cb98db2d1a5a64f060a5c150b9bdc9d663a6b3d3
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 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
21 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
23 // Hopefully deprecate this!!
24 static inline int vg_min( int a
, int b
)
29 static inline int vg_max( int a
, int b
)
34 // Convert degrees to radians
35 static inline float vg_rad( float deg
)
37 return deg
* VG_PIf
/ 180.0f
;
41 // ==================================================================================================================
43 static inline void v2_copy( v2f a
, v2f b
)
45 b
[0] = a
[0]; b
[1] = a
[1];
48 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
50 dest
[0] = vg_minf(a
[0], b
[0]);
51 dest
[1] = vg_minf(a
[1], b
[1]);
54 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
56 dest
[0] = vg_maxf(a
[0], b
[0]);
57 dest
[1] = vg_maxf(a
[1], b
[1]);
60 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
62 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
65 static inline float v2_cross( v2f a
, v2f b
)
67 return a
[0] * b
[1] - a
[1] * b
[0];
70 static inline void v2_add( v2f a
, v2f b
, v2f d
)
72 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
75 static inline void v2_muls( v2f a
, float s
, v2f d
)
77 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
80 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
82 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1];
85 static inline void v2_div( v2f a
, v2f b
, v2f d
)
87 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
91 // ==================================================================================================================
93 static inline void v3_zero( v3f a
)
95 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
98 static inline void v3_copy( v3f a
, v3f b
)
100 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
103 static inline void v3_add( v3f a
, v3f b
, v3f d
)
105 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
108 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
110 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
113 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
115 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
118 static inline void v3_div( v3f a
, v3f b
, v3f d
)
120 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
123 static inline void v3_muls( v3f a
, float s
, v3f d
)
125 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
128 static inline void v3_divs( v3f a
, float s
, v3f d
)
130 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
133 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
135 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
138 static inline float v3_dot( v3f a
, v3f b
)
140 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
143 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
145 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
146 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
147 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
150 static inline float v3_length2( v3f a
)
152 return v3_dot( a
, a
);
155 static inline float v3_length( v3f a
)
157 return sqrtf( v3_length2( a
) );
160 static inline float v3_dist2( v3f a
, v3f b
)
163 v3_sub( a
, b
, delta
);
164 return v3_length2( delta
);
167 static inline float v3_dist( v3f a
, v3f b
)
169 return sqrtf( v3_dist2( a
, b
) );
172 static inline void v3_normalize( v3f a
)
174 v3_muls( a
, 1.f
/ v3_length( a
), a
);
177 static inline float csr_lerpf( float a
, float b
, float t
)
182 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
184 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
185 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
186 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
189 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
191 dest
[0] = vg_minf(a
[0], b
[0]);
192 dest
[1] = vg_minf(a
[1], b
[1]);
193 dest
[2] = vg_minf(a
[2], b
[2]);
196 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
198 dest
[0] = vg_maxf(a
[0], b
[0]);
199 dest
[1] = vg_maxf(a
[1], b
[1]);
200 dest
[2] = vg_maxf(a
[2], b
[2]);
203 static inline float v3_minf( v3f a
)
205 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
208 static inline float v3_maxf( v3f a
)
210 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
213 static inline void v3_fill( v3f a
, float v
)
221 // ==================================================================================================================
223 static inline void v4_copy( v4f a
, v4f b
)
225 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
228 static inline void v4_zero( v4f a
)
230 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
234 // ===========================================================================================================
236 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
239 #define M2X2_ZERO {{0.0f, 0.0f, }, \
242 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
244 v2_copy( a
[0], b
[0] );
245 v2_copy( a
[1], b
[1] );
248 static inline void m2x2_identity( m2x2f a
)
250 m2x2f id
= M2X2_INDENTIY
;
254 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
268 //======================================================================================================
270 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
271 { 0.0f, 1.0f, 0.0f, },\
272 { 0.0f, 0.0f, 1.0f, }}
274 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
275 { 0.0f, 0.0f, 0.0f, },\
276 { 0.0f, 0.0f, 0.0f, }}
279 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
281 v3_copy( a
[0], b
[0] );
282 v3_copy( a
[1], b
[1] );
283 v3_copy( a
[2], b
[2] );
286 static inline void m3x3_identity( m3x3f a
)
288 m3x3f id
= M3X3_IDENTITY
;
292 static inline void m3x3_zero( m3x3f a
)
298 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
300 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
301 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
302 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
309 dest
[0][0] = (e
*i
-h
*f
)*det
;
310 dest
[0][1] = -(b
*i
-c
*h
)*det
;
311 dest
[0][2] = (b
*f
-c
*e
)*det
;
312 dest
[1][0] = -(d
*i
-f
*g
)*det
;
313 dest
[1][1] = (a
*i
-c
*g
)*det
;
314 dest
[1][2] = -(a
*f
-d
*c
)*det
;
315 dest
[2][0] = (d
*h
-g
*e
)*det
;
316 dest
[2][1] = -(a
*h
-g
*b
)*det
;
317 dest
[2][2] = (a
*e
-d
*b
)*det
;
320 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
322 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
323 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
324 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
337 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
339 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
340 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
341 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
343 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
344 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
345 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
347 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
348 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
349 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
350 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
351 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
352 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
353 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
354 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
355 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
358 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
362 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
363 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
364 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
369 static inline void m3x3_projection( m3x3f dst
, float const left
, float const right
, float const bottom
, float const top
)
375 rl
= 1.0f
/ (right
- left
);
376 tb
= 1.0f
/ (top
- bottom
);
378 dst
[0][0] = 2.0f
* rl
;
379 dst
[1][1] = 2.0f
* tb
;
383 static inline void m3x3_translate( m3x3f m
, v3f v
)
385 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
386 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
387 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
390 static inline void m3x3_scale( m3x3f m
, v3f v
)
392 m
[0][0] = m
[0][0] * v
[0];
393 m
[0][1] = m
[0][1] * v
[0];
394 m
[0][2] = m
[0][2] * v
[0];
396 m
[1][0] = m
[1][0] * v
[1];
397 m
[1][1] = m
[1][1] * v
[1];
398 m
[1][2] = m
[1][2] * v
[1];
401 static inline void m3x3_rotate( m3x3f m
, float angle
)
403 float m00
= m
[0][0], m10
= m
[1][0],
404 m01
= m
[0][1], m11
= m
[1][1],
405 m02
= m
[0][2], m12
= m
[1][2];
411 m
[0][0] = m00
* c
+ m10
* s
;
412 m
[0][1] = m01
* c
+ m11
* s
;
413 m
[0][2] = m02
* c
+ m12
* s
;
415 m
[1][0] = m00
* -s
+ m10
* c
;
416 m
[1][1] = m01
* -s
+ m11
* c
;
417 m
[1][2] = m02
* -s
+ m12
* c
;
421 // ==================================================================================================================
423 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
424 { 0.0f, 1.0f, 0.0f, },\
425 { 0.0f, 0.0f, 1.0f, },\
426 { 0.0f, 0.0f, 0.0f }}
428 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
430 v3_copy( a
[0], b
[0] );
431 v3_copy( a
[1], b
[1] );
432 v3_copy( a
[2], b
[2] );
435 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
437 v3_copy( a
[0], b
[0] );
438 v3_copy( a
[1], b
[1] );
439 v3_copy( a
[2], b
[2] );
440 v3_copy( a
[3], b
[3] );
443 static inline void m4x3_identity( m4x3f a
)
445 m4x3f id
= M4X3_IDENTITY
;
449 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
452 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
453 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
454 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
455 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
456 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
457 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
458 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
459 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
461 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
462 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
463 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
464 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
465 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
466 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
467 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
468 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
469 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
470 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
471 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
472 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
475 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
479 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
480 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
481 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
487 // ====================================================================================================================
489 static inline void m4x3_translate( m4x3f m
, v3f v
)
491 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
492 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
493 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
496 static inline void m4x3_scale( m4x3f m
, float s
)
498 v3_muls( m
[0], s
, m
[0] );
499 v3_muls( m
[1], s
, m
[1] );
500 v3_muls( m
[2], s
, m
[2] );
503 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
505 m4x3f t
= M4X3_IDENTITY
;
519 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
521 m4x3f t
= M4X3_IDENTITY
;
535 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
537 m4x3f t
= M4X3_IDENTITY
;
551 // Warning: These functions are unoptimized..
552 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
555 m4x3_mulv( m
, point
, v
);
557 v3_minv( box
[0], v
, box
[0] );
558 v3_maxv( box
[1], v
, box
[1] );
561 static inline void box_concat( boxf a
, boxf b
)
563 v3_minv( a
[0], b
[0], a
[0] );
564 v3_maxv( a
[1], b
[1], a
[1] );
567 static inline void box_copy( boxf a
, boxf b
)
569 v3_copy( a
[0], b
[0] );
570 v3_copy( a
[1], b
[1] );
573 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
577 v3_copy( box
[0], a
);
578 v3_copy( box
[1], b
);
579 v3_fill( box
[0], INFINITY
);
580 v3_fill( box
[1], -INFINITY
);
582 m4x3_expand_aabb_point( m
, box
, a
);
583 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
584 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
585 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
586 m4x3_expand_aabb_point( m
, box
, b
);
587 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
588 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
589 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
592 // Planes (double precision)
593 // ==================================================================================================================
595 static inline void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
601 edge0
[0] = b
[0] - a
[0];
602 edge0
[1] = b
[1] - a
[1];
603 edge0
[2] = b
[2] - a
[2];
605 edge1
[0] = c
[0] - a
[0];
606 edge1
[1] = c
[1] - a
[1];
607 edge1
[2] = c
[2] - a
[2];
609 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
610 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
611 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
613 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
614 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
621 static inline int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
623 double const epsilon
= 1e-8f
;
628 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
629 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
630 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
632 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
634 if( d
< epsilon
&& d
> -epsilon
) return 0;
636 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
637 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
638 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
640 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
641 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
642 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
644 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
645 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
646 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
655 static inline double plane_polarity( double p
[4], double a
[3] )
658 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
659 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])