c28e477e606f497c86abd6c73e34edc21208111f
1 /* Copyright (C) 2021-2022 Harry Godden (hgn) - All Rights Reserved */
6 #include "vg_platform.h"
10 #define VG_PIf 3.14159265358979323846264338327950288f
11 #define VG_TAUf 6.28318530717958647692528676655900576f
13 static inline float vg_minf( float a
, float b
)
18 static inline float vg_maxf( float a
, float b
)
23 static inline float vg_clampf( float a
, float min
, float max
)
25 return vg_minf( max
, vg_maxf( a
, min
) );
28 static inline float vg_signf( float a
)
30 return a
< 0.0f
? -1.0f
: 1.0f
;
33 static inline float vg_fractf( float a
)
35 return a
- floorf( a
);
38 static float stable_force( float current
, float diff
)
40 float fnew
= current
+ diff
;
42 if( fnew
* current
< 0.0f
)
48 static inline int vg_min( int a
, int b
)
53 static inline int vg_max( int a
, int b
)
58 static inline float vg_rad( float deg
)
60 return deg
* VG_PIf
/ 180.0f
;
66 static inline void v2_copy( v2f a
, v2f b
)
68 b
[0] = a
[0]; b
[1] = a
[1];
71 static inline void v2_zero( v2f a
)
73 a
[0] = 0.f
; a
[1] = 0.f
;
76 static inline void v2i_copy( v2i a
, v2i b
)
78 b
[0] = a
[0]; b
[1] = a
[1];
81 static inline int v2i_eq( v2i a
, v2i b
)
83 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
86 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
88 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
91 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
93 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
96 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
98 dest
[0] = vg_minf(a
[0], b
[0]);
99 dest
[1] = vg_minf(a
[1], b
[1]);
102 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
104 dest
[0] = vg_maxf(a
[0], b
[0]);
105 dest
[1] = vg_maxf(a
[1], b
[1]);
108 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
110 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
113 static inline float v2_dot( v2f a
, v2f b
)
115 return a
[0] * b
[0] + a
[1] * b
[1];
118 static inline float v2_cross( v2f a
, v2f b
)
120 return a
[0]*b
[1] - a
[1]*b
[0];
123 static inline void v2_add( v2f a
, v2f b
, v2f d
)
125 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
128 static inline void v2_muls( v2f a
, float s
, v2f d
)
130 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
133 static inline void v2_divs( v2f a
, float s
, v2f d
)
135 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
138 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
144 static inline void v2_div( v2f a
, v2f b
, v2f d
)
146 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
149 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
151 d
[0] = a
[0]+b
[0]*s
[0];
152 d
[1] = a
[1]+b
[1]*s
[1];
155 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
161 static inline float v2_length2( v2f a
)
163 return a
[0]*a
[0] + a
[1]*a
[1];
166 static inline float v2_length( v2f a
)
168 return sqrtf( v2_length2( a
) );
171 static inline float v2_dist2( v2f a
, v2f b
)
174 v2_sub( a
, b
, delta
);
175 return v2_length2( delta
);
178 static inline float v2_dist( v2f a
, v2f b
)
180 return sqrtf( v2_dist2( a
, b
) );
183 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
185 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
186 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
189 static inline void v2_normalize( v2f a
)
191 v2_muls( a
, 1.f
/ v2_length( a
), a
);
194 static inline void v2_floor( v2f a
, v2f b
)
196 b
[0] = floorf( a
[0] );
197 b
[1] = floorf( a
[1] );
203 static inline void v3_zero( v3f a
)
205 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
208 static inline void v3_copy( v3f a
, v3f b
)
210 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
213 static inline void v3_add( v3f a
, v3f b
, v3f d
)
215 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
218 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
220 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
223 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
225 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
228 static inline void v3_div( v3f a
, v3f b
, v3f d
)
230 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
233 static inline void v3_muls( v3f a
, float s
, v3f d
)
235 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
238 static inline void v3_divs( v3f a
, float s
, v3f d
)
240 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
243 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
245 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
248 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
250 d
[0] = a
[0]+b
[0]*s
[0];
251 d
[1] = a
[1]+b
[1]*s
[1];
252 d
[2] = a
[2]+b
[2]*s
[2];
255 static inline float v3_dot( v3f a
, v3f b
)
257 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
260 static inline void v3_cross( v3f a
, v3f b
, v3f dest
)
263 d
[0] = a
[1]*b
[2] - a
[2]*b
[1];
264 d
[1] = a
[2]*b
[0] - a
[0]*b
[2];
265 d
[2] = a
[0]*b
[1] - a
[1]*b
[0];
269 static inline float v3_length2( v3f a
)
271 return v3_dot( a
, a
);
274 static inline float v3_length( v3f a
)
276 return sqrtf( v3_length2( a
) );
279 static inline float v3_dist2( v3f a
, v3f b
)
282 v3_sub( a
, b
, delta
);
283 return v3_length2( delta
);
286 static inline float v3_dist( v3f a
, v3f b
)
288 return sqrtf( v3_dist2( a
, b
) );
291 static inline void v3_normalize( v3f a
)
293 v3_muls( a
, 1.f
/ v3_length( a
), a
);
296 static inline float vg_lerpf( float a
, float b
, float t
)
301 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
303 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
304 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
305 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
308 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
310 dest
[0] = vg_minf(a
[0], b
[0]);
311 dest
[1] = vg_minf(a
[1], b
[1]);
312 dest
[2] = vg_minf(a
[2], b
[2]);
315 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
317 dest
[0] = vg_maxf(a
[0], b
[0]);
318 dest
[1] = vg_maxf(a
[1], b
[1]);
319 dest
[2] = vg_maxf(a
[2], b
[2]);
322 static inline float v3_minf( v3f a
)
324 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
327 static inline float v3_maxf( v3f a
)
329 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
332 static inline void v3_fill( v3f a
, float v
)
339 static inline void v3_floor( v3f a
, v3f b
)
341 b
[0] = floorf( a
[0] );
342 b
[1] = floorf( a
[1] );
343 b
[2] = floorf( a
[2] );
346 static inline void v3_ceil( v3f a
, v3f b
)
348 b
[0] = ceilf( a
[0] );
349 b
[1] = ceilf( a
[1] );
350 b
[2] = ceilf( a
[2] );
353 static inline void v3_negate( v3f a
, v3f b
)
360 static inline void v3_rotate( v3f v
, float angle
, v3f axis
, v3f d
)
371 v3_cross( k
, v
, v2
);
372 v3_muls( v2
, s
, v2
);
373 v3_add( v1
, v2
, v1
);
374 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
381 static inline void v4_copy( v4f a
, v4f b
)
383 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
386 static inline void v4_zero( v4f a
)
388 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
391 static inline void v4_muls( v4f a
, float s
, v4f d
)
399 static inline void v4_muladds( v4f a
, v4f b
, float s
, v4f d
)
407 static inline void v4_lerp( v4f a
, v4f b
, float t
, v4f d
)
409 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
410 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
411 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
412 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
415 static inline float v4_dot( v4f a
, v4f b
)
417 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*a
[3];
420 static inline float v4_length( v4f a
)
422 return sqrtf( v4_dot(a
,a
) );
429 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
432 #define M2X2_ZERO {{0.0f, 0.0f, }, \
435 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
437 v2_copy( a
[0], b
[0] );
438 v2_copy( a
[1], b
[1] );
441 static inline void m2x2_identity( m2x2f a
)
443 m2x2f id
= M2X2_INDENTIY
;
447 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
464 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
465 { 0.0f, 1.0f, 0.0f, },\
466 { 0.0f, 0.0f, 1.0f, }}
468 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
469 { 0.0f, 0.0f, 0.0f, },\
470 { 0.0f, 0.0f, 0.0f, }}
473 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
475 v3_copy( a
[0], b
[0] );
476 v3_copy( a
[1], b
[1] );
477 v3_copy( a
[2], b
[2] );
480 static inline void m3x3_identity( m3x3f a
)
482 m3x3f id
= M3X3_IDENTITY
;
486 static inline void m3x3_zero( m3x3f a
)
492 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
494 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
495 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
496 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
503 dest
[0][0] = (e
*i
-h
*f
)*det
;
504 dest
[0][1] = -(b
*i
-c
*h
)*det
;
505 dest
[0][2] = (b
*f
-c
*e
)*det
;
506 dest
[1][0] = -(d
*i
-f
*g
)*det
;
507 dest
[1][1] = (a
*i
-c
*g
)*det
;
508 dest
[1][2] = -(a
*f
-d
*c
)*det
;
509 dest
[2][0] = (d
*h
-g
*e
)*det
;
510 dest
[2][1] = -(a
*h
-g
*b
)*det
;
511 dest
[2][2] = (a
*e
-d
*b
)*det
;
514 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
516 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
517 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
518 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
531 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
533 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
534 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
535 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
537 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
538 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
539 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
541 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
542 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
543 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
544 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
545 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
546 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
547 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
548 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
549 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
552 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
556 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
557 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
558 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
563 static inline void m3x3_projection( m3x3f dst
,
564 float const left
, float const right
, float const bottom
, float const top
)
570 rl
= 1.0f
/ (right
- left
);
571 tb
= 1.0f
/ (top
- bottom
);
573 dst
[0][0] = 2.0f
* rl
;
574 dst
[1][1] = 2.0f
* tb
;
578 static inline void m3x3_translate( m3x3f m
, v3f v
)
580 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
581 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
582 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
585 static inline void m3x3_scale( m3x3f m
, v3f v
)
587 m
[0][0] = m
[0][0] * v
[0];
588 m
[0][1] = m
[0][1] * v
[0];
589 m
[0][2] = m
[0][2] * v
[0];
591 m
[1][0] = m
[1][0] * v
[1];
592 m
[1][1] = m
[1][1] * v
[1];
593 m
[1][2] = m
[1][2] * v
[1];
596 static inline void m3x3_rotate( m3x3f m
, float angle
)
598 float m00
= m
[0][0], m10
= m
[1][0],
599 m01
= m
[0][1], m11
= m
[1][1],
600 m02
= m
[0][2], m12
= m
[1][2];
606 m
[0][0] = m00
* c
+ m10
* s
;
607 m
[0][1] = m01
* c
+ m11
* s
;
608 m
[0][2] = m02
* c
+ m12
* s
;
610 m
[1][0] = m00
* -s
+ m10
* c
;
611 m
[1][1] = m01
* -s
+ m11
* c
;
612 m
[1][2] = m02
* -s
+ m12
* c
;
619 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
620 { 0.0f, 1.0f, 0.0f, },\
621 { 0.0f, 0.0f, 1.0f, },\
622 { 0.0f, 0.0f, 0.0f }}
624 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
626 v3_copy( a
[0], b
[0] );
627 v3_copy( a
[1], b
[1] );
628 v3_copy( a
[2], b
[2] );
631 static inline void m4x3_invert_affine( m4x3f a
, m4x3f b
)
633 m3x3_transpose( a
, b
);
634 m3x3_mulv( b
, a
[3], b
[3] );
635 v3_negate( b
[3], b
[3] );
638 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
640 v3_copy( a
[0], b
[0] );
641 v3_copy( a
[1], b
[1] );
642 v3_copy( a
[2], b
[2] );
643 v3_copy( a
[3], b
[3] );
646 static inline void m4x3_identity( m4x3f a
)
648 m4x3f id
= M4X3_IDENTITY
;
652 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
655 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
656 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
657 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
658 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
659 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
660 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
661 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
662 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
664 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
665 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
666 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
667 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
668 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
669 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
670 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
671 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
672 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
673 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
674 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
675 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
678 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
682 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
683 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
684 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
690 * Transform plane ( xyz, distance )
692 static inline void m4x3_mulp( m4x3f m
, v4f p
, v4f d
)
696 v3_muls( p
, p
[3], o
);
697 m4x3_mulv( m
, o
, o
);
698 m3x3_mulv( m
, p
, d
);
700 d
[3] = v3_dot( o
, d
);
707 static inline void m4x3_translate( m4x3f m
, v3f v
)
709 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
710 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
711 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
714 static inline void m4x3_scale( m4x3f m
, float s
)
716 v3_muls( m
[0], s
, m
[0] );
717 v3_muls( m
[1], s
, m
[1] );
718 v3_muls( m
[2], s
, m
[2] );
721 static inline void m4x3_scalev( m4x3f m
, v3f v
)
723 v3_muls(m
[0], v
[0], m
[0]);
724 v3_muls(m
[1], v
[1], m
[1]);
725 v3_muls(m
[2], v
[2], m
[2]);
728 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
730 m4x3f t
= M4X3_IDENTITY
;
744 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
746 m4x3f t
= M4X3_IDENTITY
;
760 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
762 m4x3f t
= M4X3_IDENTITY
;
776 static inline void m4x3_expand( m4x3f m
, m4x4f d
)
778 v3_copy( m
[0], d
[0] );
779 v3_copy( m
[1], d
[1] );
780 v3_copy( m
[2], d
[2] );
781 v3_copy( m
[3], d
[3] );
788 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
791 m4x3_mulv( m
, point
, v
);
793 v3_minv( box
[0], v
, box
[0] );
794 v3_maxv( box
[1], v
, box
[1] );
797 static inline void box_addpt( boxf a
, v3f pt
)
799 v3_minv( a
[0], pt
, a
[0] );
800 v3_maxv( a
[1], pt
, a
[1] );
803 static inline void box_concat( boxf a
, boxf b
)
805 v3_minv( a
[0], b
[0], a
[0] );
806 v3_maxv( a
[1], b
[1], a
[1] );
809 static inline void box_copy( boxf a
, boxf b
)
811 v3_copy( a
[0], b
[0] );
812 v3_copy( a
[1], b
[1] );
815 static inline int box_overlap( boxf a
, boxf b
)
818 ( a
[0][0] <= b
[1][0] && a
[1][0] >= b
[0][0] ) &&
819 ( a
[0][1] <= b
[1][1] && a
[1][1] >= b
[0][1] ) &&
820 ( a
[0][2] <= b
[1][2] && a
[1][2] >= b
[0][2] )
824 static inline void box_init_inf( boxf box
)
826 v3_fill( box
[0], INFINITY
);
827 v3_fill( box
[1], -INFINITY
);
830 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
834 v3_copy( box
[0], a
);
835 v3_copy( box
[1], b
);
836 v3_fill( box
[0], INFINITY
);
837 v3_fill( box
[1], -INFINITY
);
839 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], a
[2] } );
840 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
841 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
842 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
844 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], b
[2] } );
845 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
846 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
847 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
850 int ray_aabb( boxf box
, v3f co
, v3f dir
, float dist
)
855 v3_sub( box
[0], co
, v0
);
856 v3_sub( box
[1], co
, v1
);
857 v3_div( v0
, dir
, v0
);
858 v3_div( v1
, dir
, v1
);
860 tmin
= vg_minf( v0
[0], v1
[0] );
861 tmax
= vg_maxf( v0
[0], v1
[0] );
862 tmin
= vg_maxf( tmin
, vg_minf( v0
[1], v1
[1] ));
863 tmax
= vg_minf( tmax
, vg_maxf( v0
[1], v1
[1] ));
864 tmin
= vg_maxf( tmin
, vg_minf( v0
[2], v1
[2] ));
865 tmax
= vg_minf( tmax
, vg_maxf( v0
[2], v1
[2] ));
867 return tmax
>= tmin
&& tmin
< dist
&& tmax
> 0;
870 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
873 v3_sub( target
, pos
, dir
);
876 v3_copy( dir
, m
[2] );
878 v3_cross( up
, m
[2], m
[0] );
879 v3_normalize( m
[0] );
881 v3_cross( m
[2], m
[0], m
[1] );
882 v3_copy( pos
, m
[3] );
889 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
890 { 0.0f, 1.0f, 0.0f, 0.0f },\
891 { 0.0f, 0.0f, 1.0f, 0.0f },\
892 { 0.0f, 0.0f, 0.0f, 1.0f }}
893 #define M4X4_ZERO {{0.0f, 0.0f, 0.0f, 0.0f },\
894 { 0.0f, 0.0f, 0.0f, 0.0f },\
895 { 0.0f, 0.0f, 0.0f, 0.0f },\
896 { 0.0f, 0.0f, 0.0f, 0.0f }}
898 static void m4x4_projection( m4x4f m
, float angle
,
899 float ratio
, float fnear
, float ffar
)
901 float scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * fnear
,
907 m
[0][0] = 2.0f
* fnear
/ (r
- l
);
912 m
[1][1] = 2.0f
* fnear
/ (t
- b
);
915 m
[2][0] = (r
+ l
) / (r
- l
);
916 m
[2][1] = (t
+ b
) / (t
- b
);
917 m
[2][2] = -(ffar
+ fnear
) / (ffar
- fnear
);
921 m
[3][2] = -2.0f
* ffar
* fnear
/ (ffar
- fnear
);
925 static void m4x4_translate( m4x4f m
, v3f v
)
927 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
928 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
929 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
932 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
934 v4_copy( a
[0], b
[0] );
935 v4_copy( a
[1], b
[1] );
936 v4_copy( a
[2], b
[2] );
937 v4_copy( a
[3], b
[3] );
940 static inline void m4x4_identity( m4x4f a
)
942 m4x4f id
= M4X4_IDENTITY
;
946 static inline void m4x4_zero( m4x4f a
)
948 m4x4f zero
= M4X4_ZERO
;
949 m4x4_copy( zero
, a
);
952 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
954 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
955 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
956 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
957 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
959 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
960 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
961 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
962 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
964 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
965 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
966 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
967 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
968 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
969 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
970 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
971 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
972 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
973 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
974 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
975 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
976 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
977 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
978 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
979 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
982 static inline void m4x4_mulv( m4x4f m
, v4f v
, v4f d
)
986 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0]*v
[3];
987 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1]*v
[3];
988 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2]*v
[3];
989 res
[3] = m
[0][3]*v
[0] + m
[1][3]*v
[1] + m
[2][3]*v
[2] + m
[3][3]*v
[3];
994 static inline void m4x4_inv( m4x4f a
, m4x4f d
)
996 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
997 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
998 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
999 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
1003 t
[0] = a22
*a33
- a32
*a23
;
1004 t
[1] = a21
*a33
- a31
*a23
;
1005 t
[2] = a21
*a32
- a31
*a22
;
1006 t
[3] = a20
*a33
- a30
*a23
;
1007 t
[4] = a20
*a32
- a30
*a22
;
1008 t
[5] = a20
*a31
- a30
*a21
;
1010 d
[0][0] = a11
*t
[0] - a12
*t
[1] + a13
*t
[2];
1011 d
[1][0] =-(a10
*t
[0] - a12
*t
[3] + a13
*t
[4]);
1012 d
[2][0] = a10
*t
[1] - a11
*t
[3] + a13
*t
[5];
1013 d
[3][0] =-(a10
*t
[2] - a11
*t
[4] + a12
*t
[5]);
1015 d
[0][1] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1016 d
[1][1] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1017 d
[2][1] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1018 d
[3][1] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1020 t
[0] = a12
*a33
- a32
*a13
;
1021 t
[1] = a11
*a33
- a31
*a13
;
1022 t
[2] = a11
*a32
- a31
*a12
;
1023 t
[3] = a10
*a33
- a30
*a13
;
1024 t
[4] = a10
*a32
- a30
*a12
;
1025 t
[5] = a10
*a31
- a30
*a11
;
1027 d
[0][2] = a01
*t
[0] - a02
*t
[1] + a03
*t
[2];
1028 d
[1][2] =-(a00
*t
[0] - a02
*t
[3] + a03
*t
[4]);
1029 d
[2][2] = a00
*t
[1] - a01
*t
[3] + a03
*t
[5];
1030 d
[3][2] =-(a00
*t
[2] - a01
*t
[4] + a02
*t
[5]);
1032 t
[0] = a12
*a23
- a22
*a13
;
1033 t
[1] = a11
*a23
- a21
*a13
;
1034 t
[2] = a11
*a22
- a21
*a12
;
1035 t
[3] = a10
*a23
- a20
*a13
;
1036 t
[4] = a10
*a22
- a20
*a12
;
1037 t
[5] = a10
*a21
- a20
*a11
;
1039 d
[0][3] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1040 d
[1][3] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1041 d
[2][3] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1042 d
[3][3] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1044 det
= 1.0f
/ (a00
*d
[0][0] + a01
*d
[1][0] + a02
*d
[2][0] + a03
*d
[3][0]);
1045 v4_muls( d
[0], det
, d
[0] );
1046 v4_muls( d
[1], det
, d
[1] );
1047 v4_muls( d
[2], det
, d
[2] );
1048 v4_muls( d
[3], det
, d
[3] );
1052 * Planes (double precision)
1054 static inline void tri_to_plane( double a
[3], double b
[3],
1055 double c
[3], double p
[4] )
1061 edge0
[0] = b
[0] - a
[0];
1062 edge0
[1] = b
[1] - a
[1];
1063 edge0
[2] = b
[2] - a
[2];
1065 edge1
[0] = c
[0] - a
[0];
1066 edge1
[1] = c
[1] - a
[1];
1067 edge1
[2] = c
[2] - a
[2];
1069 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
1070 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
1071 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
1073 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
1074 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
1081 static inline int plane_intersect( double a
[4], double b
[4],
1082 double c
[4], double p
[4] )
1084 double const epsilon
= 1e-8f
;
1089 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
1090 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
1091 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
1093 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
1095 if( d
< epsilon
&& d
> -epsilon
) return 0;
1097 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
1098 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
1099 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
1101 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
1102 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
1103 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
1105 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
1106 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
1107 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
1116 static inline double plane_polarity( double p
[4], double a
[3] )
1119 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
1120 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
1126 static inline void q_identity( v4f q
)
1128 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
1131 static inline void q_axis_angle( v4f q
, v3f axis
, float angle
)
1133 float a
= angle
*0.5f
,
1143 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
1146 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
1147 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
1148 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
1149 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
1153 static inline void q_normalize( v4f q
)
1155 float s
= 1.0f
/ sqrtf(v4_dot(q
,q
));
1162 static inline void q_inv( v4f q
, v4f d
)
1164 float s
= 1.0f
/ v4_dot(q
,q
);
1171 static inline void q_nlerp( v4f a
, v4f b
, float t
, v4f d
)
1173 v4_lerp( a
, b
, t
, d
);
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
);
1286 static inline float vg_randf(void)
1288 return (float)rand()/(float)(RAND_MAX
);
1291 static inline void vg_rand_dir(v3f dir
)
1293 dir
[0] = vg_randf();
1294 dir
[1] = vg_randf();
1295 dir
[2] = vg_randf();
1297 v3_muls( dir
, 2.0f
, dir
);
1298 v3_sub( dir
, (v3f
){1.0f
,1.0f
,1.0f
}, dir
);
1300 v3_normalize( dir
);
1303 static inline void vg_rand_sphere( v3f co
)
1306 v3_muls( co
, cbrtf( vg_randf() ), co
);
1309 static inline int vg_randint(int max
)
1314 static void eval_bezier_time( v3f p0
, v3f p1
, v3f h0
, v3f h1
, float t
, v3f p
)
1319 v3_muls( p1
, ttt
, p
);
1320 v3_muladds( p
, h1
, 3.0f
*tt
-3.0f
*ttt
, p
);
1321 v3_muladds( p
, h0
, 3.0f
*ttt
-6.0f
*tt
+3.0f
*t
, p
);
1322 v3_muladds( p
, p0
, 3.0f
*tt
-ttt
-3.0f
*t
+1.0f
, p
);