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_randf(void)
28 return (float)rand()/(float)(RAND_MAX
);
31 static inline float vg_randint(int max
)
36 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
37 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
39 static inline int vg_min( int a
, int b
)
44 static inline int vg_max( int a
, int b
)
49 static inline float vg_rad( float deg
)
51 return deg
* VG_PIf
/ 180.0f
;
57 static inline void v2_copy( v2f a
, v2f b
)
59 b
[0] = a
[0]; b
[1] = a
[1];
62 static inline void v2i_copy( v2i a
, v2i b
)
64 b
[0] = a
[0]; b
[1] = a
[1];
67 static inline int v2i_eq( v2i a
, v2i b
)
69 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
72 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
74 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
77 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
79 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
82 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
84 dest
[0] = vg_minf(a
[0], b
[0]);
85 dest
[1] = vg_minf(a
[1], b
[1]);
88 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
90 dest
[0] = vg_maxf(a
[0], b
[0]);
91 dest
[1] = vg_maxf(a
[1], b
[1]);
94 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
96 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
99 static inline float v2_dot( v2f a
, v2f b
)
101 return a
[0] * b
[0] + a
[1] * b
[1];
104 static inline float v2_cross( v2f a
, v2f b
)
106 return a
[0] * b
[1] - a
[1] * b
[0];
109 static inline void v2_add( v2f a
, v2f b
, v2f d
)
111 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
114 static inline void v2_muls( v2f a
, float s
, v2f d
)
116 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
119 static inline void v2_divs( v2f a
, float s
, v2f d
)
121 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
124 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
130 static inline void v2_div( v2f a
, v2f b
, v2f d
)
132 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
135 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
137 d
[0] = a
[0]+b
[0]*s
[0];
138 d
[1] = a
[1]+b
[1]*s
[1];
141 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
147 static inline float v2_length2( v2f a
)
149 return a
[0]*a
[0] + a
[1]*a
[1];
152 static inline float v2_length( v2f a
)
154 return sqrtf( v2_length2( a
) );
157 static inline float v2_dist2( v2f a
, v2f b
)
160 v2_sub( a
, b
, delta
);
161 return v2_length2( delta
);
164 static inline float v2_dist( v2f a
, v2f b
)
166 return sqrtf( v2_dist2( a
, b
) );
169 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
171 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
172 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
175 static inline void v2_normalize( v2f a
)
177 v2_muls( a
, 1.f
/ v2_length( a
), a
);
183 static inline void v3_zero( v3f a
)
185 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
188 static inline void v3_copy( v3f a
, v3f b
)
190 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
193 static inline void v3_add( v3f a
, v3f b
, v3f d
)
195 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
198 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
200 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
203 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
205 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
208 static inline void v3_div( v3f a
, v3f b
, v3f d
)
210 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
213 static inline void v3_muls( v3f a
, float s
, v3f d
)
215 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
218 static inline void v3_divs( v3f a
, float s
, v3f d
)
220 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
223 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
225 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
228 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
230 d
[0] = a
[0]+b
[0]*s
[0];
231 d
[1] = a
[1]+b
[1]*s
[1];
232 d
[2] = a
[2]+b
[2]*s
[2];
235 static inline float v3_dot( v3f a
, v3f b
)
237 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
240 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
242 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
243 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
244 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
247 static inline float v3_length2( v3f a
)
249 return v3_dot( a
, a
);
252 static inline float v3_length( v3f a
)
254 return sqrtf( v3_length2( a
) );
257 static inline float v3_dist2( v3f a
, v3f b
)
260 v3_sub( a
, b
, delta
);
261 return v3_length2( delta
);
264 static inline float v3_dist( v3f a
, v3f b
)
266 return sqrtf( v3_dist2( a
, b
) );
269 static inline void v3_normalize( v3f a
)
271 v3_muls( a
, 1.f
/ v3_length( a
), a
);
274 static inline float vg_lerpf( float a
, float b
, float t
)
279 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
281 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
282 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
283 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
286 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
288 dest
[0] = vg_minf(a
[0], b
[0]);
289 dest
[1] = vg_minf(a
[1], b
[1]);
290 dest
[2] = vg_minf(a
[2], b
[2]);
293 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
295 dest
[0] = vg_maxf(a
[0], b
[0]);
296 dest
[1] = vg_maxf(a
[1], b
[1]);
297 dest
[2] = vg_maxf(a
[2], b
[2]);
300 static inline float v3_minf( v3f a
)
302 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
305 static inline float v3_maxf( v3f a
)
307 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
310 static inline void v3_fill( v3f a
, float v
)
317 static inline void v3_floor( v3f a
, v3f b
)
319 b
[0] = floorf( a
[0] );
320 b
[1] = floorf( a
[1] );
321 b
[2] = floorf( a
[2] );
324 static inline void v3_ceil( v3f a
, v3f b
)
326 b
[0] = ceilf( a
[0] );
327 b
[1] = ceilf( a
[1] );
328 b
[2] = ceilf( a
[2] );
331 static inline void v3_negate( v3f a
, v3f b
)
338 static inline void v3_rotate( v3f v
, float angle
, v3f axis
, v3f d
)
349 v3_cross( k
, v
, v2
);
350 v3_muls( v2
, s
, v2
);
351 v3_add( v1
, v2
, v1
);
352 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
359 static inline void v4_copy( v4f a
, v4f b
)
361 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
364 static inline void v4_zero( v4f a
)
366 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
369 static inline void v4_muladds( v3f a
, v3f b
, float s
, v3f d
)
377 static inline void v4_lerp( v4f a
, v4f b
, float t
, v4f d
)
379 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
380 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
381 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
382 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
385 static inline float v4_dot( v4f a
, v4f b
)
387 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*a
[3];
390 static inline float v4_length( v4f a
)
392 return sqrtf( v4_dot(a
,a
) );
399 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
402 #define M2X2_ZERO {{0.0f, 0.0f, }, \
405 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
407 v2_copy( a
[0], b
[0] );
408 v2_copy( a
[1], b
[1] );
411 static inline void m2x2_identity( m2x2f a
)
413 m2x2f id
= M2X2_INDENTIY
;
417 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
434 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
435 { 0.0f, 1.0f, 0.0f, },\
436 { 0.0f, 0.0f, 1.0f, }}
438 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
439 { 0.0f, 0.0f, 0.0f, },\
440 { 0.0f, 0.0f, 0.0f, }}
443 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
445 v3_copy( a
[0], b
[0] );
446 v3_copy( a
[1], b
[1] );
447 v3_copy( a
[2], b
[2] );
450 static inline void m3x3_identity( m3x3f a
)
452 m3x3f id
= M3X3_IDENTITY
;
456 static inline void m3x3_zero( m3x3f a
)
462 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
464 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
465 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
466 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
473 dest
[0][0] = (e
*i
-h
*f
)*det
;
474 dest
[0][1] = -(b
*i
-c
*h
)*det
;
475 dest
[0][2] = (b
*f
-c
*e
)*det
;
476 dest
[1][0] = -(d
*i
-f
*g
)*det
;
477 dest
[1][1] = (a
*i
-c
*g
)*det
;
478 dest
[1][2] = -(a
*f
-d
*c
)*det
;
479 dest
[2][0] = (d
*h
-g
*e
)*det
;
480 dest
[2][1] = -(a
*h
-g
*b
)*det
;
481 dest
[2][2] = (a
*e
-d
*b
)*det
;
484 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
486 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
487 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
488 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
501 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
503 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
504 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
505 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
507 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
508 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
509 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
511 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
512 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
513 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
514 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
515 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
516 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
517 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
518 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
519 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
522 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
526 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
527 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
528 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
533 static inline void m3x3_projection( m3x3f dst
,
534 float const left
, float const right
, float const bottom
, float const top
)
540 rl
= 1.0f
/ (right
- left
);
541 tb
= 1.0f
/ (top
- bottom
);
543 dst
[0][0] = 2.0f
* rl
;
544 dst
[1][1] = 2.0f
* tb
;
548 static inline void m3x3_translate( m3x3f m
, v3f v
)
550 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
551 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
552 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
555 static inline void m3x3_scale( m3x3f m
, v3f v
)
557 m
[0][0] = m
[0][0] * v
[0];
558 m
[0][1] = m
[0][1] * v
[0];
559 m
[0][2] = m
[0][2] * v
[0];
561 m
[1][0] = m
[1][0] * v
[1];
562 m
[1][1] = m
[1][1] * v
[1];
563 m
[1][2] = m
[1][2] * v
[1];
566 static inline void m3x3_rotate( m3x3f m
, float angle
)
568 float m00
= m
[0][0], m10
= m
[1][0],
569 m01
= m
[0][1], m11
= m
[1][1],
570 m02
= m
[0][2], m12
= m
[1][2];
576 m
[0][0] = m00
* c
+ m10
* s
;
577 m
[0][1] = m01
* c
+ m11
* s
;
578 m
[0][2] = m02
* c
+ m12
* s
;
580 m
[1][0] = m00
* -s
+ m10
* c
;
581 m
[1][1] = m01
* -s
+ m11
* c
;
582 m
[1][2] = m02
* -s
+ m12
* c
;
589 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
590 { 0.0f, 1.0f, 0.0f, },\
591 { 0.0f, 0.0f, 1.0f, },\
592 { 0.0f, 0.0f, 0.0f }}
594 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
596 v3_copy( a
[0], b
[0] );
597 v3_copy( a
[1], b
[1] );
598 v3_copy( a
[2], b
[2] );
601 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
603 v3_copy( a
[0], b
[0] );
604 v3_copy( a
[1], b
[1] );
605 v3_copy( a
[2], b
[2] );
606 v3_copy( a
[3], b
[3] );
609 static inline void m4x3_identity( m4x3f a
)
611 m4x3f id
= M4X3_IDENTITY
;
615 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
618 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
619 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
620 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
621 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
622 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
623 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
624 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
625 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
627 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
628 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
629 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
630 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
631 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
632 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
633 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
634 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
635 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
636 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
637 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
638 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
641 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
645 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
646 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
647 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
656 static inline void m4x3_translate( m4x3f m
, v3f v
)
658 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
659 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
660 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
663 static inline void m4x3_scale( m4x3f m
, float s
)
665 v3_muls( m
[0], s
, m
[0] );
666 v3_muls( m
[1], s
, m
[1] );
667 v3_muls( m
[2], s
, m
[2] );
670 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
672 m4x3f t
= M4X3_IDENTITY
;
686 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
688 m4x3f t
= M4X3_IDENTITY
;
702 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
704 m4x3f t
= M4X3_IDENTITY
;
718 static inline void m4x3_expand( m4x3f m
, m4x4f d
)
720 v3_copy( m
[0], d
[0] );
721 v3_copy( m
[1], d
[1] );
722 v3_copy( m
[2], d
[2] );
723 v3_copy( m
[3], d
[3] );
730 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
733 m4x3_mulv( m
, point
, v
);
735 v3_minv( box
[0], v
, box
[0] );
736 v3_maxv( box
[1], v
, box
[1] );
739 static inline void box_concat( boxf a
, boxf b
)
741 v3_minv( a
[0], b
[0], a
[0] );
742 v3_maxv( a
[1], b
[1], a
[1] );
745 static inline void box_copy( boxf a
, boxf b
)
747 v3_copy( a
[0], b
[0] );
748 v3_copy( a
[1], b
[1] );
751 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
755 v3_copy( box
[0], a
);
756 v3_copy( box
[1], b
);
757 v3_fill( box
[0], INFINITY
);
758 v3_fill( box
[1], -INFINITY
);
760 m4x3_expand_aabb_point( m
, box
, a
);
761 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
762 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
763 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
764 m4x3_expand_aabb_point( m
, box
, b
);
765 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
766 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
767 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
770 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
773 v3_sub( target
, pos
, dir
);
776 v3_negate( dir
, m
[2] );
778 v3_cross( up
, m
[2], m
[0] );
779 v3_normalize( m
[0] );
781 v3_cross( m
[2], m
[0], m
[1] );
782 v3_copy( pos
, m
[3] );
789 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
790 { 0.0f, 1.0f, 0.0f, 0.0f },\
791 { 0.0f, 0.0f, 1.0f, 0.0f },\
792 { 0.0f, 0.0f, 0.0f, 1.0f }}
794 static void m4x4_projection( m4x4f m
, float angle
,
795 float ratio
, float near
, float far
)
797 float scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * near
,
803 m
[0][0] = 2.0f
* near
/ (r
- l
);
808 m
[1][1] = 2.0f
* near
/ (t
- b
);
811 m
[2][0] = (r
+ l
) / (r
- l
);
812 m
[2][1] = (t
+ b
) / (t
- b
);
813 m
[2][2] = -(far
+ near
) / (far
- near
);
817 m
[3][2] = -2.0f
* far
* near
/ (far
- near
);
821 static void m4x4_translate( m4x4f m
, v3f v
)
823 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
824 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
825 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
828 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
830 v4_copy( a
[0], b
[0] );
831 v4_copy( a
[1], b
[1] );
832 v4_copy( a
[2], b
[2] );
833 v4_copy( a
[3], b
[3] );
836 static inline void m4x4_identity( m4x4f a
)
838 m4x4f id
= M4X4_IDENTITY
;
842 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
844 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
845 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
846 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
847 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
849 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
850 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
851 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
852 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
854 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
855 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
856 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
857 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
858 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
859 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
860 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
861 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
862 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
863 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
864 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
865 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
866 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
867 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
868 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
869 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
873 * Planes (double precision)
875 static inline void tri_to_plane( double a
[3], double b
[3],
876 double c
[3], double p
[4] )
882 edge0
[0] = b
[0] - a
[0];
883 edge0
[1] = b
[1] - a
[1];
884 edge0
[2] = b
[2] - a
[2];
886 edge1
[0] = c
[0] - a
[0];
887 edge1
[1] = c
[1] - a
[1];
888 edge1
[2] = c
[2] - a
[2];
890 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
891 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
892 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
894 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
895 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
902 static inline int plane_intersect( double a
[4], double b
[4],
903 double c
[4], double p
[4] )
905 double const epsilon
= 1e-8f
;
910 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
911 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
912 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
914 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
916 if( d
< epsilon
&& d
> -epsilon
) return 0;
918 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
919 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
920 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
922 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
923 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
924 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
926 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
927 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
928 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
937 static inline double plane_polarity( double p
[4], double a
[3] )
940 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
941 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
947 static inline void q_identity( v4f q
)
949 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
952 static inline void q_axis_angle( v4f q
, v3f axis
, float angle
)
954 float a
= angle
*0.5f
,
964 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
967 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
968 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
969 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
970 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
974 static inline void q_normalize( v4f q
)
976 float s
= 1.0f
/ sqrtf(v4_dot(q
,q
));
983 static inline void q_inv( v4f q
, v4f d
)
985 float s
= 1.0f
/ v4_dot(q
,q
);
992 static inline void q_m3x3( v4f q
, m3x3f d
)
996 s
= l
> 0.0f
? 2.0f
/l
: 0.0f
,
998 xx
= s
*q
[0]*q
[0], xy
= s
*q
[0]*q
[1], wx
= s
*q
[3]*q
[0],
999 yy
= s
*q
[1]*q
[1], yz
= s
*q
[1]*q
[2], wy
= s
*q
[3]*q
[1],
1000 zz
= s
*q
[2]*q
[2], xz
= s
*q
[0]*q
[2], wz
= s
*q
[3]*q
[2];
1002 d
[0][0] = 1.0f
- yy
- zz
;
1003 d
[1][1] = 1.0f
- xx
- zz
;
1004 d
[2][2] = 1.0f
- xx
- yy
;