static qboolean
load_iqm_meshes (model_t *mod, const iqmheader *hdr, byte *buffer)
{
iqm_t *iqm = (iqm_t *) mod->aliashdr;
iqmtriangle *tris;
iqmmesh *meshes;
iqmjoint *joints;
uint32_t i;
if (!load_iqm_vertex_arrays (mod, hdr, buffer))
return false;
if (!(tris = get_triangles (hdr, buffer)))
return false;
iqm->num_elements = hdr->num_triangles * 3;
iqm->elements = malloc (hdr->num_triangles * 3 * sizeof (uint16_t));
for (i = 0; i < hdr->num_triangles; i++)
VectorCopy (tris[i].vertex, iqm->elements + i * 3);
if (!(meshes = get_meshes (hdr, buffer)))
return false;
iqm->num_meshes = hdr->num_meshes;
iqm->meshes = malloc (hdr->num_meshes * sizeof (iqmmesh));
memcpy (iqm->meshes, meshes, hdr->num_meshes * sizeof (iqmmesh));
if (!(joints = get_joints (hdr, buffer)))
return false;
iqm->num_joints = hdr->num_joints;
iqm->joints = malloc (iqm->num_joints * sizeof (iqmjoint));
iqm->baseframe = malloc (iqm->num_joints * sizeof (mat4_t));
iqm->inverse_baseframe = malloc (iqm->num_joints * sizeof (mat4_t));
memcpy (iqm->joints, joints, iqm->num_joints * sizeof (iqmjoint));
for (i = 0; i < hdr->num_joints; i++) {
iqmjoint *j = &iqm->joints[i];
mat4_t *bf = &iqm->baseframe[i];
mat4_t *ibf = &iqm->inverse_baseframe[i];
quat_t t;
float ilen;
ilen = 1.0 / sqrt(QDotProduct (j->rotate, j->rotate));
QuatScale (j->rotate, ilen, t);
Mat4Init (t, j->scale, j->translate, *bf);
Mat4Inverse (*bf, *ibf);
if (j->parent >= 0) {
Mat4Mult (iqm->baseframe[j->parent], *bf, *bf);
Mat4Mult (*ibf, iqm->inverse_baseframe[j->parent], *ibf);
}
}
return true;
}
/*
PR_ExecuteProgram
The interpretation main loop
*/
VISIBLE void
PR_ExecuteProgram (progs_t * pr, func_t fnum)
{
int exitdepth, profile, startprofile;
pr_uint_t pointer;
dstatement_t *st;
edict_t *ed;
pr_type_t *ptr;
pr_type_t old_val = {0}, *watch = 0;
// make a stack frame
exitdepth = pr->pr_depth;
startprofile = profile = 0;
Sys_PushSignalHook (signal_hook, pr);
if (!PR_CallFunction (pr, fnum)) {
// called a builtin instead of progs code
Sys_PopSignalHook ();
return;
}
st = pr->pr_statements + pr->pr_xstatement;
if (pr->watch) {
watch = pr->watch;
old_val = *watch;
}
while (1) {
pr_type_t *op_a, *op_b, *op_c;
st++;
++pr->pr_xstatement;
if (pr->pr_xstatement != st - pr->pr_statements)
PR_RunError (pr, "internal error");
if (++profile > 1000000 && !pr->no_exec_limit) {
PR_RunError (pr, "runaway loop error");
}
op_a = pr->pr_globals + st->a;
op_b = pr->pr_globals + st->b;
op_c = pr->pr_globals + st->c;
if (pr->pr_trace)
PR_PrintStatement (pr, st, 1);
switch (st->op) {
case OP_ADD_F:
OPC.float_var = OPA.float_var + OPB.float_var;
break;
case OP_ADD_V:
VectorAdd (OPA.vector_var, OPB.vector_var, OPC.vector_var);
break;
case OP_ADD_Q:
QuatAdd (OPA.quat_var, OPB.quat_var, OPC.quat_var);
break;
case OP_ADD_S:
OPC.string_var = PR_CatStrings (pr,
PR_GetString (pr,
OPA.string_var),
PR_GetString (pr,
OPB.string_var));
break;
case OP_SUB_F:
OPC.float_var = OPA.float_var - OPB.float_var;
break;
case OP_SUB_V:
VectorSubtract (OPA.vector_var, OPB.vector_var, OPC.vector_var);
break;
case OP_SUB_Q:
QuatSubtract (OPA.quat_var, OPB.quat_var, OPC.quat_var);
break;
case OP_MUL_F:
OPC.float_var = OPA.float_var * OPB.float_var;
break;
case OP_MUL_V:
OPC.float_var = DotProduct (OPA.vector_var, OPB.vector_var);
break;
case OP_MUL_FV:
{
// avoid issues with the likes of x = x.x * x;
// makes for faster code, too
float scale = OPA.float_var;
VectorScale (OPB.vector_var, scale, OPC.vector_var);
}
break;
case OP_MUL_VF:
{
// avoid issues with the likes of x = x * x.x;
// makes for faster code, too
float scale = OPB.float_var;
VectorScale (OPA.vector_var, scale, OPC.vector_var);
}
break;
case OP_MUL_Q:
QuatMult (OPA.quat_var, OPB.quat_var, OPC.quat_var);
break;
case OP_MUL_QV:
QuatMultVec (OPA.quat_var, OPB.vector_var, OPC.vector_var);
break;
case OP_MUL_FQ:
{
// avoid issues with the likes of x = x.s * x;
// makes for faster code, too
float scale = OPA.float_var;
QuatScale (OPB.quat_var, scale, OPC.quat_var);
}
break;
case OP_MUL_QF:
{
// avoid issues with the likes of x = x * x.s;
// makes for faster code, too
float scale = OPB.float_var;
QuatScale (OPA.quat_var, scale, OPC.quat_var);
}
break;
case OP_CONJ_Q:
QuatConj (OPA.quat_var, OPC.quat_var);
break;
case OP_DIV_F:
OPC.float_var = OPA.float_var / OPB.float_var;
break;
case OP_BITAND:
OPC.float_var = (int) OPA.float_var & (int) OPB.float_var;
break;
case OP_BITOR:
OPC.float_var = (int) OPA.float_var | (int) OPB.float_var;
break;
case OP_BITXOR_F:
OPC.float_var = (int) OPA.float_var ^ (int) OPB.float_var;
break;
case OP_BITNOT_F:
OPC.float_var = ~ (int) OPA.float_var;
break;
case OP_SHL_F:
OPC.float_var = (int) OPA.float_var << (int) OPB.float_var;
break;
case OP_SHR_F:
OPC.float_var = (int) OPA.float_var >> (int) OPB.float_var;
break;
case OP_SHL_I:
OPC.integer_var = OPA.integer_var << OPB.integer_var;
break;
case OP_SHR_I:
OPC.integer_var = OPA.integer_var >> OPB.integer_var;
break;
case OP_SHR_U:
OPC.uinteger_var = OPA.uinteger_var >> OPB.integer_var;
break;
case OP_GE_F:
OPC.float_var = OPA.float_var >= OPB.float_var;
break;
case OP_LE_F:
OPC.float_var = OPA.float_var <= OPB.float_var;
break;
case OP_GT_F:
OPC.float_var = OPA.float_var > OPB.float_var;
break;
case OP_LT_F:
OPC.float_var = OPA.float_var < OPB.float_var;
break;
case OP_AND: // OPA and OPB have to be float for -0.0
OPC.integer_var = FNZ (OPA) && FNZ (OPB);
break;
case OP_OR: // OPA and OPB have to be float for -0.0
OPC.integer_var = FNZ (OPA) || FNZ (OPB);
break;
case OP_NOT_F:
OPC.integer_var = !FNZ (OPA);
break;
case OP_NOT_V:
OPC.integer_var = VectorIsZero (OPA.vector_var);
break;
case OP_NOT_Q:
OPC.integer_var = QuatIsZero (OPA.quat_var);
break;
case OP_NOT_S:
OPC.integer_var = !OPA.string_var ||
!*PR_GetString (pr, OPA.string_var);
break;
case OP_NOT_FN:
OPC.integer_var = !OPA.func_var;
break;
case OP_NOT_ENT:
OPC.integer_var = !OPA.entity_var;
break;
case OP_EQ_F:
OPC.integer_var = OPA.float_var == OPB.float_var;
break;
case OP_EQ_V:
OPC.integer_var = VectorCompare (OPA.vector_var,
OPB.vector_var);
break;
case OP_EQ_Q:
OPC.integer_var = QuatCompare (OPA.quat_var, OPB.quat_var);
break;
case OP_EQ_E:
OPC.integer_var = OPA.integer_var == OPB.integer_var;
break;
case OP_EQ_FN:
OPC.integer_var = OPA.func_var == OPB.func_var;
break;
case OP_NE_F:
OPC.integer_var = OPA.float_var != OPB.float_var;
break;
case OP_NE_V:
OPC.integer_var = !VectorCompare (OPA.vector_var,
OPB.vector_var);
break;
case OP_NE_Q:
OPC.integer_var = !QuatCompare (OPA.quat_var, OPB.quat_var);
break;
case OP_LE_S:
case OP_GE_S:
case OP_LT_S:
case OP_GT_S:
case OP_NE_S:
case OP_EQ_S:
{
int cmp = strcmp (PR_GetString (pr, OPA.string_var),
PR_GetString (pr, OPB.string_var));
switch (st->op) {
case OP_LE_S: cmp = (cmp <= 0); break;
case OP_GE_S: cmp = (cmp >= 0); break;
case OP_LT_S: cmp = (cmp < 0); break;
case OP_GT_S: cmp = (cmp > 0); break;
case OP_NE_S: break;
case OP_EQ_S: cmp = !cmp; break;
default: break;
}
OPC.integer_var = cmp;
}
break;
case OP_NE_E:
OPC.integer_var = OPA.integer_var != OPB.integer_var;
break;
case OP_NE_FN:
OPC.integer_var = OPA.func_var != OPB.func_var;
break;
// ==================
case OP_STORE_F:
case OP_STORE_ENT:
case OP_STORE_FLD: // integers
case OP_STORE_S:
case OP_STORE_FN: // pointers
case OP_STORE_I:
case OP_STORE_P:
OPB.integer_var = OPA.integer_var;
break;
case OP_STORE_V:
VectorCopy (OPA.vector_var, OPB.vector_var);
break;
case OP_STORE_Q:
QuatCopy (OPA.quat_var, OPB.quat_var);
break;
case OP_STOREP_F:
case OP_STOREP_ENT:
case OP_STOREP_FLD: // integers
case OP_STOREP_S:
case OP_STOREP_FN: // pointers
case OP_STOREP_I:
case OP_STOREP_P:
pointer = OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
ptr->integer_var = OPA.integer_var;
break;
case OP_STOREP_V:
pointer = OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_vector);
}
ptr = pr->pr_globals + pointer;
VectorCopy (OPA.vector_var, ptr->vector_var);
break;
case OP_STOREP_Q:
pointer = OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_quat);
}
ptr = pr->pr_globals + pointer;
QuatCopy (OPA.quat_var, ptr->quat_var);
break;
case OP_ADDRESS:
if (pr_boundscheck->int_val) {
if (OPA.entity_var < 0
|| OPA.entity_var >= pr->pr_edictareasize)
PR_RunError (pr, "Progs attempted to address an out "
"of bounds edict");
if (OPA.entity_var == 0 && pr->null_bad)
PR_RunError (pr, "assignment to world entity");
if (OPB.uinteger_var >= pr->progs->entityfields)
PR_RunError (pr, "Progs attempted to address an "
"invalid field in an edict");
}
ed = PROG_TO_EDICT (pr, OPA.entity_var);
OPC.integer_var = &ed->v[OPB.integer_var] - pr->pr_globals;
break;
case OP_ADDRESS_VOID:
case OP_ADDRESS_F:
case OP_ADDRESS_V:
case OP_ADDRESS_Q:
case OP_ADDRESS_S:
case OP_ADDRESS_ENT:
case OP_ADDRESS_FLD:
case OP_ADDRESS_FN:
case OP_ADDRESS_I:
case OP_ADDRESS_P:
OPC.integer_var = st->a;
break;
case OP_LOAD_F:
case OP_LOAD_FLD:
case OP_LOAD_ENT:
case OP_LOAD_S:
case OP_LOAD_FN:
case OP_LOAD_I:
case OP_LOAD_P:
if (pr_boundscheck->int_val) {
if (OPA.entity_var < 0
|| OPA.entity_var >= pr->pr_edictareasize)
PR_RunError (pr, "Progs attempted to read an out of "
"bounds edict number");
if (OPB.uinteger_var >= pr->progs->entityfields)
PR_RunError (pr, "Progs attempted to read an invalid "
"field in an edict");
}
ed = PROG_TO_EDICT (pr, OPA.entity_var);
OPC.integer_var = ed->v[OPB.integer_var].integer_var;
break;
case OP_LOAD_V:
if (pr_boundscheck->int_val) {
if (OPA.entity_var < 0
|| OPA.entity_var >= pr->pr_edictareasize)
PR_RunError (pr, "Progs attempted to read an out of "
"bounds edict number");
if (OPB.uinteger_var + 2 >= pr->progs->entityfields)
PR_RunError (pr, "Progs attempted to read an invalid "
"field in an edict");
}
ed = PROG_TO_EDICT (pr, OPA.entity_var);
memcpy (&OPC, &ed->v[OPB.integer_var], 3 * sizeof (OPC));
break;
case OP_LOAD_Q:
if (pr_boundscheck->int_val) {
if (OPA.entity_var < 0
|| OPA.entity_var >= pr->pr_edictareasize)
PR_RunError (pr, "Progs attempted to read an out of "
"bounds edict number");
if (OPB.uinteger_var + 3 >= pr->progs->entityfields)
PR_RunError (pr, "Progs attempted to read an invalid "
"field in an edict");
}
ed = PROG_TO_EDICT (pr, OPA.entity_var);
memcpy (&OPC, &ed->v[OPB.integer_var], 3 * sizeof (OPC));
break;
case OP_LOADB_F:
case OP_LOADB_S:
case OP_LOADB_ENT:
case OP_LOADB_FLD:
case OP_LOADB_FN:
case OP_LOADB_I:
case OP_LOADB_P:
pointer = OPA.integer_var + OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
OPC.integer_var = ptr->integer_var;
break;
case OP_LOADB_V:
pointer = OPA.integer_var + OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_vector);
}
ptr = pr->pr_globals + pointer;
VectorCopy (ptr->vector_var, OPC.vector_var);
break;
case OP_LOADB_Q:
pointer = OPA.integer_var + OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_quat);
}
ptr = pr->pr_globals + pointer;
QuatCopy (ptr->quat_var, OPC.quat_var);
break;
case OP_LOADBI_F:
case OP_LOADBI_S:
case OP_LOADBI_ENT:
case OP_LOADBI_FLD:
case OP_LOADBI_FN:
case OP_LOADBI_I:
case OP_LOADBI_P:
pointer = OPA.integer_var + (short) st->b;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
OPC.integer_var = ptr->integer_var;
break;
case OP_LOADBI_V:
pointer = OPA.integer_var + (short) st->b;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_vector);
}
ptr = pr->pr_globals + pointer;
VectorCopy (ptr->vector_var, OPC.vector_var);
break;
case OP_LOADBI_Q:
pointer = OPA.integer_var + (short) st->b;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_quat);
}
ptr = pr->pr_globals + pointer;
QuatCopy (ptr->quat_var, OPC.quat_var);
break;
case OP_LEA:
pointer = OPA.integer_var + OPB.integer_var;
OPC.integer_var = pointer;
break;
case OP_LEAI:
pointer = OPA.integer_var + (short) st->b;
OPC.integer_var = pointer;
break;
case OP_STOREB_F:
case OP_STOREB_S:
case OP_STOREB_ENT:
case OP_STOREB_FLD:
case OP_STOREB_FN:
case OP_STOREB_I:
case OP_STOREB_P:
pointer = OPB.integer_var + OPC.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
ptr->integer_var = OPA.integer_var;
break;
case OP_STOREB_V:
pointer = OPB.integer_var + OPC.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_vector);
}
ptr = pr->pr_globals + pointer;
VectorCopy (OPA.vector_var, ptr->vector_var);
break;
case OP_STOREB_Q:
pointer = OPB.integer_var + OPC.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_quat);
}
ptr = pr->pr_globals + pointer;
QuatCopy (OPA.quat_var, ptr->quat_var);
break;
case OP_STOREBI_F:
case OP_STOREBI_S:
case OP_STOREBI_ENT:
case OP_STOREBI_FLD:
case OP_STOREBI_FN:
case OP_STOREBI_I:
case OP_STOREBI_P:
pointer = OPB.integer_var + (short) st->c;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
ptr->integer_var = OPA.integer_var;
break;
case OP_STOREBI_V:
pointer = OPB.integer_var + (short) st->c;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_vector);
}
ptr = pr->pr_globals + pointer;
VectorCopy (OPA.vector_var, ptr->vector_var);
break;
case OP_STOREBI_Q:
pointer = OPB.integer_var + (short) st->c;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_quat);
}
ptr = pr->pr_globals + pointer;
QuatCopy (OPA.quat_var, ptr->quat_var);
break;
// ==================
case OP_IFNOT:
if (!OPA.integer_var) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_IF:
if (OPA.integer_var) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_IFBE:
if (OPA.integer_var <= 0) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_IFB:
if (OPA.integer_var < 0) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_IFAE:
if (OPA.integer_var >= 0) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_IFA:
if (OPA.integer_var > 0) {
pr->pr_xstatement += (short)st->b - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
}
break;
case OP_GOTO:
pr->pr_xstatement += (short)st->a - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
break;
case OP_JUMP:
if (pr_boundscheck->int_val
&& (OPA.uinteger_var >= pr->progs->numstatements)) {
PR_RunError (pr, "Invalid jump destination");
}
pr->pr_xstatement = OPA.uinteger_var - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
break;
case OP_JUMPB:
pointer = st->a + OPB.integer_var;
if (pr_boundscheck->int_val) {
PR_BoundsCheck (pr, pointer, ev_integer);
}
ptr = pr->pr_globals + pointer;
pointer = ptr->integer_var;
if (pr_boundscheck->int_val
&& (pointer >= pr->progs->numstatements)) {
PR_RunError (pr, "Invalid jump destination");
}
pr->pr_xstatement = pointer - 1; // offset the st++
st = pr->pr_statements + pr->pr_xstatement;
break;
case OP_RCALL2:
case OP_RCALL3:
case OP_RCALL4:
case OP_RCALL5:
case OP_RCALL6:
case OP_RCALL7:
case OP_RCALL8:
pr->pr_params[1] = &OPC;
goto op_rcall;
case OP_RCALL1:
pr->pr_params[1] = pr->pr_real_params[1];
op_rcall:
pr->pr_params[0] = &OPB;
pr->pr_argc = st->op - OP_RCALL1 + 1;
goto op_call;
case OP_CALL0:
case OP_CALL1:
case OP_CALL2:
case OP_CALL3:
case OP_CALL4:
case OP_CALL5:
case OP_CALL6:
case OP_CALL7:
case OP_CALL8:
PR_RESET_PARAMS (pr);
pr->pr_argc = st->op - OP_CALL0;
op_call:
pr->pr_xfunction->profile += profile - startprofile;
startprofile = profile;
PR_CallFunction (pr, OPA.func_var);
st = pr->pr_statements + pr->pr_xstatement;
break;
case OP_DONE:
case OP_RETURN:
if (!st->a)
memset (&R_INT (pr), 0,
pr->pr_param_size * sizeof (OPA));
else if (&R_INT (pr) != &OPA.integer_var)
memcpy (&R_INT (pr), &OPA,
pr->pr_param_size * sizeof (OPA));
// fallthrough
case OP_RETURN_V:
pr->pr_xfunction->profile += profile - startprofile;
startprofile = profile;
PR_LeaveFunction (pr);
st = pr->pr_statements + pr->pr_xstatement;
if (pr->pr_depth == exitdepth) {
if (pr->pr_trace && pr->pr_depth <= pr->pr_trace_depth)
pr->pr_trace = false;
Sys_PopSignalHook ();
return; // all done
}
break;
case OP_STATE:
ed = PROG_TO_EDICT (pr, *pr->globals.self);
ed->v[pr->fields.nextthink].float_var = *pr->globals.time +
0.1;
ed->v[pr->fields.frame].float_var = OPA.float_var;
ed->v[pr->fields.think].func_var = OPB.func_var;
break;
case OP_STATE_F:
ed = PROG_TO_EDICT (pr, *pr->globals.self);
ed->v[pr->fields.nextthink].float_var = *pr->globals.time +
OPC.float_var;
ed->v[pr->fields.frame].float_var = OPA.float_var;
ed->v[pr->fields.think].func_var = OPB.func_var;
break;
case OP_ADD_I:
OPC.integer_var = OPA.integer_var + OPB.integer_var;
break;
case OP_SUB_I:
OPC.integer_var = OPA.integer_var - OPB.integer_var;
break;
case OP_MUL_I:
OPC.integer_var = OPA.integer_var * OPB.integer_var;
break;
/*
case OP_DIV_VF:
{
float temp = 1.0f / OPB.float_var;
VectorScale (OPA.vector_var, temp, OPC.vector_var);
}
break;
*/
case OP_DIV_I:
OPC.integer_var = OPA.integer_var / OPB.integer_var;
break;
case OP_MOD_I:
OPC.integer_var = OPA.integer_var % OPB.integer_var;
break;
case OP_MOD_F:
OPC.float_var = (int) OPA.float_var % (int) OPB.float_var;
break;
case OP_CONV_IF:
OPC.float_var = OPA.integer_var;
break;
case OP_CONV_FI:
OPC.integer_var = OPA.float_var;
break;
case OP_BITAND_I:
OPC.integer_var = OPA.integer_var & OPB.integer_var;
break;
case OP_BITOR_I:
OPC.integer_var = OPA.integer_var | OPB.integer_var;
break;
case OP_BITXOR_I:
OPC.integer_var = OPA.integer_var ^ OPB.integer_var;
break;
case OP_BITNOT_I:
OPC.integer_var = ~OPA.integer_var;
break;
case OP_GE_I:
case OP_GE_P:
OPC.integer_var = OPA.integer_var >= OPB.integer_var;
break;
case OP_GE_U:
OPC.integer_var = OPA.uinteger_var >= OPB.uinteger_var;
break;
case OP_LE_I:
case OP_LE_P:
OPC.integer_var = OPA.integer_var <= OPB.integer_var;
break;
case OP_LE_U:
OPC.integer_var = OPA.uinteger_var <= OPB.uinteger_var;
break;
case OP_GT_I:
case OP_GT_P:
OPC.integer_var = OPA.integer_var > OPB.integer_var;
break;
case OP_GT_U:
OPC.integer_var = OPA.uinteger_var > OPB.uinteger_var;
break;
case OP_LT_I:
case OP_LT_P:
OPC.integer_var = OPA.integer_var < OPB.integer_var;
break;
case OP_LT_U:
OPC.integer_var = OPA.uinteger_var < OPB.uinteger_var;
break;
case OP_AND_I:
OPC.integer_var = OPA.integer_var && OPB.integer_var;
break;
case OP_OR_I:
OPC.integer_var = OPA.integer_var || OPB.integer_var;
break;
case OP_NOT_I:
case OP_NOT_P:
OPC.integer_var = !OPA.integer_var;
break;
case OP_EQ_I:
case OP_EQ_P:
OPC.integer_var = OPA.integer_var == OPB.integer_var;
break;
case OP_NE_I:
case OP_NE_P:
OPC.integer_var = OPA.integer_var != OPB.integer_var;
break;
case OP_MOVEI:
memmove (&OPC, &OPA, st->b * 4);
break;
case OP_MOVEP:
if (pr_boundscheck->int_val) {
PR_BoundsCheckSize (pr, OPC.integer_var, OPB.uinteger_var);
PR_BoundsCheckSize (pr, OPA.integer_var, OPB.uinteger_var);
}
memmove (pr->pr_globals + OPC.integer_var,
pr->pr_globals + OPA.integer_var,
OPB.uinteger_var * 4);
break;
case OP_MOVEPI:
if (pr_boundscheck->int_val) {
PR_BoundsCheckSize (pr, OPC.integer_var, st->b);
PR_BoundsCheckSize (pr, OPA.integer_var, st->b);
}
memmove (pr->pr_globals + OPC.integer_var,
pr->pr_globals + OPA.integer_var,
st->b * 4);
break;
// LordHavoc: to be enabled when Progs version 7 (or whatever it will be numbered) is finalized
/*
case OP_BOUNDCHECK:
if (OPA.integer_var < 0 || OPA.integer_var >= st->b) {
PR_RunError (pr, "Progs boundcheck failed at line number "
"%d, value is < 0 or >= %d", st->b, st->c);
}
break;
*/
default:
PR_RunError (pr, "Bad opcode %i", st->op);
}
if (watch && watch->integer_var != old_val.integer_var
&& (!pr->wp_conditional
|| watch->integer_var == pr->wp_val.integer_var))
PR_RunError (pr, "watchpoint hit: %d -> %d", old_val.integer_var,
watch->integer_var);
}
}
float *AttitudeUpdate(float dt,float _beta, float _zeta, float a_x,float a_y, float a_z,float w_x, float w_y, float w_z,float m_x, float m_y, float m_z)
{
float qConj[4];
float unbiasedGyro[4];
float qDot[4];
float beta,zeta;
float F[6];
float J[6*4];
float step[4];
float North,East,Down;
float b2,b4;
float q1 = q[0]; float q2 = q[1]; float q3 = q[2]; float q4 = q[3];
float _error[4];
float accel[] = {0,-a_x,-a_y,-a_z};
float mag[] = {0,m_x,m_y,m_z};
// Direction cosine matrix from quaternion
float qdcm13 = 2.0f*(q2*q4 - q1*q3);
float qdcm23 = 2.0f*(q3*q4 + q1*q2);
float qdcm33 = 2.0f*(0.5f - q2*q2 - q3*q3);
float qdcm12 = 2.0f*(q2*q3 + q1*q4);
float qdcm22 = 2.0f*(0.5f - q2*q2 - q4*q4);
float qdcm32 = 2.0f*(q3*q4 - q1*q2);
float qdcm11 = 2.0f*(0.5f - q3*q3 - q4*q4);
float qdcm21 = 2.0f*(q2*q3 - q1*q4);
float qdcm31 = 2.0f*(q2*q4 + q1*q3);
counter += dt;
QuatNormalize(accel);
QuatNormalize(mag);
// Earth's field
North = qdcm11*mag[1] + qdcm21*mag[2] + qdcm31*mag[3];
East = qdcm12*mag[1] + qdcm22*mag[2] + qdcm32*mag[3];
Down = qdcm13*mag[1] + qdcm23*mag[2] + qdcm33*mag[3];
b2 = sqrtf(North*North + East*East);
b4 = Down;
// 6 x 1
F[0] = qdcm13 - accel[1];
F[1] = qdcm23 - accel[2];
F[2] = qdcm33 - accel[3];
F[3] = b2*qdcm11 + b4*qdcm13 - mag[1];
F[4] = b2*qdcm21 + b4*qdcm23 - mag[2];
F[5] = b2*qdcm31 + b4*qdcm33 - mag[3];
// 6 x 4
J[0] = -2*q3; J[1] = 2*q4; J[2] = -2*q1; J[3] = 2*q2;
J[4] = 2*q2; J[5] = 2*q1; J[6] = 2*q4; J[7] = 2*q3;
J[8] = 0; J[9] = -4*q2; J[10]= -4*q3; J[11] = 0;
J[12]=-2*b4*q3; J[13]= 2*b4*q4; J[14]=-4*b2*q3-2*b4*q1; J[15]= -4*b2*q4+2*b4*q2;
J[16]=-2*b2*q4+2*b4*q2; J[17]= 2*b2*q3+2*b4*q1;J[18]= 2*b2*q2+2*b4*q4; J[19]=-2*b2*q1+2*b4*q3;
J[20]=2*b2*q3; J[21]= 2*b2*q4-4*b4*q2;J[22]= 2*b2*q1-4*b4*q3; J[23] =2*b2*q2;
//float Jt[4*6];
//vDSP_mtrans(J,1,Jt,1,4,6);
// step = J'*F
// 4 x 6 * 6 x 1
//vDSP_mmul( Jt,1,F,1,step,1,4,1,6);
step[0] = J[0]*F[0] + J[4]*F[1] + J[8]*F[2] + J[12]*F[3] + J[16]*F[4] + J[20]*F[5];
step[1] = J[1]*F[0] + J[5]*F[1] + J[9]*F[2] + J[13]*F[3] + J[17]*F[4] + J[21]*F[5];
step[2] = J[2]*F[0] + J[6]*F[1] + J[10]*F[2] + J[14]*F[3] + J[18]*F[4] + J[22]*F[5];
step[3] = J[3]*F[0] + J[7]*F[1] + J[11]*F[2] + J[15]*F[3] + J[19]*F[4] + J[23]*F[5];
// normalize step
QuatNormalize(step);
qConj[0] = q[0]; qConj[1] = -q[1]; qConj[2]=-q[2]; qConj[3]=-q[3];
// Error
QuatMultiply(qConj,step,_error);
QuatScale(_error,(2.0f*dt));
// update gyro biases
w_bx += zeta*_error[1]; w_by += zeta*_error[2]; w_bz += zeta*_error[3];
// quaternion dynamics
unbiasedGyro[0] = 0; unbiasedGyro[1] = (w_x-w_bx); unbiasedGyro[2]= (w_y-w_by); unbiasedGyro[3] = (w_z-w_bz);
QuatMultiply(q,unbiasedGyro,qDot);
// higher gain during startup
if(counter < 5.0f)
{
beta = 1.0f;
zeta = 1.0f;
}
else
{
beta = _beta;
zeta = _zeta;
}
qDot[0] = 0.5f*qDot[0] - beta*step[0];
qDot[1] = 0.5f*qDot[1] - beta*step[1];
qDot[2] = 0.5f*qDot[2] - beta*step[2];
qDot[3] = 0.5f*qDot[3] - beta*step[3];
q[0] += qDot[0]*dt;
q[1] += qDot[1]*dt;
q[2] += qDot[2]*dt;
q[3] += qDot[3]*dt;
QuatNormalize(q);
return q;
}
static qboolean
load_iqm_anims (model_t *mod, const iqmheader *hdr, byte *buffer)
{
iqm_t *iqm = (iqm_t *) mod->aliashdr;
iqmanim *anims;
iqmpose *poses;
uint16_t *framedata;
uint32_t i, j;
if (hdr->num_poses != hdr->num_joints)
return false;
iqm->num_anims = hdr->num_anims;
iqm->anims = malloc (hdr->num_anims * sizeof (iqmanim));
anims = (iqmanim *) (buffer + hdr->ofs_anims);
for (i = 0; i < hdr->num_anims; i++) {
iqm->anims[i].name = LittleLong (anims[i].name);
iqm->anims[i].first_frame = LittleLong (anims[i].first_frame);
iqm->anims[i].num_frames = LittleLong (anims[i].num_frames);
iqm->anims[i].framerate = LittleFloat (anims[i].framerate);
iqm->anims[i].flags = LittleLong (anims[i].flags);
}
poses = (iqmpose *) (buffer + hdr->ofs_poses);
for (i = 0; i < hdr->num_poses; i++) {
poses[i].parent = LittleLong (poses[i].parent);
poses[i].mask = LittleLong (poses[i].mask);
for (j = 0; j < 10; j++) {
poses[i].channeloffset[j] = LittleFloat(poses[i].channeloffset[j]);
poses[i].channelscale[j] = LittleFloat (poses[i].channelscale[j]);
}
}
framedata = (uint16_t *) (buffer + hdr->ofs_frames);
for (i = 0; i < hdr->num_frames * hdr->num_framechannels; i++)
framedata[i] = LittleShort (framedata[i]);
iqm->num_frames = hdr->num_frames;
iqm->frames = malloc (hdr->num_frames * sizeof (iqmframe_t *));
iqm->frames[0] = malloc (hdr->num_frames * hdr->num_poses
* sizeof (iqmframe_t));
for (i = 0; i < hdr->num_frames; i++) {
iqm->frames[i] = iqm->frames[0] + i * hdr->num_poses;
for (j = 0; j < hdr->num_poses; j++) {
iqmframe_t *frame = &iqm->frames[i][j];
iqmpose *p = &poses[j];
quat_t rotation;
vec3_t scale, translation;
mat4_t mat;
float ilen;
translation[0] = p->channeloffset[0];
if (p->mask & 0x001)
translation[0] += *framedata++ * p->channelscale[0];
translation[1] = p->channeloffset[1];
if (p->mask & 0x002)
translation[1] += *framedata++ * p->channelscale[1];
translation[2] = p->channeloffset[2];
if (p->mask & 0x004)
translation[2] += *framedata++ * p->channelscale[2];
// QF's quaternions are wxyz while IQM's quaternions are xyzw
rotation[1] = p->channeloffset[3];
if (p->mask & 0x008)
rotation[1] += *framedata++ * p->channelscale[3];
rotation[2] = p->channeloffset[4];
if (p->mask & 0x010)
rotation[2] += *framedata++ * p->channelscale[4];
rotation[3] = p->channeloffset[5];
if (p->mask & 0x020)
rotation[3] += *framedata++ * p->channelscale[5];
rotation[0] = p->channeloffset[6];
if (p->mask & 0x040)
rotation[0] += *framedata++ * p->channelscale[6];
scale[0] = p->channeloffset[7];
if (p->mask & 0x080)
scale[0] += *framedata++ * p->channelscale[7];
scale[1] = p->channeloffset[8];
if (p->mask & 0x100)
scale[1] += *framedata++ * p->channelscale[8];
scale[2] = p->channeloffset[9];
if (p->mask & 0x200)
scale[2] += *framedata++ * p->channelscale[9];
ilen = 1.0 / sqrt(QDotProduct (rotation, rotation));
QuatScale (rotation, ilen, rotation);
Mat4Init (rotation, scale, translation, mat);
if (p->parent >= 0)
Mat4Mult (iqm->baseframe[p->parent], mat, mat);
#if 0
Mat4Mult (mat, iqm->inverse_baseframe[j], mat);
// convert the matrix to dual quaternion + shear + scale
Mat4Decompose (mat, frame->rt.q0.q, frame->shear, frame->scale,
frame->rt.qe.sv.v);
frame->rt.qe.sv.s = 0;
// apply the inverse of scale and shear to translation so
// everything works out properly in the shader.
// Normally v' = T*Sc*Sh*R*v, but with the dual quaternion, we get
// v' = Sc*Sh*T'*R*v
VectorCompDiv (frame->rt.qe.sv.v, frame->scale, frame->rt.qe.sv.v);
VectorUnshear (frame->shear, frame->rt.qe.sv.v, frame->rt.qe.sv.v);
// Dual quaternions need 1/2 translation.
VectorScale (frame->rt.qe.sv.v, 0.5, frame->rt.qe.sv.v);
// and tranlation * rotation
QuatMult (frame->rt.qe.q, frame->rt.q0.q, frame->rt.qe.q);
#else
Mat4Mult (mat, iqm->inverse_baseframe[j], (float *)frame);
#endif
}
}
return true;
}
