7e827a531ca74db784c2a86620306af5fd97af35
1 /* Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved */
3 #define VG_PIf 3.14159265358979323846264338327950288f
4 #define VG_TAUf 6.28318530717958647692528676655900576f
6 static inline float vg_minf( float a
, float b
)
11 static inline float vg_maxf( float a
, float b
)
16 static inline float vg_clampf( float a
, float min
, float max
)
18 return vg_minf( max
, vg_maxf( a
, min
) );
21 static inline float vg_signf( float a
)
23 return a
< 0.0f
? -1.0f
: 1.0f
;
26 static inline float vg_fractf( float a
)
28 return a
- floorf( a
);
31 static inline float vg_randf(void)
33 return (float)rand()/(float)(RAND_MAX
);
36 static inline int vg_randint(int max
)
41 static float stable_force( float current
, float diff
)
43 float fnew
= current
+ diff
;
45 if( fnew
* current
< 0.0f
)
51 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
52 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
54 static inline int vg_min( int a
, int b
)
59 static inline int vg_max( int a
, int b
)
64 static inline float vg_rad( float deg
)
66 return deg
* VG_PIf
/ 180.0f
;
72 static inline void v2_copy( v2f a
, v2f b
)
74 b
[0] = a
[0]; b
[1] = a
[1];
77 static inline void v2_zero( v2f a
)
79 a
[0] = 0.f
; a
[1] = 0.f
;
82 static inline void v2i_copy( v2i a
, v2i b
)
84 b
[0] = a
[0]; b
[1] = a
[1];
87 static inline int v2i_eq( v2i a
, v2i b
)
89 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
92 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
94 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
97 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
99 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
102 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
104 dest
[0] = vg_minf(a
[0], b
[0]);
105 dest
[1] = vg_minf(a
[1], b
[1]);
108 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
110 dest
[0] = vg_maxf(a
[0], b
[0]);
111 dest
[1] = vg_maxf(a
[1], b
[1]);
114 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
116 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
119 static inline float v2_dot( v2f a
, v2f b
)
121 return a
[0] * b
[0] + a
[1] * b
[1];
124 static inline float v2_cross( v2f a
, v2f b
)
126 return a
[0]*b
[1] - a
[1]*b
[0];
129 static inline void v2_add( v2f a
, v2f b
, v2f d
)
131 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
134 static inline void v2_muls( v2f a
, float s
, v2f d
)
136 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
139 static inline void v2_divs( v2f a
, float s
, v2f d
)
141 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
144 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
150 static inline void v2_div( v2f a
, v2f b
, v2f d
)
152 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
155 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
157 d
[0] = a
[0]+b
[0]*s
[0];
158 d
[1] = a
[1]+b
[1]*s
[1];
161 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
167 static inline float v2_length2( v2f a
)
169 return a
[0]*a
[0] + a
[1]*a
[1];
172 static inline float v2_length( v2f a
)
174 return sqrtf( v2_length2( a
) );
177 static inline float v2_dist2( v2f a
, v2f b
)
180 v2_sub( a
, b
, delta
);
181 return v2_length2( delta
);
184 static inline float v2_dist( v2f a
, v2f b
)
186 return sqrtf( v2_dist2( a
, b
) );
189 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
191 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
192 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
195 static inline void v2_normalize( v2f a
)
197 v2_muls( a
, 1.f
/ v2_length( a
), a
);
200 static inline void v2_floor( v2f a
, v2f b
)
202 b
[0] = floorf( a
[0] );
203 b
[1] = floorf( a
[1] );
209 static inline void v3_zero( v3f a
)
211 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
214 static inline void v3_copy( v3f a
, v3f b
)
216 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
219 static inline void v3_add( v3f a
, v3f b
, v3f d
)
221 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
224 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
226 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
229 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
231 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
234 static inline void v3_div( v3f a
, v3f b
, v3f d
)
236 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
239 static inline void v3_muls( v3f a
, float s
, v3f d
)
241 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
244 static inline void v3_divs( v3f a
, float s
, v3f d
)
246 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
249 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
251 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
254 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
256 d
[0] = a
[0]+b
[0]*s
[0];
257 d
[1] = a
[1]+b
[1]*s
[1];
258 d
[2] = a
[2]+b
[2]*s
[2];
261 static inline float v3_dot( v3f a
, v3f b
)
263 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
266 static inline void v3_cross( v3f a
, v3f b
, v3f dest
)
269 d
[0] = a
[1]*b
[2] - a
[2]*b
[1];
270 d
[1] = a
[2]*b
[0] - a
[0]*b
[2];
271 d
[2] = a
[0]*b
[1] - a
[1]*b
[0];
275 static inline float v3_length2( v3f a
)
277 return v3_dot( a
, a
);
280 static inline float v3_length( v3f a
)
282 return sqrtf( v3_length2( a
) );
285 static inline float v3_dist2( v3f a
, v3f b
)
288 v3_sub( a
, b
, delta
);
289 return v3_length2( delta
);
292 static inline float v3_dist( v3f a
, v3f b
)
294 return sqrtf( v3_dist2( a
, b
) );
297 static inline void v3_normalize( v3f a
)
299 v3_muls( a
, 1.f
/ v3_length( a
), a
);
302 static inline float vg_lerpf( float a
, float b
, float t
)
307 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
309 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
310 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
311 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
314 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
316 dest
[0] = vg_minf(a
[0], b
[0]);
317 dest
[1] = vg_minf(a
[1], b
[1]);
318 dest
[2] = vg_minf(a
[2], b
[2]);
321 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
323 dest
[0] = vg_maxf(a
[0], b
[0]);
324 dest
[1] = vg_maxf(a
[1], b
[1]);
325 dest
[2] = vg_maxf(a
[2], b
[2]);
328 static inline float v3_minf( v3f a
)
330 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
333 static inline float v3_maxf( v3f a
)
335 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
338 static inline void v3_fill( v3f a
, float v
)
345 static inline void v3_floor( v3f a
, v3f b
)
347 b
[0] = floorf( a
[0] );
348 b
[1] = floorf( a
[1] );
349 b
[2] = floorf( a
[2] );
352 static inline void v3_ceil( v3f a
, v3f b
)
354 b
[0] = ceilf( a
[0] );
355 b
[1] = ceilf( a
[1] );
356 b
[2] = ceilf( a
[2] );
359 static inline void v3_negate( v3f a
, v3f b
)
366 static inline void v3_rotate( v3f v
, float angle
, v3f axis
, v3f d
)
377 v3_cross( k
, v
, v2
);
378 v3_muls( v2
, s
, v2
);
379 v3_add( v1
, v2
, v1
);
380 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
387 static inline void v4_copy( v4f a
, v4f b
)
389 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
392 static inline void v4_zero( v4f a
)
394 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
397 static inline void v4_muls( v4f a
, float s
, v4f d
)
405 static inline void v4_muladds( v4f a
, v4f b
, float s
, v4f d
)
413 static inline void v4_lerp( v4f a
, v4f b
, float t
, v4f d
)
415 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
416 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
417 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
418 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
421 static inline float v4_dot( v4f a
, v4f b
)
423 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*a
[3];
426 static inline float v4_length( v4f a
)
428 return sqrtf( v4_dot(a
,a
) );
435 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
438 #define M2X2_ZERO {{0.0f, 0.0f, }, \
441 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
443 v2_copy( a
[0], b
[0] );
444 v2_copy( a
[1], b
[1] );
447 static inline void m2x2_identity( m2x2f a
)
449 m2x2f id
= M2X2_INDENTIY
;
453 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
470 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
471 { 0.0f, 1.0f, 0.0f, },\
472 { 0.0f, 0.0f, 1.0f, }}
474 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
475 { 0.0f, 0.0f, 0.0f, },\
476 { 0.0f, 0.0f, 0.0f, }}
479 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
481 v3_copy( a
[0], b
[0] );
482 v3_copy( a
[1], b
[1] );
483 v3_copy( a
[2], b
[2] );
486 static inline void m3x3_identity( m3x3f a
)
488 m3x3f id
= M3X3_IDENTITY
;
492 static inline void m3x3_zero( m3x3f a
)
498 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
500 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
501 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
502 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
509 dest
[0][0] = (e
*i
-h
*f
)*det
;
510 dest
[0][1] = -(b
*i
-c
*h
)*det
;
511 dest
[0][2] = (b
*f
-c
*e
)*det
;
512 dest
[1][0] = -(d
*i
-f
*g
)*det
;
513 dest
[1][1] = (a
*i
-c
*g
)*det
;
514 dest
[1][2] = -(a
*f
-d
*c
)*det
;
515 dest
[2][0] = (d
*h
-g
*e
)*det
;
516 dest
[2][1] = -(a
*h
-g
*b
)*det
;
517 dest
[2][2] = (a
*e
-d
*b
)*det
;
520 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
522 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
523 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
524 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
537 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
539 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
540 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
541 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
543 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
544 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
545 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
547 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
548 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
549 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
550 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
551 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
552 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
553 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
554 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
555 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
558 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
562 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
563 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
564 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
569 static inline void m3x3_projection( m3x3f dst
,
570 float const left
, float const right
, float const bottom
, float const top
)
576 rl
= 1.0f
/ (right
- left
);
577 tb
= 1.0f
/ (top
- bottom
);
579 dst
[0][0] = 2.0f
* rl
;
580 dst
[1][1] = 2.0f
* tb
;
584 static inline void m3x3_translate( m3x3f m
, v3f v
)
586 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
587 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
588 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
591 static inline void m3x3_scale( m3x3f m
, v3f v
)
593 m
[0][0] = m
[0][0] * v
[0];
594 m
[0][1] = m
[0][1] * v
[0];
595 m
[0][2] = m
[0][2] * v
[0];
597 m
[1][0] = m
[1][0] * v
[1];
598 m
[1][1] = m
[1][1] * v
[1];
599 m
[1][2] = m
[1][2] * v
[1];
602 static inline void m3x3_rotate( m3x3f m
, float angle
)
604 float m00
= m
[0][0], m10
= m
[1][0],
605 m01
= m
[0][1], m11
= m
[1][1],
606 m02
= m
[0][2], m12
= m
[1][2];
612 m
[0][0] = m00
* c
+ m10
* s
;
613 m
[0][1] = m01
* c
+ m11
* s
;
614 m
[0][2] = m02
* c
+ m12
* s
;
616 m
[1][0] = m00
* -s
+ m10
* c
;
617 m
[1][1] = m01
* -s
+ m11
* c
;
618 m
[1][2] = m02
* -s
+ m12
* c
;
625 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
626 { 0.0f, 1.0f, 0.0f, },\
627 { 0.0f, 0.0f, 1.0f, },\
628 { 0.0f, 0.0f, 0.0f }}
630 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
632 v3_copy( a
[0], b
[0] );
633 v3_copy( a
[1], b
[1] );
634 v3_copy( a
[2], b
[2] );
637 static inline void m4x3_invert_affine( m4x3f a
, m4x3f b
)
639 m3x3_transpose( a
, b
);
640 m3x3_mulv( b
, a
[3], b
[3] );
641 v3_negate( b
[3], b
[3] );
644 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
646 v3_copy( a
[0], b
[0] );
647 v3_copy( a
[1], b
[1] );
648 v3_copy( a
[2], b
[2] );
649 v3_copy( a
[3], b
[3] );
652 static inline void m4x3_identity( m4x3f a
)
654 m4x3f id
= M4X3_IDENTITY
;
658 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
661 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
662 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
663 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
664 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
665 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
666 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
667 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
668 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
670 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
671 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
672 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
673 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
674 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
675 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
676 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
677 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
678 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
679 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
680 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
681 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
684 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
688 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
689 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
690 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
696 * Transform plane ( xyz, distance )
698 static inline void m4x3_mulp( m4x3f m
, v4f p
, v4f d
)
702 v3_muls( p
, p
[3], o
);
703 m4x3_mulv( m
, o
, o
);
704 m3x3_mulv( m
, p
, d
);
706 d
[3] = v3_dot( o
, d
);
713 static inline void m4x3_translate( m4x3f m
, v3f v
)
715 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
716 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
717 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
720 static inline void m4x3_scale( m4x3f m
, float s
)
722 v3_muls( m
[0], s
, m
[0] );
723 v3_muls( m
[1], s
, m
[1] );
724 v3_muls( m
[2], s
, m
[2] );
727 static inline void m4x3_scalev( m4x3f m
, v3f v
)
729 v3_muls(m
[0], v
[0], m
[0]);
730 v3_muls(m
[1], v
[1], m
[1]);
731 v3_muls(m
[2], v
[2], m
[2]);
734 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
736 m4x3f t
= M4X3_IDENTITY
;
750 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
752 m4x3f t
= M4X3_IDENTITY
;
766 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
768 m4x3f t
= M4X3_IDENTITY
;
782 static inline void m4x3_expand( m4x3f m
, m4x4f d
)
784 v3_copy( m
[0], d
[0] );
785 v3_copy( m
[1], d
[1] );
786 v3_copy( m
[2], d
[2] );
787 v3_copy( m
[3], d
[3] );
794 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
797 m4x3_mulv( m
, point
, v
);
799 v3_minv( box
[0], v
, box
[0] );
800 v3_maxv( box
[1], v
, box
[1] );
803 static inline void box_addpt( boxf a
, v3f pt
)
805 v3_minv( a
[0], pt
, a
[0] );
806 v3_maxv( a
[1], pt
, a
[1] );
809 static inline void box_concat( boxf a
, boxf b
)
811 v3_minv( a
[0], b
[0], a
[0] );
812 v3_maxv( a
[1], b
[1], a
[1] );
815 static inline void box_copy( boxf a
, boxf b
)
817 v3_copy( a
[0], b
[0] );
818 v3_copy( a
[1], b
[1] );
821 static inline int box_overlap( boxf a
, boxf b
)
824 ( a
[0][0] <= b
[1][0] && a
[1][0] >= b
[0][0] ) &&
825 ( a
[0][1] <= b
[1][1] && a
[1][1] >= b
[0][1] ) &&
826 ( a
[0][2] <= b
[1][2] && a
[1][2] >= b
[0][2] )
830 static inline void box_init_inf( boxf box
)
832 v3_fill( box
[0], INFINITY
);
833 v3_fill( box
[1], -INFINITY
);
836 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
840 v3_copy( box
[0], a
);
841 v3_copy( box
[1], b
);
842 v3_fill( box
[0], INFINITY
);
843 v3_fill( box
[1], -INFINITY
);
845 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], a
[2] } );
846 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
847 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
848 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
850 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], b
[2] } );
851 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
852 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
853 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
856 int ray_aabb( boxf box
, v3f co
, v3f dir
, float dist
)
861 v3_sub( box
[0], co
, v0
);
862 v3_sub( box
[1], co
, v1
);
863 v3_div( v0
, dir
, v0
);
864 v3_div( v1
, dir
, v1
);
866 tmin
= vg_minf( v0
[0], v1
[0] );
867 tmax
= vg_maxf( v0
[0], v1
[0] );
868 tmin
= vg_maxf( tmin
, vg_minf( v0
[1], v1
[1] ));
869 tmax
= vg_minf( tmax
, vg_maxf( v0
[1], v1
[1] ));
870 tmin
= vg_maxf( tmin
, vg_minf( v0
[2], v1
[2] ));
871 tmax
= vg_minf( tmax
, vg_maxf( v0
[2], v1
[2] ));
873 return tmax
>= tmin
&& tmin
< dist
&& tmax
> 0;
876 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
879 v3_sub( target
, pos
, dir
);
882 v3_copy( dir
, m
[2] );
884 v3_cross( up
, m
[2], m
[0] );
885 v3_normalize( m
[0] );
887 v3_cross( m
[2], m
[0], m
[1] );
888 v3_copy( pos
, m
[3] );
895 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
896 { 0.0f, 1.0f, 0.0f, 0.0f },\
897 { 0.0f, 0.0f, 1.0f, 0.0f },\
898 { 0.0f, 0.0f, 0.0f, 1.0f }}
899 #define M4X4_ZERO {{0.0f, 0.0f, 0.0f, 0.0f },\
900 { 0.0f, 0.0f, 0.0f, 0.0f },\
901 { 0.0f, 0.0f, 0.0f, 0.0f },\
902 { 0.0f, 0.0f, 0.0f, 0.0f }}
904 static void m4x4_projection( m4x4f m
, float angle
,
905 float ratio
, float near
, float far
)
907 float scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * near
,
913 m
[0][0] = 2.0f
* near
/ (r
- l
);
918 m
[1][1] = 2.0f
* near
/ (t
- b
);
921 m
[2][0] = (r
+ l
) / (r
- l
);
922 m
[2][1] = (t
+ b
) / (t
- b
);
923 m
[2][2] = -(far
+ near
) / (far
- near
);
927 m
[3][2] = -2.0f
* far
* near
/ (far
- near
);
931 static void m4x4_translate( m4x4f m
, v3f v
)
933 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
934 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
935 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
938 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
940 v4_copy( a
[0], b
[0] );
941 v4_copy( a
[1], b
[1] );
942 v4_copy( a
[2], b
[2] );
943 v4_copy( a
[3], b
[3] );
946 static inline void m4x4_identity( m4x4f a
)
948 m4x4f id
= M4X4_IDENTITY
;
952 static inline void m4x4_zero( m4x4f a
)
954 m4x4f zero
= M4X4_ZERO
;
955 m4x4_copy( zero
, a
);
958 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
960 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
961 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
962 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
963 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
965 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
966 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
967 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
968 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
970 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
971 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
972 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
973 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
974 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
975 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
976 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
977 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
978 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
979 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
980 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
981 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
982 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
983 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
984 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
985 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
988 static inline void m4x4_mulv( m4x4f m
, v4f v
, v4f d
)
992 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0]*v
[3];
993 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1]*v
[3];
994 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2]*v
[3];
995 res
[3] = m
[0][3]*v
[0] + m
[1][3]*v
[1] + m
[2][3]*v
[2] + m
[3][3]*v
[3];
1000 static inline void m4x4_inv( m4x4f a
, m4x4f d
)
1002 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
1003 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
1004 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
1005 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
1009 t
[0] = a22
*a33
- a32
*a23
;
1010 t
[1] = a21
*a33
- a31
*a23
;
1011 t
[2] = a21
*a32
- a31
*a22
;
1012 t
[3] = a20
*a33
- a30
*a23
;
1013 t
[4] = a20
*a32
- a30
*a22
;
1014 t
[5] = a20
*a31
- a30
*a21
;
1016 d
[0][0] = a11
*t
[0] - a12
*t
[1] + a13
*t
[2];
1017 d
[1][0] =-(a10
*t
[0] - a12
*t
[3] + a13
*t
[4]);
1018 d
[2][0] = a10
*t
[1] - a11
*t
[3] + a13
*t
[5];
1019 d
[3][0] =-(a10
*t
[2] - a11
*t
[4] + a12
*t
[5]);
1021 d
[0][1] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1022 d
[1][1] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1023 d
[2][1] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1024 d
[3][1] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1026 t
[0] = a12
*a33
- a32
*a13
;
1027 t
[1] = a11
*a33
- a31
*a13
;
1028 t
[2] = a11
*a32
- a31
*a12
;
1029 t
[3] = a10
*a33
- a30
*a13
;
1030 t
[4] = a10
*a32
- a30
*a12
;
1031 t
[5] = a10
*a31
- a30
*a11
;
1033 d
[0][2] = a01
*t
[0] - a02
*t
[1] + a03
*t
[2];
1034 d
[1][2] =-(a00
*t
[0] - a02
*t
[3] + a03
*t
[4]);
1035 d
[2][2] = a00
*t
[1] - a01
*t
[3] + a03
*t
[5];
1036 d
[3][2] =-(a00
*t
[2] - a01
*t
[4] + a02
*t
[5]);
1038 t
[0] = a12
*a23
- a22
*a13
;
1039 t
[1] = a11
*a23
- a21
*a13
;
1040 t
[2] = a11
*a22
- a21
*a12
;
1041 t
[3] = a10
*a23
- a20
*a13
;
1042 t
[4] = a10
*a22
- a20
*a12
;
1043 t
[5] = a10
*a21
- a20
*a11
;
1045 d
[0][3] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1046 d
[1][3] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1047 d
[2][3] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1048 d
[3][3] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1050 det
= 1.0f
/ (a00
*d
[0][0] + a01
*d
[1][0] + a02
*d
[2][0] + a03
*d
[3][0]);
1051 v4_muls( d
[0], det
, d
[0] );
1052 v4_muls( d
[1], det
, d
[1] );
1053 v4_muls( d
[2], det
, d
[2] );
1054 v4_muls( d
[3], det
, d
[3] );
1058 * Planes (double precision)
1060 static inline void tri_to_plane( double a
[3], double b
[3],
1061 double c
[3], double p
[4] )
1067 edge0
[0] = b
[0] - a
[0];
1068 edge0
[1] = b
[1] - a
[1];
1069 edge0
[2] = b
[2] - a
[2];
1071 edge1
[0] = c
[0] - a
[0];
1072 edge1
[1] = c
[1] - a
[1];
1073 edge1
[2] = c
[2] - a
[2];
1075 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
1076 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
1077 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
1079 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
1080 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
1087 static inline int plane_intersect( double a
[4], double b
[4],
1088 double c
[4], double p
[4] )
1090 double const epsilon
= 1e-8f
;
1095 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
1096 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
1097 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
1099 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
1101 if( d
< epsilon
&& d
> -epsilon
) return 0;
1103 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
1104 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
1105 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
1107 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
1108 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
1109 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
1111 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
1112 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
1113 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
1122 static inline double plane_polarity( double p
[4], double a
[3] )
1125 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
1126 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
1132 static inline void q_identity( v4f q
)
1134 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
1137 static inline void q_axis_angle( v4f q
, v3f axis
, float angle
)
1139 float a
= angle
*0.5f
,
1149 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
1152 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
1153 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
1154 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
1155 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
1159 static inline void q_normalize( v4f q
)
1161 float s
= 1.0f
/ sqrtf(v4_dot(q
,q
));
1168 static inline void q_inv( v4f q
, v4f d
)
1170 float s
= 1.0f
/ v4_dot(q
,q
);
1177 static inline void q_m3x3( v4f q
, m3x3f d
)
1181 s
= l
> 0.0f
? 2.0f
/l
: 0.0f
,
1183 xx
= s
*q
[0]*q
[0], xy
= s
*q
[0]*q
[1], wx
= s
*q
[3]*q
[0],
1184 yy
= s
*q
[1]*q
[1], yz
= s
*q
[1]*q
[2], wy
= s
*q
[3]*q
[1],
1185 zz
= s
*q
[2]*q
[2], xz
= s
*q
[0]*q
[2], wz
= s
*q
[3]*q
[2];
1187 d
[0][0] = 1.0f
- yy
- zz
;
1188 d
[1][1] = 1.0f
- xx
- zz
;
1189 d
[2][2] = 1.0f
- xx
- yy
;
1198 static void m3x3_q( m3x3f m
, v4f q
)
1200 float diag
, r
, rinv
;
1202 diag
= m
[0][0] + m
[1][1] + m
[2][2];
1205 r
= sqrtf( 1.0f
+ diag
);
1207 q
[0] = rinv
* (m
[1][2] - m
[2][1]);
1208 q
[1] = rinv
* (m
[2][0] - m
[0][2]);
1209 q
[2] = rinv
* (m
[0][1] - m
[1][0]);
1212 else if( m
[0][0] >= m
[1][1] && m
[0][0] >= m
[2][2] )
1214 r
= sqrtf( 1.0f
- m
[1][1] - m
[2][2] + m
[0][0] );
1217 q
[1] = rinv
* (m
[0][1] + m
[1][0]);
1218 q
[2] = rinv
* (m
[0][2] + m
[2][0]);
1219 q
[3] = rinv
* (m
[1][2] - m
[2][1]);
1221 else if( m
[1][1] >= m
[2][2] )
1223 r
= sqrtf( 1.0f
- m
[0][0] - m
[2][2] + m
[1][1] );
1225 q
[0] = rinv
* (m
[0][1] + m
[1][0]);
1227 q
[2] = rinv
* (m
[1][2] + m
[2][1]);
1228 q
[3] = rinv
* (m
[2][0] - m
[0][2]);
1232 r
= sqrtf( 1.0f
- m
[0][0] - m
[1][1] + m
[2][2] );
1234 q
[0] = rinv
* (m
[0][2] + m
[2][0]);
1235 q
[1] = rinv
* (m
[1][2] + m
[2][1]);
1237 q
[3] = rinv
* (m
[0][1] - m
[1][0]);
1241 static int ray_tri( v3f tri
[3], v3f co
, v3f dir
, float *dist
)
1243 float const kEpsilon
= 0.00001f
;
1245 v3f v0
, v1
, h
, s
, q
, n
;
1252 v3_sub( pb
, pa
, v0
);
1253 v3_sub( pc
, pa
, v1
);
1254 v3_cross( dir
, v1
, h
);
1255 v3_cross( v0
, v1
, n
);
1257 if( v3_dot( n
, dir
) > 0.0f
) /* Backface culling */
1261 a
= v3_dot( v0
, h
);
1262 if( a
> -kEpsilon
&& a
< kEpsilon
)
1266 v3_sub( co
, pa
, s
);
1268 u
= f
* v3_dot(s
, h
);
1269 if( u
< 0.0f
|| u
> 1.0f
)
1272 v3_cross( s
, v0
, q
);
1273 v
= f
* v3_dot( dir
, q
);
1274 if( v
< 0.0f
|| u
+v
> 1.0f
)
1277 t
= f
* v3_dot(v1
, q
);