultiply_by_m4x4( m4x4_t matrix, const m4x4_t matrix_src );
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/*! multiply a point (x,y,z,1) by matrix */
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void m4x4_transform_point( const m4x4_t matrix, vec3_t point );
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/*! multiply a normal (x,y,z,0) by matrix */
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void m4x4_transform_normal( const m4x4_t matrix, vec3_t normal );
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/*! multiply a vec4 (x,y,z,w) by matrix */
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void m4x4_transform_vec4( const m4x4_t matrix, vec4_t vector );
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/*! multiply a point (x,y,z,1) by matrix */
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void m4x4_transform_point( const m4x4_t matrix, vec3_t point );
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/*! multiply a normal (x,y,z,0) by matrix */
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void m4x4_transform_normal( const m4x4_t matrix, vec3_t normal );
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/*! transpose a m4x4 */
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void m4x4_transpose( m4x4_t matrix );
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/*! invert an orthogonal 4x3 subset of a 4x4 matrix */
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int m4x4_orthogonal_invert( m4x4_t matrix );
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/*! m4_det */
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float m4_det( m4x4_t mr );
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/*! invert any m4x4 using Kramer's rule.. return 1 if matrix is singular, else return 0 */
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int m4x4_invert( m4x4_t matrix );
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/*! clip a point (x,y,z,1) by canonical matrix */
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clipmask_t m4x4_clip_point( const m4x4_t matrix, const vec3_t point, vec4_t clipped );
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/*! device-space polygon for clipped triangle */
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unsigned int m4x4_clip_triangle( const m4x4_t matrix, const vec3_t p0, const vec3_t p1, const vec3_t p2, vec4_t clipped[9] );
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/*! device-space line for clipped line */
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unsigned int m4x4_clip_line( const m4x4_t matrix, const vec3_t p0, const vec3_t p1, vec4_t clipped[2] );
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//! quaternion identity
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void quat_identity( vec4_t quat );
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//! quaternion from two unit vectors
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void quat_for_unit_vectors( vec4_t quat, const vec3_t from, const vec3_t to );
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//! quaternion from axis and angle (radians)
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void quat_for_axisangle( vec4_t quat, const vec3_t axis, double angle );
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//! concatenates two rotations.. equivalent to m4x4_multiply_by_m4x4 .. postmultiply.. the right-hand side is the first rotation performed
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void quat_multiply_by_quat( vec4_t quat, const vec4_t other );
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//! negate a quaternion
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void quat_conjugate( vec4_t quat );
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//! normalise a quaternion
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void quat_normalise( vec4_t quat );
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/*!
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\todo object/ray intersection functions should maybe return a point rather than a distance?
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*/
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/*!
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aabb_t - "axis-aligned" bounding box...
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origin: centre of bounding box...
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extents: +/- extents of box from origin...
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*/
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typedef struct aabb_s
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{
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vec3_t origin;
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vec3_t extents;
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} aabb_t;
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extern const aabb_t g_aabb_null;
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/*!
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bbox_t - oriented bounding box...
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aabb: axis-aligned bounding box...
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axes: orientation axes...
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*/
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typedef struct bbox_s
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{
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aabb_t aabb;
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vec3_t axes[3];
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vec_t radius;
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} bbox_t;
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/*!
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ray_t - origin point and direction unit-vector
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*/
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typedef struct ray_s
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{
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vec3_t origin;
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vec3_t direction;
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} ray_t;
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/*!
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line_t - centre point and displacement of end point from centre
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*/
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typedef struct line_s
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{
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vec3_t origin;
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vec3_t extents;
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} line_t;
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/*! Generate line from start/end points. */
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void line_construct_for_vec3( line_t* line, const vec3_t start, const vec3_t end );
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/*! Return 2 if line is behind plane, else return 1 if line intersects plane, else return 0. */
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int line_test_plane( const line_t* line, const vec4_t plane );
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/*! Generate AABB from min/max. */
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void aabb_construct_for_vec3( aabb_t* aabb, const vec3_t min, const vec3_t max );
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/*! Initialise AABB to negative size. */
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void aabb_clear( aabb_t* aabb );
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/*! Extend AABB to include point. */
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void aabb_extend_by_point( aabb_t* aabb, const vec3_t point );
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/*! Extend AABB to include aabb_src. */
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void aabb_extend_by_aabb( aabb_t* aabb, const aabb_t* aabb_src );
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/*! Extend AABB by +/- extension vector. */
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void aabb_extend_by_vec3( aabb_t* aabb, vec3_t extension );
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/*! Return 2 if point is inside, else 1 if point is on surface, else 0. */
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int aabb_test_point( const aabb_t* aabb, const vec3_t point );
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/*! Return 2 if aabb_src intersects, else 1 if aabb_src touches exactly, else 0. */
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int aabb_test_aabb( const aabb_t* aabb, const aabb_t* aabb_src );
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/*! Return 2 if aabb is behind plane, else 1 if aabb intersects plane, else 0. */
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int aabb_test_plane( const aabb_t* aabb, const float* plane );
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/*! Return 1 if aabb intersects ray, else 0... dist = closest intersection. */
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int aabb_intersect_ray( const aabb_t* aabb, const ray_t* ray, vec3_t intersection );
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/*! Return 1 if aabb intersects ray, else 0. Faster, but does not provide point of intersection */
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int aabb_test_ray( const aabb_t* aabb, const ray_t* ray );
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/*! Return 2 if oriented aabb is behind plane, else 1 if aabb intersects plane, else 0. */
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int aabb_oriented_intersect_plane( const aabb_t* aabb, const m4x4_t transform, const vec_t* plane );
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/*! Calculate the corners of the aabb. */
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void aabb_corners( const aabb_t * aabb, vec3_t corners[8] );
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/*! (deprecated) Generate AABB from oriented bounding box. */
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void aabb_for_bbox( aabb_t* aabb, const bbox_t* bbox );
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/*! (deprecated) Generate AABB from 2-dimensions of min/max, specified by axis. */
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void aabb_for_area( aabb_t* aabb, vec3_t area_tl, vec3_t area_br, int axis );
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/*! Generate AABB to contain src* transform. NOTE: transform must be orthogonal */
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void aabb_for_transformed_aabb( aabb_t* dst, const aabb_t* src, const m4x4_t transform );
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/*! Update bounding-sphere radius. */
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void bbox_update_radius( bbox_t* bbox );
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/*! Generate oriented bounding box from AABB and transformation matrix. */
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/*!\todo Remove need to specify eulerZYX/scale. */
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void bbox_for_oriented_aabb( bbox_t* bbox, const aabb_t* aabb,
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const m4x4_t matrix, const vec3_t eulerZYX, const vec3_t scale );
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/*! Return 2 if bbox is behind plane, else return 1 if bbox intersects plane, else return 0. */
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int bbox_intersect_plane( const bbox_t* bbox, const vec_t* plane );
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/*! Generate a ray from an origin point and a direction unit-vector */
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void ray_construct_for_vec3( ray_t* ray, const vec3_t origin, const vec3_t direction );
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/*! Transform a ray */
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void ray_transform( ray_t* ray, const m4x4_t matrix );
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/*! distance from ray origin in ray direction to point. FLT_MAX if no intersection. */
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vec_t ray_intersect_point( const ray_t* ray, const vec3_t point, vec_t epsilon, vec_t divergence );
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/*! distance from ray origin in ray direction to triangle. FLT_MAX if no intersection. */
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vec_t ray_intersect_triangle( const ray_t* ray, qboolean bCullBack, const vec3_t vert0, const vec3_t vert1, const vec3_t vert2 );
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/*! distance from ray origin in ray direction to plane. */
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vec_t ray_intersect_plane( const ray_t* ray, const vec3_t normal, vec_t dist );
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int plane_intersect_planes( const vec4_t plane1, const vec4_t plane2, const vec4_t plane3, vec3_t intersection );
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////////////////////////////////////////////////////////////////////////////////
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// Below is double-precision math stuff. This was initially needed by the new
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// "base winding" code in q3map2 brush processing in order to fix the famous
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// "disappearing triangles" issue. These definitions can be used wherever extra
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// precision is needed.
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////////////////////////////////////////////////////////////////////////////////
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typedef double vec_accu_t;
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typedef vec_accu_t vec3_accu_t[3];
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// Smallest positive value for vec_accu_t such that 1.0 + VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE != 1.0.
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// In the case of 64 bit doubles (which is almost certainly the case), it's 0.00000000000000022204.
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// Don't forget that your epsilons should depend on the possible range of values,
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// because for example adding VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE to 1024.0 will have no effect.
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#define VEC_ACCU_SMALLEST_EPSILON_AROUND_ONE DBL_EPSILON
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vec_accu_t VectorLengthAccu( const vec3_accu_t v );
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// I have a feeling it may be safer to break these #define functions out into actual functions
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// in order to avoid accidental loss of precision. For example, say you call
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// VectorScaleAccu(vec3_t, vec_t, vec3_accu_t). The scale would take place in 32 bit land
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// and the result would be cast to 64 bit, which would cause total loss of precision when
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// scaling by a large factor.
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//#define DotProductAccu(x, y) ((x)[0] * (y)[0] + (x)[1] * (y)[1] + (x)[2] * (y)[2])
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//#define VectorSubtractAccu(a, b, c) ((c)[0] = (a)[0] - (b)[0], (c)[1] = (a)[1] - (b)[1], (c)[2] = (a)[2] - (b)[2])
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//#define VectorAddAccu(a, b, c) ((c)[0] = (a)[0] + (b)[0], (c)[1] = (a)[1] + (b)[1], (c)[2] = (a)[2] + (b)[2])
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//#define VectorCopyAccu(a, b) ((b)[0] = (a)[0], (b)[1] = (a)[1], (b)[2] = (a)[2])
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//#define VectorScaleAccu(a, b, c) ((c)[0] = (b) * (a)[0], (c)[1] = (b) * (a)[1], (c)[2] = (b) * (a)[2])
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//#define CrossProductAccu(a, b, c) ((c)[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1], (c)[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2], (c)[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0])
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//#define Q_rintAccu(in) ((vec_accu_t) floor(in + 0.5))
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vec_accu_t DotProductAccu( const vec3_accu_t a, const vec3_accu_t b );
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void VectorSubtractAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
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void VectorAddAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
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void VectorCopyAccu( const vec3_accu_t in, vec3_accu_t out );
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void VectorScaleAccu( const vec3_accu_t in, vec_accu_t scaleFactor, vec3_accu_t out );
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void CrossProductAccu( const vec3_accu_t a, const vec3_accu_t b, vec3_accu_t out );
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vec_accu_t Q_rintAccu( vec_accu_t val );
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void VectorCopyAccuToRegular( const vec3_accu_t in, vec3_t out );
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void VectorCopyRegularToAccu( const vec3_t in, vec3_accu_t out );
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vec_accu_t VectorNormalizeAccu( const vec3_accu_t in, vec3_accu_t out );
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MATHLIB__ */
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