--- ray/src/hd/holo.c	1997/11/03 11:03:23	3.2
+++ ray/src/hd/holo.c	2004/01/01 11:21:55	3.21
@@ -1,9 +1,6 @@
-/* Copyright (c) 1997 Silicon Graphics, Inc. */
-
 #ifndef lint
-static char SCCSid[] = "$SunId$ SGI";
+static const char	RCSid[] = "$Id: holo.c,v 3.21 2004/01/01 11:21:55 schorsch Exp $";
 #endif
-
 /*
  * Routines for converting holodeck coordinates, etc.
  *
@@ -14,18 +11,18 @@ static char SCCSid[] = "$SunId$ SGI";
 
 float	hd_depthmap[DCINF-DCLIN];
 
+int	hdwg0[6] = {1,1,2,2,0,0};
+int	hdwg1[6] = {2,2,0,0,1,1};
+
 static double	logstep;
 
-static int	wg0[6] = {1,1,2,2,0,0};
-static int	wg1[6] = {2,2,0,0,1,1};
 
-
-hdcompgrid(hp)			/* compute derived grid vector and index */
-register HOLO	*hp;
+extern void
+hdcompgrid(			/* compute derived grid vector and index */
+	register HOLO	*hp
+)
 {
-	FVECT	AxB;
 	double	d;
-	register FLOAT	*v;
 	register int	i, j;
 				/* initialize depth map */
 	if (hd_depthmap[0] < 1.) {
@@ -38,22 +35,12 @@ register HOLO	*hp;
 	}
 				/* compute grid coordinate vectors */
 	for (i = 0; i < 3; i++) {
-		fcross(AxB, hp->xv[(i+1)%3], v=hp->xv[(i+2)%3]);
-		VCOPY(hp->wn[i], AxB);
-		if (normalize(hp->wn[i]) == 0.)
+		fcross(hp->wg[i], hp->xv[(i+1)%3], hp->xv[(i+2)%3]);
+		d = DOT(hp->wg[i],hp->xv[i]);
+		if ((d <= FTINY) & (d >= -FTINY))
 			error(USER, "degenerate holodeck section");
-		hp->wo[i<<1] = DOT(hp->wn[i],hp->orig);
-		hp->wo[i<<1|1] = hp->wo[i<<1] + DOT(hp->wn[i],hp->xv[i]);
-		fcross(hp->gv[i][0], v, AxB);
-		d = DOT(v,v) / DOT(hp->gv[i][0],hp->gv[i][0]) *
-				hp->grid[(i+1)%3];
-		for (j = 0; j < 3; j++)
-			hp->gv[i][0][j] *= d;
-		fcross(hp->gv[i][1], AxB, v=hp->xv[(i+1)%3]);
-		d = DOT(v,v) / DOT(hp->gv[i][1],hp->gv[i][1]) *
-				hp->grid[(i+2)%3];
-		for (j = 0; j < 3; j++)
-			hp->gv[i][1][j] *= d;
+		d = hp->grid[i] / d;
+		hp->wg[i][0] *= d; hp->wg[i][1] *= d; hp->wg[i][2] *= d;
 	}
 				/* compute linear depth range */
 	hp->tlin = VLEN(hp->xv[0]) + VLEN(hp->xv[1]) + VLEN(hp->xv[2]);
@@ -62,148 +49,151 @@ register HOLO	*hp;
 	for (i = 1; i < 6; i++) {
 		hp->wi[i] = 0;
 		for (j = i; j < 6; j++)
-			hp->wi[i] += hp->grid[wg0[j]] * hp->grid[wg1[j]];
-		hp->wi[i] *= hp->grid[wg0[i-1]] * hp->grid[wg1[i-1]];
+			hp->wi[i] += hp->grid[hdwg0[j]] * hp->grid[hdwg1[j]];
+		hp->wi[i] *= hp->grid[hdwg0[i-1]] * hp->grid[hdwg1[i-1]];
 		hp->wi[i] += hp->wi[i-1];
 	}
 }
 
 
-HOLO *
-hdalloc(hproto)		/* allocate and set holodeck section based on grid */
-HDGRID	*hproto;
+extern int
+hdbcoord(		/* compute beam coordinates from index */
+	GCOORD	gc[2],		/* returned */
+	register HOLO	*hp,
+	register int	i
+)
 {
-	HOLO	hdhead;
-	register HOLO	*hp;
-	int	n;
-				/* copy grid to temporary header */
-	bcopy((char *)hproto, (char *)&hdhead, sizeof(HDGRID));
-				/* compute grid vectors and sizes */
-	hdcompgrid(&hdhead);
-				/* allocate header with directory */
-	n = sizeof(HOLO)+nbeams(&hdhead)*sizeof(BEAMI);
-	if ((hp = (HOLO *)malloc(n)) == NULL)
-		return(NULL);
-				/* copy header information */
-	copystruct(hp, &hdhead);
-				/* allocate and clear beam list */
-	hp->bl = (BEAM **)malloc((nbeams(hp)+1)*sizeof(BEAM *)+sizeof(BEAM));
-	if (hp->bl == NULL) {
-		free((char *)hp);
-		return(NULL);
-	}
-	bzero((char *)hp->bl, (nbeams(hp)+1)*sizeof(BEAM *)+sizeof(BEAM));
-	hp->bl[0] = (BEAM *)(hp->bl+nbeams(hp)+1);	/* set blglob(hp) */
-	hp->fd = -1;
-	hp->dirty = 0;
-	hp->priv = NULL;
-				/* clear beam directory */
-	bzero((char *)hp->bi, (nbeams(hp)+1)*sizeof(BEAMI));
-	return(hp);		/* all is well */
-}
-
-
-hdbcoord(gc, hp, i)		/* compute beam coordinates from index */
-BCOORD	gc;		/* returned */
-register HOLO	*hp;
-register int	i;
-{
 	register int	j, n;
 	int	n2, reverse;
-	BCOORD	g2;
+	GCOORD	g2[2];
 					/* check range */
-	if (i < 1 | i > nbeams(hp))
+	if ((i < 1) | (i > nbeams(hp)))
 		return(0);
-	if (reverse = i >= hp->wi[5])
+	if ( (reverse = i >= hp->wi[5]) )
 		i -= hp->wi[5] - 1;
 	for (j = 0; j < 5; j++)		/* find w0 */
 		if (hp->wi[j+1] > i)
 			break;
 	i -= hp->wi[gc[0].w=j];
 					/* find w1 */
-	n2 = hp->grid[wg0[j]] * hp->grid[wg1[j]];
+	n2 = hp->grid[hdwg0[j]] * hp->grid[hdwg1[j]];
 	while (++j < 5)	{
-		n = n2 * hp->grid[wg0[j]] * hp->grid[wg1[j]];
+		n = n2 * hp->grid[hdwg0[j]] * hp->grid[hdwg1[j]];
 		if (n > i)
 			break;
 		i -= n;
 	}
 	gc[1].w = j;
 					/* find position on w0 */
-	n2 = hp->grid[wg0[j]] * hp->grid[wg1[j]];
+	n2 = hp->grid[hdwg0[j]] * hp->grid[hdwg1[j]];
 	n = i / n2;
-	gc[0].i[1] = n / hp->grid[wg0[gc[0].w]];
-	gc[0].i[0] = n - gc[0].i[1]*hp->grid[wg0[gc[0].w]];
+	gc[0].i[1] = n / hp->grid[hdwg0[gc[0].w]];
+	gc[0].i[0] = n - gc[0].i[1]*hp->grid[hdwg0[gc[0].w]];
 	i -= n*n2;
 					/* find position on w1 */
-	gc[1].i[1] = i / hp->grid[wg0[gc[1].w]];
-	gc[1].i[0] = i - gc[1].i[1]*hp->grid[wg0[gc[1].w]];
+	gc[1].i[1] = i / hp->grid[hdwg0[gc[1].w]];
+	gc[1].i[0] = i - gc[1].i[1]*hp->grid[hdwg0[gc[1].w]];
 	if (reverse) {
-		copystruct(g2, gc+1);
-		copystruct(gc+1, gc);
-		copystruct(gc, g2);
+		*g2 = *(gc+1);
+		*(gc+1) = *gc;
+		*gc = *g2;
 	}
 	return(1);			/* we're done */
 }
 
 
-int
-hdbindex(hp, gc)		/* compute index from beam coordinates */
-register HOLO	*hp;
-register BCOORD	gc;
+extern int
+hdbindex(		/* compute index from beam coordinates */
+	register HOLO	*hp,
+	register GCOORD	gc[2]
+)
 {
-	BCOORD	g2;
+	GCOORD	g2[2];
 	int	reverse;
 	register int	i, j;
 					/* check ordering and limits */
-	if (reverse = gc[0].w > gc[1].w) {
-		copystruct(g2, gc+1);
-		copystruct(g2+1, gc);
+	if ( (reverse = gc[0].w > gc[1].w) ) {
+		*g2 = *(gc+1);
+		*(g2+1) = *gc;
 		gc = g2;
 	} else if (gc[0].w == gc[1].w)
 		return(0);
-	if (gc[0].w < 0 | gc[1].w > 5)
+	if ((gc[0].w < 0) | (gc[1].w > 5))
 		return(0);
 	i = 0;				/* compute index */
 	for (j = gc[0].w+1; j < gc[1].w; j++)
-		i += hp->grid[wg0[j]] * hp->grid[wg1[j]];
-	i *= hp->grid[wg0[gc[0].w]] * hp->grid[wg1[gc[0].w]];
+		i += hp->grid[hdwg0[j]] * hp->grid[hdwg1[j]];
+	i *= hp->grid[hdwg0[gc[0].w]] * hp->grid[hdwg1[gc[0].w]];
 	i += hp->wi[gc[0].w];
-	i += (hp->grid[wg0[gc[0].w]]*gc[0].i[1] + gc[0].i[0]) *
-			hp->grid[wg0[gc[1].w]] * hp->grid[wg1[gc[1].w]] ;
-	i += hp->grid[wg0[gc[1].w]]*gc[1].i[1] + gc[1].i[0];
+	i += (hp->grid[hdwg0[gc[0].w]]*gc[0].i[1] + gc[0].i[0]) *
+			hp->grid[hdwg0[gc[1].w]] * hp->grid[hdwg1[gc[1].w]] ;
+	i += hp->grid[hdwg0[gc[1].w]]*gc[1].i[1] + gc[1].i[0];
 	if (reverse)
 		i += hp->wi[5] - 1;
 	return(i);
 }
 
 
-hdlseg(lseg, hp, i)			/* compute line segment for beam */
-register int	lseg[2][3];
-register HOLO	*hp;
-int	i;
+extern void
+hdcell(		/* compute cell coordinates */
+	register FVECT	cp[4],	/* returned (may be passed as FVECT cp[2][2]) */
+	register HOLO	*hp,
+	register GCOORD	*gc
+)
 {
-	BCOORD	gc;
+	register RREAL	*v;
+	double	d;
+					/* compute common component */
+	VCOPY(cp[0], hp->orig);
+	if (gc->w & 1) {
+		v = hp->xv[gc->w>>1];
+		cp[0][0] += v[0]; cp[0][1] += v[1]; cp[0][2] += v[2];
+	}
+	v = hp->xv[hdwg0[gc->w]];
+	d = (double)gc->i[0] / hp->grid[hdwg0[gc->w]];
+	VSUM(cp[0], cp[0], v, d);
+	v = hp->xv[hdwg1[gc->w]];
+	d = (double)gc->i[1] / hp->grid[hdwg1[gc->w]];
+	VSUM(cp[0], cp[0], v, d);
+					/* compute x1 sums */
+	v = hp->xv[hdwg0[gc->w]];
+	d = 1.0 / hp->grid[hdwg0[gc->w]];
+	VSUM(cp[1], cp[0], v, d);
+	VSUM(cp[3], cp[0], v, d);
+					/* compute y1 sums */
+	v = hp->xv[hdwg1[gc->w]];
+	d = 1.0 / hp->grid[hdwg1[gc->w]];
+	VSUM(cp[2], cp[0], v, d);
+	VSUM(cp[3], cp[3], v, d);
+}
+
+
+extern int
+hdlseg(			/* compute line segment for beam */
+	register int	lseg[2][3],
+	register HOLO	*hp,
+	GCOORD	gc[2]
+)
+{
 	register int	k;
 
-	if (!hdbcoord(gc, hp, i))		/* compute grid coordinates */
-		return(0);
 	for (k = 0; k < 2; k++) {		/* compute end points */
 		lseg[k][gc[k].w>>1] = gc[k].w&1	? hp->grid[gc[k].w>>1]-1 : 0 ;
-		lseg[k][wg0[gc[k].w]] = gc[k].i[0];
-		lseg[k][wg1[gc[k].w]] = gc[k].i[1];
+		lseg[k][hdwg0[gc[k].w]] = gc[k].i[0];
+		lseg[k][hdwg1[gc[k].w]] = gc[k].i[1];
 	}
 	return(1);
 }
 
 
-unsigned
-hdcode(hp, d)			/* compute depth code for d */
-HOLO	*hp;
-double	d;
+extern unsigned int
+hdcode(			/* compute depth code for d */
+	HOLO	*hp,
+	double	d
+)
 {
 	double	tl = hp->tlin;
-	register unsigned	c;
+	register long	c;
 
 	if (d <= 0.)
 		return(0);
@@ -211,68 +201,100 @@ double	d;
 		return(DCINF);
 	if (d < tl)
 		return((unsigned)(d*DCLIN/tl));
-	c = (unsigned)(log(d/tl)/logstep) + DCLIN;
-	return(c > DCINF ? DCINF : c);
+	c = (long)(log(d/tl)/logstep) + DCLIN;
+	return(c > DCINF ? (unsigned)DCINF : (unsigned)c);
 }
 
 
-double
-hdray(ro, rd, hp, gc, r)	/* compute ray within a beam */
-FVECT	ro, rd;		/* returned */
-register HOLO	*hp;
-register BCOORD	gc;
-BYTE	r[2][2];
+extern void
+hdgrid(		/* compute grid coordinates */
+	FVECT	gp,		/* returned */
+	register HOLO	*hp,
+	FVECT	wp
+)
 {
-	FVECT	p[2];
-	register int	i;
-	register FLOAT	*v;
-	double	d;
+	FVECT	vt;
+
+	VSUB(vt, wp, hp->orig);
+	gp[0] = DOT(vt, hp->wg[0]);
+	gp[1] = DOT(vt, hp->wg[1]);
+	gp[2] = DOT(vt, hp->wg[2]);
+}
+
+
+extern void
+hdworld(		/* compute world coordinates */
+	register FVECT	wp,
+	register HOLO	*hp,
+	FVECT	gp
+)
+{
+	register double	d;
+
+	d = gp[0]/hp->grid[0];
+	VSUM(wp, hp->orig, hp->xv[0], d);
+
+	d = gp[1]/hp->grid[1];
+	VSUM(wp, wp, hp->xv[1], d);
+
+	d = gp[2]/hp->grid[2];
+	VSUM(wp, wp, hp->xv[2], d);
+}
+
+
+extern double
+hdray(	/* compute ray within a beam */
+	FVECT	ro,
+	FVECT	rd,		/* returned */
+	HOLO	*hp,
+	GCOORD	gc[2],
+	BYTE	r[2][2]
+)
+{
+	FVECT	cp[4], p[2];
+	register int	i, j;
+	double	d0, d1;
 					/* compute entry and exit points */
 	for (i = 0; i < 2; i++) {
-		VCOPY(p[i], hp->orig);
-		if (gc[i].w & 1) {
-			v = hp->xv[gc[i].w>>1];
-			p[i][0] += *v++; p[i][1] += *v++; p[i][2] += *v;
-		}
-		d = ( gc[i].i[0] + (1./256.)*(r[i][0]+.5) ) /
-				hp->grid[wg0[gc[i].w]];
-		v = hp->xv[wg0[gc[i].w]];
-		p[i][0] += d * *v++; p[i][1] += d * *v++; p[i][2] += d * *v;
-		d = (gc[i].i[1] + (1./256.)*(r[i][1]+.5)) /
-				hp->grid[wg1[gc[i].w]];
-		v = hp->xv[wg1[gc[i].w]];
-		p[i][0] += d * *v++; p[i][1] += d * *v++; p[i][2] += d * *v;
+		hdcell(cp, hp, gc+i);
+		d0 = (1./256.)*(r[i][0]+.5);
+		d1 = (1./256.)*(r[i][1]+.5);
+		for (j = 0; j < 3; j++)
+			p[i][j] = (1.-d0-d1)*cp[0][j] +
+					d0*cp[1][j] + d1*cp[2][j];
 	}
 	VCOPY(ro, p[0]);		/* assign ray origin and direction */
-	rd[0] = p[1][0] - p[0][0];
-	rd[1] = p[1][1] - p[0][1];
-	rd[2] = p[1][2] - p[0][2];
+	VSUB(rd, p[1], p[0]);
 	return(normalize(rd));		/* return maximum inside distance */
 }
 
 
-double
-hdinter(gc, r, hp, ro, rd)	/* compute ray intersection with section */
-register BCOORD	gc;	/* returned */
-BYTE	r[2][2];	/* returned */
-register HOLO	*hp;
-FVECT	ro, rd;		/* rd should be normalized */
+extern double
+hdinter(	/* compute ray intersection with section */
+	register GCOORD	gc[2],	/* returned */
+	BYTE	r[2][2],	/* returned (optional) */
+	double	*ed,		/* returned (optional) */
+	register HOLO	*hp,
+	FVECT	ro,
+	FVECT	rd		/* normalization of rd affects distances */
+)
 {
 	FVECT	p[2], vt;
 	double	d, t0, t1, d0, d1;
-	register FLOAT	*v;
+	register RREAL	*v;
 	register int	i;
 					/* first, intersect walls */
 	gc[0].w = gc[1].w = -1;
 	t0 = -FHUGE; t1 = FHUGE;
+	VSUB(vt, ro, hp->orig);
 	for (i = 0; i < 3; i++) {		/* for each wall pair */
-		d = -DOT(rd, hp->wn[i]);	/* plane distance */
+		d = -DOT(rd, hp->wg[i]);	/* plane distance */
 		if (d <= FTINY && d >= -FTINY)	/* check for parallel */
 			continue;
-		d1 = DOT(ro, hp->wn[i]);	/* ray distances */
-		d0 = (d1 - hp->wo[i<<1]) / d;
-		d1 = (d1 - hp->wo[i<<1|1]) / d;
-		if (d0 < d1) {		/* check against best */
+		d1 = DOT(vt, hp->wg[i]);	/* ray distances */
+		d0 = d1 / d;
+		d1 = (d1 - hp->grid[i]) / d;
+		if (d < 0) {			/* check against best */
 			if (d0 > t0) {
 				t0 = d0;
 				gc[0].w = i<<1;
@@ -292,36 +314,30 @@ FVECT	ro, rd;		/* rd should be normalized */
 			}
 		}
 	}
-	if (gc[0].w < 0 | gc[1].w < 0)		/* paranoid check */
+	if ((gc[0].w < 0) | (gc[1].w < 0))		/* paranoid check */
 		return(FHUGE);
 						/* compute intersections */
-	for (i = 0; i < 3; i++) {
-		p[0][i] = ro[i] + rd[i]*t0;
-		p[1][i] = ro[i] + rd[i]*t1;
-	}
+	VSUM(p[0], ro, rd, t0);
+	VSUM(p[1], ro, rd, t1);
 					/* now, compute grid coordinates */
 	for (i = 0; i < 2; i++) {
-		vt[0] = p[i][0] - hp->orig[0];
-		vt[1] = p[i][1] - hp->orig[1];
-		vt[2] = p[i][2] - hp->orig[2];
-		if (gc[i].w & 1) {
-			v = hp->xv[gc[i].w>>1];
-			vt[0] -= *v++; vt[1] -= *v++; vt[2] -= *v;
-		}
-		v = hp->gv[gc[i].w>>1][0];
+		VSUB(vt, p[i], hp->orig);
+		v = hp->wg[hdwg0[gc[i].w]];
 		d = DOT(vt, v);
-		if (d < 0. || (gc[i].i[0] = d) >= hp->grid[wg0[gc[i].w]])
+		if (d < 0 || d >= hp->grid[hdwg0[gc[i].w]])
 			return(FHUGE);		/* outside wall */
-		r[i][0] = 256. * (d - gc[i].i[0]);
-		v = hp->gv[gc[i].w>>1][1];
+		gc[i].i[0] = d;
+		if (r != NULL)
+			r[i][0] = 256. * (d - gc[i].i[0]);
+		v = hp->wg[hdwg1[gc[i].w]];
 		d = DOT(vt, v);
-		if (d < 0. || (gc[i].i[1] = d) >= hp->grid[wg1[gc[i].w]])
+		if (d < 0 || d >= hp->grid[hdwg1[gc[i].w]])
 			return(FHUGE);		/* outside wall */
-		r[i][1] = 256. * (d - gc[i].i[1]);
+		gc[i].i[1] = d;
+		if (r != NULL)
+			r[i][1] = 256. * (d - gc[i].i[1]);
 	}
-					/* return distance from entry point */
-	vt[0] = ro[0] - p[0][0];
-	vt[1] = ro[1] - p[0][1];
-	vt[2] = ro[2] - p[0][2];
-	return(DOT(vt,rd));
+	if (ed != NULL)			/* assign distance to exit point */
+		*ed = t1;
+	return(t0);			/* return distance to entry point */
 }