1 // Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved
4 // ==================================================================================================================
6 #define VG_PIf 3.14159265358979323846264338327950288f
7 #define VG_TAUf 6.28318530717958647692528676655900576f
9 // Simple min/max replacements
10 static inline float vg_minf( float a
, float b
)
15 static inline float vg_maxf( float a
, float b
)
20 static inline float vg_clampf( float a
, float min
, float max
)
22 return vg_minf( max
, vg_maxf( a
, min
) );
25 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
26 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
28 // Hopefully deprecate this!!
29 static inline int vg_min( int a
, int b
)
34 static inline int vg_max( int a
, int b
)
39 // Convert degrees to radians
40 static inline float vg_rad( float deg
)
42 return deg
* VG_PIf
/ 180.0f
;
46 // ==================================================================================================================
48 static inline void v2_copy( v2f a
, v2f b
)
50 b
[0] = a
[0]; b
[1] = a
[1];
53 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
55 dest
[0] = vg_minf(a
[0], b
[0]);
56 dest
[1] = vg_minf(a
[1], b
[1]);
59 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
61 dest
[0] = vg_maxf(a
[0], b
[0]);
62 dest
[1] = vg_maxf(a
[1], b
[1]);
65 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
67 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
70 static inline float v2_cross( v2f a
, v2f b
)
72 return a
[0] * b
[1] - a
[1] * b
[0];
75 static inline void v2_add( v2f a
, v2f b
, v2f d
)
77 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
80 static inline void v2_muls( v2f a
, float s
, v2f d
)
82 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
85 static inline void v2_divs( v2f a
, float s
, v2f d
)
87 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
91 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
93 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1];
96 static inline void v2_div( v2f a
, v2f b
, v2f d
)
98 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
101 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
103 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
;
106 static inline float v2_length2( v2f a
)
108 return a
[0]*a
[0] + a
[1]*a
[1];
111 static inline float v2_length( v2f a
)
113 return sqrtf( v2_length2( a
) );
116 static inline float v2_dist2( v2f a
, v2f b
)
119 v2_sub( a
, b
, delta
);
120 return v2_length2( delta
);
123 static inline float v2_dist( v2f a
, v2f b
)
125 return sqrtf( v2_dist2( a
, b
) );
129 // ==================================================================================================================
131 static inline void v3_zero( v3f a
)
133 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
136 static inline void v3_copy( v3f a
, v3f b
)
138 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
141 static inline void v3_add( v3f a
, v3f b
, v3f d
)
143 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
146 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
148 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
151 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
153 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
156 static inline void v3_div( v3f a
, v3f b
, v3f d
)
158 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
161 static inline void v3_muls( v3f a
, float s
, v3f d
)
163 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
166 static inline void v3_divs( v3f a
, float s
, v3f d
)
168 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
171 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
173 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
176 static inline float v3_dot( v3f a
, v3f b
)
178 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
181 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
183 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
184 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
185 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
188 static inline float v3_length2( v3f a
)
190 return v3_dot( a
, a
);
193 static inline float v3_length( v3f a
)
195 return sqrtf( v3_length2( a
) );
198 static inline float v3_dist2( v3f a
, v3f b
)
201 v3_sub( a
, b
, delta
);
202 return v3_length2( delta
);
205 static inline float v3_dist( v3f a
, v3f b
)
207 return sqrtf( v3_dist2( a
, b
) );
210 static inline void v3_normalize( v3f a
)
212 v3_muls( a
, 1.f
/ v3_length( a
), a
);
215 static inline float csr_lerpf( float a
, float b
, float t
)
220 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
222 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
223 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
224 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
227 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
229 dest
[0] = vg_minf(a
[0], b
[0]);
230 dest
[1] = vg_minf(a
[1], b
[1]);
231 dest
[2] = vg_minf(a
[2], b
[2]);
234 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
236 dest
[0] = vg_maxf(a
[0], b
[0]);
237 dest
[1] = vg_maxf(a
[1], b
[1]);
238 dest
[2] = vg_maxf(a
[2], b
[2]);
241 static inline float v3_minf( v3f a
)
243 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
246 static inline float v3_maxf( v3f a
)
248 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
251 static inline void v3_fill( v3f a
, float v
)
259 // ==================================================================================================================
261 static inline void v4_copy( v4f a
, v4f b
)
263 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
266 static inline void v4_zero( v4f a
)
268 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
272 // ===========================================================================================================
274 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
277 #define M2X2_ZERO {{0.0f, 0.0f, }, \
280 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
282 v2_copy( a
[0], b
[0] );
283 v2_copy( a
[1], b
[1] );
286 static inline void m2x2_identity( m2x2f a
)
288 m2x2f id
= M2X2_INDENTIY
;
292 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
306 //======================================================================================================
308 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
309 { 0.0f, 1.0f, 0.0f, },\
310 { 0.0f, 0.0f, 1.0f, }}
312 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
313 { 0.0f, 0.0f, 0.0f, },\
314 { 0.0f, 0.0f, 0.0f, }}
317 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
319 v3_copy( a
[0], b
[0] );
320 v3_copy( a
[1], b
[1] );
321 v3_copy( a
[2], b
[2] );
324 static inline void m3x3_identity( m3x3f a
)
326 m3x3f id
= M3X3_IDENTITY
;
330 static inline void m3x3_zero( m3x3f a
)
336 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
338 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
339 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
340 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
347 dest
[0][0] = (e
*i
-h
*f
)*det
;
348 dest
[0][1] = -(b
*i
-c
*h
)*det
;
349 dest
[0][2] = (b
*f
-c
*e
)*det
;
350 dest
[1][0] = -(d
*i
-f
*g
)*det
;
351 dest
[1][1] = (a
*i
-c
*g
)*det
;
352 dest
[1][2] = -(a
*f
-d
*c
)*det
;
353 dest
[2][0] = (d
*h
-g
*e
)*det
;
354 dest
[2][1] = -(a
*h
-g
*b
)*det
;
355 dest
[2][2] = (a
*e
-d
*b
)*det
;
358 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
360 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
361 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
362 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
375 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
377 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
378 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
379 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
381 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
382 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
383 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
385 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
386 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
387 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
388 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
389 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
390 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
391 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
392 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
393 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
396 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
400 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
401 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
402 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
407 static inline void m3x3_projection( m3x3f dst
, float const left
, float const right
, float const bottom
, float const top
)
413 rl
= 1.0f
/ (right
- left
);
414 tb
= 1.0f
/ (top
- bottom
);
416 dst
[0][0] = 2.0f
* rl
;
417 dst
[1][1] = 2.0f
* tb
;
421 static inline void m3x3_translate( m3x3f m
, v3f v
)
423 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
424 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
425 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
428 static inline void m3x3_scale( m3x3f m
, v3f v
)
430 m
[0][0] = m
[0][0] * v
[0];
431 m
[0][1] = m
[0][1] * v
[0];
432 m
[0][2] = m
[0][2] * v
[0];
434 m
[1][0] = m
[1][0] * v
[1];
435 m
[1][1] = m
[1][1] * v
[1];
436 m
[1][2] = m
[1][2] * v
[1];
439 static inline void m3x3_rotate( m3x3f m
, float angle
)
441 float m00
= m
[0][0], m10
= m
[1][0],
442 m01
= m
[0][1], m11
= m
[1][1],
443 m02
= m
[0][2], m12
= m
[1][2];
449 m
[0][0] = m00
* c
+ m10
* s
;
450 m
[0][1] = m01
* c
+ m11
* s
;
451 m
[0][2] = m02
* c
+ m12
* s
;
453 m
[1][0] = m00
* -s
+ m10
* c
;
454 m
[1][1] = m01
* -s
+ m11
* c
;
455 m
[1][2] = m02
* -s
+ m12
* c
;
459 // ==================================================================================================================
461 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
462 { 0.0f, 1.0f, 0.0f, },\
463 { 0.0f, 0.0f, 1.0f, },\
464 { 0.0f, 0.0f, 0.0f }}
466 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
468 v3_copy( a
[0], b
[0] );
469 v3_copy( a
[1], b
[1] );
470 v3_copy( a
[2], b
[2] );
473 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
475 v3_copy( a
[0], b
[0] );
476 v3_copy( a
[1], b
[1] );
477 v3_copy( a
[2], b
[2] );
478 v3_copy( a
[3], b
[3] );
481 static inline void m4x3_identity( m4x3f a
)
483 m4x3f id
= M4X3_IDENTITY
;
487 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
490 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
491 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
492 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
493 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
494 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
495 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
496 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
497 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
499 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
500 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
501 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
502 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
503 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
504 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
505 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
506 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
507 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
508 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
509 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
510 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
513 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
517 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
518 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
519 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
525 // ====================================================================================================================
527 static inline void m4x3_translate( m4x3f m
, v3f v
)
529 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
530 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
531 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
534 static inline void m4x3_scale( m4x3f m
, float s
)
536 v3_muls( m
[0], s
, m
[0] );
537 v3_muls( m
[1], s
, m
[1] );
538 v3_muls( m
[2], s
, m
[2] );
541 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
543 m4x3f t
= M4X3_IDENTITY
;
557 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
559 m4x3f t
= M4X3_IDENTITY
;
573 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
575 m4x3f t
= M4X3_IDENTITY
;
589 // Warning: These functions are unoptimized..
590 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
593 m4x3_mulv( m
, point
, v
);
595 v3_minv( box
[0], v
, box
[0] );
596 v3_maxv( box
[1], v
, box
[1] );
599 static inline void box_concat( boxf a
, boxf b
)
601 v3_minv( a
[0], b
[0], a
[0] );
602 v3_maxv( a
[1], b
[1], a
[1] );
605 static inline void box_copy( boxf a
, boxf b
)
607 v3_copy( a
[0], b
[0] );
608 v3_copy( a
[1], b
[1] );
611 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
615 v3_copy( box
[0], a
);
616 v3_copy( box
[1], b
);
617 v3_fill( box
[0], INFINITY
);
618 v3_fill( box
[1], -INFINITY
);
620 m4x3_expand_aabb_point( m
, box
, a
);
621 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
622 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
623 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
624 m4x3_expand_aabb_point( m
, box
, b
);
625 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
626 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
627 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
630 // Planes (double precision)
631 // ==================================================================================================================
633 static inline void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
639 edge0
[0] = b
[0] - a
[0];
640 edge0
[1] = b
[1] - a
[1];
641 edge0
[2] = b
[2] - a
[2];
643 edge1
[0] = c
[0] - a
[0];
644 edge1
[1] = c
[1] - a
[1];
645 edge1
[2] = c
[2] - a
[2];
647 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
648 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
649 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
651 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
652 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
659 static inline int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
661 double const epsilon
= 1e-8f
;
666 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
667 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
668 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
670 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
672 if( d
< epsilon
&& d
> -epsilon
) return 0;
674 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
675 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
676 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
678 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
679 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
680 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
682 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
683 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
684 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
693 static inline double plane_polarity( double p
[4], double a
[3] )
696 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
697 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])