a0c01077048b0a5cd599f206e428b474ca3af1d9
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 v2i_copy( v2i a
, v2i b
)
55 b
[0] = a
[0]; b
[1] = a
[1];
58 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
60 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
63 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
65 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
68 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
70 dest
[0] = vg_minf(a
[0], b
[0]);
71 dest
[1] = vg_minf(a
[1], b
[1]);
74 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
76 dest
[0] = vg_maxf(a
[0], b
[0]);
77 dest
[1] = vg_maxf(a
[1], b
[1]);
80 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
82 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
85 static inline float v2_cross( v2f a
, v2f b
)
87 return a
[0] * b
[1] - a
[1] * b
[0];
90 static inline void v2_add( v2f a
, v2f b
, v2f d
)
92 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
95 static inline void v2_muls( v2f a
, float s
, v2f d
)
97 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
100 static inline void v2_divs( v2f a
, float s
, v2f d
)
102 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
106 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
108 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1];
111 static inline void v2_div( v2f a
, v2f b
, v2f d
)
113 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
116 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
118 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
;
121 static inline float v2_length2( v2f a
)
123 return a
[0]*a
[0] + a
[1]*a
[1];
126 static inline float v2_length( v2f a
)
128 return sqrtf( v2_length2( a
) );
131 static inline float v2_dist2( v2f a
, v2f b
)
134 v2_sub( a
, b
, delta
);
135 return v2_length2( delta
);
138 static inline float v2_dist( v2f a
, v2f b
)
140 return sqrtf( v2_dist2( a
, b
) );
144 // ==================================================================================================================
146 static inline void v3_zero( v3f a
)
148 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
151 static inline void v3_copy( v3f a
, v3f b
)
153 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
156 static inline void v3_add( 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_sub( v3f a
, v3f b
, v3f d
)
163 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
166 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
168 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
171 static inline void v3_div( v3f a
, v3f b
, v3f d
)
173 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
176 static inline void v3_muls( v3f a
, float s
, v3f d
)
178 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
181 static inline void v3_divs( v3f a
, float s
, v3f d
)
183 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
186 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
188 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
191 static inline float v3_dot( v3f a
, v3f b
)
193 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
196 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
198 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
199 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
200 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
203 static inline float v3_length2( v3f a
)
205 return v3_dot( a
, a
);
208 static inline float v3_length( v3f a
)
210 return sqrtf( v3_length2( a
) );
213 static inline float v3_dist2( v3f a
, v3f b
)
216 v3_sub( a
, b
, delta
);
217 return v3_length2( delta
);
220 static inline float v3_dist( v3f a
, v3f b
)
222 return sqrtf( v3_dist2( a
, b
) );
225 static inline void v3_normalize( v3f a
)
227 v3_muls( a
, 1.f
/ v3_length( a
), a
);
230 static inline float csr_lerpf( float a
, float b
, float t
)
235 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
237 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
238 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
239 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
242 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
244 dest
[0] = vg_minf(a
[0], b
[0]);
245 dest
[1] = vg_minf(a
[1], b
[1]);
246 dest
[2] = vg_minf(a
[2], b
[2]);
249 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
251 dest
[0] = vg_maxf(a
[0], b
[0]);
252 dest
[1] = vg_maxf(a
[1], b
[1]);
253 dest
[2] = vg_maxf(a
[2], b
[2]);
256 static inline float v3_minf( v3f a
)
258 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
261 static inline float v3_maxf( v3f a
)
263 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
266 static inline void v3_fill( v3f a
, float v
)
274 // ==================================================================================================================
276 static inline void v4_copy( v4f a
, v4f b
)
278 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
281 static inline void v4_zero( v4f a
)
283 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
287 // ===========================================================================================================
289 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
292 #define M2X2_ZERO {{0.0f, 0.0f, }, \
295 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
297 v2_copy( a
[0], b
[0] );
298 v2_copy( a
[1], b
[1] );
301 static inline void m2x2_identity( m2x2f a
)
303 m2x2f id
= M2X2_INDENTIY
;
307 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
321 //======================================================================================================
323 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
324 { 0.0f, 1.0f, 0.0f, },\
325 { 0.0f, 0.0f, 1.0f, }}
327 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
328 { 0.0f, 0.0f, 0.0f, },\
329 { 0.0f, 0.0f, 0.0f, }}
332 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
334 v3_copy( a
[0], b
[0] );
335 v3_copy( a
[1], b
[1] );
336 v3_copy( a
[2], b
[2] );
339 static inline void m3x3_identity( m3x3f a
)
341 m3x3f id
= M3X3_IDENTITY
;
345 static inline void m3x3_zero( m3x3f a
)
351 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
353 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
354 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
355 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
362 dest
[0][0] = (e
*i
-h
*f
)*det
;
363 dest
[0][1] = -(b
*i
-c
*h
)*det
;
364 dest
[0][2] = (b
*f
-c
*e
)*det
;
365 dest
[1][0] = -(d
*i
-f
*g
)*det
;
366 dest
[1][1] = (a
*i
-c
*g
)*det
;
367 dest
[1][2] = -(a
*f
-d
*c
)*det
;
368 dest
[2][0] = (d
*h
-g
*e
)*det
;
369 dest
[2][1] = -(a
*h
-g
*b
)*det
;
370 dest
[2][2] = (a
*e
-d
*b
)*det
;
373 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
375 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
376 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
377 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
390 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
392 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
393 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
394 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
396 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
397 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
398 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
400 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
401 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
402 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
403 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
404 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
405 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
406 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
407 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
408 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
411 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
415 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
416 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
417 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
422 static inline void m3x3_projection( m3x3f dst
, float const left
, float const right
, float const bottom
, float const top
)
428 rl
= 1.0f
/ (right
- left
);
429 tb
= 1.0f
/ (top
- bottom
);
431 dst
[0][0] = 2.0f
* rl
;
432 dst
[1][1] = 2.0f
* tb
;
436 static inline void m3x3_translate( m3x3f m
, v3f v
)
438 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
439 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
440 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
443 static inline void m3x3_scale( m3x3f m
, v3f v
)
445 m
[0][0] = m
[0][0] * v
[0];
446 m
[0][1] = m
[0][1] * v
[0];
447 m
[0][2] = m
[0][2] * v
[0];
449 m
[1][0] = m
[1][0] * v
[1];
450 m
[1][1] = m
[1][1] * v
[1];
451 m
[1][2] = m
[1][2] * v
[1];
454 static inline void m3x3_rotate( m3x3f m
, float angle
)
456 float m00
= m
[0][0], m10
= m
[1][0],
457 m01
= m
[0][1], m11
= m
[1][1],
458 m02
= m
[0][2], m12
= m
[1][2];
464 m
[0][0] = m00
* c
+ m10
* s
;
465 m
[0][1] = m01
* c
+ m11
* s
;
466 m
[0][2] = m02
* c
+ m12
* s
;
468 m
[1][0] = m00
* -s
+ m10
* c
;
469 m
[1][1] = m01
* -s
+ m11
* c
;
470 m
[1][2] = m02
* -s
+ m12
* c
;
474 // ==================================================================================================================
476 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
477 { 0.0f, 1.0f, 0.0f, },\
478 { 0.0f, 0.0f, 1.0f, },\
479 { 0.0f, 0.0f, 0.0f }}
481 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
483 v3_copy( a
[0], b
[0] );
484 v3_copy( a
[1], b
[1] );
485 v3_copy( a
[2], b
[2] );
488 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
490 v3_copy( a
[0], b
[0] );
491 v3_copy( a
[1], b
[1] );
492 v3_copy( a
[2], b
[2] );
493 v3_copy( a
[3], b
[3] );
496 static inline void m4x3_identity( m4x3f a
)
498 m4x3f id
= M4X3_IDENTITY
;
502 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
505 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
506 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
507 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
508 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
509 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
510 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
511 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
512 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
514 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
515 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
516 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
517 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
518 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
519 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
520 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
521 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
522 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
523 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
524 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
525 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
528 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
532 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
533 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
534 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
540 // ====================================================================================================================
542 static inline void m4x3_translate( m4x3f m
, v3f v
)
544 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
545 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
546 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
549 static inline void m4x3_scale( m4x3f m
, float s
)
551 v3_muls( m
[0], s
, m
[0] );
552 v3_muls( m
[1], s
, m
[1] );
553 v3_muls( m
[2], s
, m
[2] );
556 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
558 m4x3f t
= M4X3_IDENTITY
;
572 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
574 m4x3f t
= M4X3_IDENTITY
;
588 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
590 m4x3f t
= M4X3_IDENTITY
;
604 // Warning: These functions are unoptimized..
605 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
608 m4x3_mulv( m
, point
, v
);
610 v3_minv( box
[0], v
, box
[0] );
611 v3_maxv( box
[1], v
, box
[1] );
614 static inline void box_concat( boxf a
, boxf b
)
616 v3_minv( a
[0], b
[0], a
[0] );
617 v3_maxv( a
[1], b
[1], a
[1] );
620 static inline void box_copy( boxf a
, boxf b
)
622 v3_copy( a
[0], b
[0] );
623 v3_copy( a
[1], b
[1] );
626 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
630 v3_copy( box
[0], a
);
631 v3_copy( box
[1], b
);
632 v3_fill( box
[0], INFINITY
);
633 v3_fill( box
[1], -INFINITY
);
635 m4x3_expand_aabb_point( m
, box
, a
);
636 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
637 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
638 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
639 m4x3_expand_aabb_point( m
, box
, b
);
640 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
641 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
642 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
645 // Planes (double precision)
646 // ==================================================================================================================
648 static inline void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
654 edge0
[0] = b
[0] - a
[0];
655 edge0
[1] = b
[1] - a
[1];
656 edge0
[2] = b
[2] - a
[2];
658 edge1
[0] = c
[0] - a
[0];
659 edge1
[1] = c
[1] - a
[1];
660 edge1
[2] = c
[2] - a
[2];
662 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
663 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
664 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
666 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
667 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
674 static inline int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
676 double const epsilon
= 1e-8f
;
681 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
682 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
683 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
685 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
687 if( d
< epsilon
&& d
> -epsilon
) return 0;
689 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
690 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
691 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
693 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
694 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
695 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
697 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
698 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
699 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
708 static inline double plane_polarity( double p
[4], double a
[3] )
711 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
712 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])