Add wrappers for the standard math library

Simplifies transition to software based math libraries
for projects requiring determinism.

DebugUtils/Source/DebugDraw.cpp

@@ -17,9 +17,9 @@
 //
 
 #define _USE_MATH_DEFINES
-#include <math.h>
 #include <string.h>
 #include "DebugDraw.h"
+#include "DetourMath.h"
 
 
 duDebugDraw::~duDebugDraw()
@@ -180,8 +180,8 @@ void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float
 		for (int i = 0; i < NUM_SEG; ++i)
 		{
 			const float a = (float)i/(float)NUM_SEG*DU_PI*2;
-			dir[i*2] = cosf(a);
-			dir[i*2+1] = sinf(a);
+			dir[i*2] = dtMathCosf(a);
+			dir[i*2+1] = dtMathSinf(a);
 		}
 	}
 

DebugUtils/Source/DetourDebugDraw.cpp

@@ -16,7 +16,6 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include "DebugDraw.h"
 #include "DetourDebugDraw.h"
 #include "DetourNavMesh.h"

Detour/Include/DetourMath.h

@@ -0,0 +1,21 @@
+#ifndef DETOURMATH_H
+#define DETOURMATH_H
+
+/**
+@defgroup detour Detour
+
+Members in this module are wrappers around the standard math library
+
+*/
+
+#include <math.h>
+
+#define dtMathFabs(x) fabs(x)
+#define dtMathSqrtf(x) sqrtf(x)
+#define dtMathFloorf(x) floorf(x)
+#define dtMathCeilf(x) ceilf(x)
+#define dtMathCosf(x) cosf(x)
+#define dtMathSinf(x) sinf(x)
+#define dtMathAtan2f(y, x) atan2f(y, x)
+
+#endif

Detour/Source/DetourCommon.cpp

@@ -16,14 +16,14 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include "DetourCommon.h"
+#include "DetourMath.h"
 
 //////////////////////////////////////////////////////////////////////////////////////////
 
 float dtSqrt(float x)
 {
-	return sqrtf(x);
+	return dtMathSqrtf(x);
 }
 
 void dtClosestPtPointTriangle(float* closest, const float* p,

Detour/Source/DetourNavMesh.cpp

@@ -16,13 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <float.h>
 #include <string.h>
 #include <stdio.h>
 #include "DetourNavMesh.h"
 #include "DetourNode.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
 #include <new>

Detour/Source/DetourNavMeshBuilder.cpp

@@ -16,13 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <float.h>
 #include "DetourNavMesh.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourNavMeshBuilder.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
@@ -202,8 +202,8 @@ static int createBVTree(const unsigned short* verts, const int /*nverts*/,
 			if (z > it.bmax[2]) it.bmax[2] = z;
 		}
 		// Remap y
-		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
-		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
+		it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
+		it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
 	}
 
 	int curNode = 0;

Detour/Source/DetourNavMeshQuery.cpp

@@ -16,13 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <float.h>
 #include <string.h>
 #include "DetourNavMeshQuery.h"
 #include "DetourNavMesh.h"
 #include "DetourNode.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
 #include <new>
@@ -3342,7 +3342,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
 	dtVsub(hitNormal, centerPos, hitPos);
 	dtVnormalize(hitNormal);
 
-	*hitDist = sqrtf(radiusSqr);
+	*hitDist = dtMathSqrtf(radiusSqr);
 
 	return status;
 }

DetourCrowd/Source/DetourCrowd.cpp

@@ -17,7 +17,6 @@
 //
 
 #define _USE_MATH_DEFINES
-#include <math.h>
 #include <string.h>
 #include <float.h>
 #include <stdlib.h>
@@ -27,6 +26,7 @@
 #include "DetourNavMeshQuery.h"
 #include "DetourObstacleAvoidance.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAssert.h"
 #include "DetourAlloc.h"
 
@@ -206,7 +206,7 @@ static int getNeighbours(const float* pos, const float height, const float range
 		// Check for overlap.
 		float diff[3];
 		dtVsub(diff, pos, ag->npos);
-		if (fabsf(diff[1]) >= (height+ag->params.height)/2.0f)
+		if (dtMathFabs(diff[1]) >= (height+ag->params.height)/2.0f)
 			continue;
 		diff[1] = 0;
 		const float distSqr = dtVlenSqr(diff);
@@ -1200,7 +1200,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
 					continue;
 				if (distSqr > dtSqr(separationDist))
 					continue;
-				const float dist = sqrtf(distSqr);
+				const float dist = dtMathSqrtf(distSqr);
 				const float weight = separationWeight * (1.0f - dtSqr(dist*invSeparationDist));
 
 				dtVmad(disp, disp, diff, weight/dist);
@@ -1318,7 +1318,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
 				float dist = dtVlenSqr(diff);
 				if (dist > dtSqr(ag->params.radius + nei->params.radius))
 					continue;
-				dist = sqrtf(dist);
+				dist = dtMathSqrtf(dist);
 				float pen = (ag->params.radius + nei->params.radius) - dist;
 				if (dist < 0.0001f)
 				{

DetourCrowd/Source/DetourObstacleAvoidance.cpp

@@ -18,10 +18,10 @@
 
 #include "DetourObstacleAvoidance.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
 #include <string.h>
-#include <math.h>
 #include <float.h>
 #include <new>
 
@@ -58,7 +58,7 @@ static int isectRaySeg(const float* ap, const float* u,
 	dtVsub(v,bq,bp);
 	dtVsub(w,ap,bp);
 	float d = dtVperp2D(u,v);
-	if (fabsf(d) < 1e-6f) return 0;
+	if (dtMathFabs(d) < 1e-6f) return 0;
 	d = 1.0f/d;
 	t = dtVperp2D(v,w) * d;
 	if (t < 0 || t > 1) return 0;
@@ -482,7 +482,7 @@ int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const flo
 	const int nd = dtClamp(ndivs, 1, DT_MAX_PATTERN_DIVS);
 	const int nr = dtClamp(nrings, 1, DT_MAX_PATTERN_RINGS);
 	const float da = (1.0f/nd) * DT_PI*2;
-	const float dang = atan2f(dvel[2], dvel[0]);
+	const float dang = dtMathAtan2f(dvel[2], dvel[0]);
 
 	// Always add sample at zero
 	pat[npat*2+0] = 0;

DetourCrowd/Source/DetourProximityGrid.cpp

@@ -16,11 +16,11 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <string.h>
 #include <new>
 #include "DetourProximityGrid.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
 
@@ -103,10 +103,10 @@ void dtProximityGrid::addItem(const unsigned short id,
 							  const float minx, const float miny,
 							  const float maxx, const float maxy)
 {
-	const int iminx = (int)floorf(minx * m_invCellSize);
-	const int iminy = (int)floorf(miny * m_invCellSize);
-	const int imaxx = (int)floorf(maxx * m_invCellSize);
-	const int imaxy = (int)floorf(maxy * m_invCellSize);
+	const int iminx = (int)dtMathFloorf(minx * m_invCellSize);
+	const int iminy = (int)dtMathFloorf(miny * m_invCellSize);
+	const int imaxx = (int)dtMathFloorf(maxx * m_invCellSize);
+	const int imaxy = (int)dtMathFloorf(maxy * m_invCellSize);
 
 	m_bounds[0] = dtMin(m_bounds[0], iminx);
 	m_bounds[1] = dtMin(m_bounds[1], iminy);
@@ -137,10 +137,10 @@ int dtProximityGrid::queryItems(const float minx, const float miny,
 								const float maxx, const float maxy,
 								unsigned short* ids, const int maxIds) const
 {
-	const int iminx = (int)floorf(minx * m_invCellSize);
-	const int iminy = (int)floorf(miny * m_invCellSize);
-	const int imaxx = (int)floorf(maxx * m_invCellSize);
-	const int imaxy = (int)floorf(maxy * m_invCellSize);
+	const int iminx = (int)dtMathFloorf(minx * m_invCellSize);
+	const int iminy = (int)dtMathFloorf(miny * m_invCellSize);
+	const int imaxx = (int)dtMathFloorf(maxx * m_invCellSize);
+	const int imaxy = (int)dtMathFloorf(maxy * m_invCellSize);
 
 	int n = 0;
 

DetourTileCache/Source/DetourTileCache.cpp

@@ -3,9 +3,9 @@
 #include "DetourNavMeshBuilder.h"
 #include "DetourNavMesh.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
-#include <math.h>
 #include <string.h>
 #include <new>
 
@@ -409,10 +409,10 @@ dtStatus dtTileCache::queryTiles(const float* bmin, const float* bmax,
 
 	const float tw = m_params.width * m_params.cs;
 	const float th = m_params.height * m_params.cs;
-	const int tx0 = (int)floorf((bmin[0]-m_params.orig[0]) / tw);
-	const int tx1 = (int)floorf((bmax[0]-m_params.orig[0]) / tw);
-	const int ty0 = (int)floorf((bmin[2]-m_params.orig[2]) / th);
-	const int ty1 = (int)floorf((bmax[2]-m_params.orig[2]) / th);
+	const int tx0 = (int)dtMathFloorf((bmin[0]-m_params.orig[0]) / tw);
+	const int tx1 = (int)dtMathFloorf((bmax[0]-m_params.orig[0]) / tw);
+	const int ty0 = (int)dtMathFloorf((bmin[2]-m_params.orig[2]) / th);
+	const int ty1 = (int)dtMathFloorf((bmax[2]-m_params.orig[2]) / th);
 
 	for (int ty = ty0; ty <= ty1; ++ty)
 	{

DetourTileCache/Source/DetourTileCacheBuilder.cpp

@@ -17,11 +17,11 @@
 //
 
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourStatus.h"
 #include "DetourAssert.h"
 #include "DetourTileCacheBuilder.h"
 #include <string.h>
-#include <math.h>
 
 
 template<class T> class dtFixedArray
@@ -1968,12 +1968,12 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
 	const float px = (pos[0]-orig[0])*ics;
 	const float pz = (pos[2]-orig[2])*ics;
 
-	int minx = (int)floorf((bmin[0]-orig[0])*ics);
-	int miny = (int)floorf((bmin[1]-orig[1])*ich);
-	int minz = (int)floorf((bmin[2]-orig[2])*ics);
-	int maxx = (int)floorf((bmax[0]-orig[0])*ics);
-	int maxy = (int)floorf((bmax[1]-orig[1])*ich);
-	int maxz = (int)floorf((bmax[2]-orig[2])*ics);
+	int minx = (int)dtMathFloorf((bmin[0]-orig[0])*ics);
+	int miny = (int)dtMathFloorf((bmin[1]-orig[1])*ich);
+	int minz = (int)dtMathFloorf((bmin[2]-orig[2])*ics);
+	int maxx = (int)dtMathFloorf((bmax[0]-orig[0])*ics);
+	int maxy = (int)dtMathFloorf((bmax[1]-orig[1])*ich);
+	int maxz = (int)dtMathFloorf((bmax[2]-orig[2])*ics);
 
 	if (maxx < 0) return DT_SUCCESS;
 	if (minx >= w) return DT_SUCCESS;

RecastDemo/Build/VC9/Recast.vcproj

@@ -260,6 +260,10 @@
 					RelativePath="..\..\..\Detour\Include\DetourCommon.h"
 					>
 				</File>
+				<File
+					RelativePath="..\..\..\Detour\Include\DetourMath.h"
+					>
+				</File>
 				<File
 					RelativePath="..\..\..\Detour\Include\DetourNavMesh.h"
 					>