mistake in input ignore

[vg.git] / vg_m.h

diff --git a/vg_m.h b/vg_m.h
index 8b354d697f442b03d4c943aac878c11b7829ef36..6d86177894e97f75273c7f67e9c6b4be0bd0e2e2 100644 (file)
--- a/vg_m.h
+++ b/vg_m.h
@@ -32,6 +32,7 @@
 
 #define VG_PIf  3.14159265358979323846264338327950288f
 #define VG_TAUf 6.28318530717958647692528676655900576f
+
 /*
  * -----------------------------------------------------------------------------
  * Section 0.                    Misc Operations
@@ -106,6 +107,31 @@ static inline f32 vg_rad( f32 deg )
    return deg * VG_PIf / 180.0f;
 }
 
+/* angle to reach b from a */
+static f32 vg_angle_diff( f32 a, f32 b ){
+   f32 d = fmod(b,VG_TAUf)-fmodf(a,VG_TAUf);
+   if( fabsf(d) > VG_PIf )
+      d = -vg_signf(d) * (VG_TAUf - fabsf(d));
+
+   return d;
+}
+
+/*
+ * quantize float to bit count
+ */
+static u32 vg_quantf( f32 a, u32 bits, f32 min, f32 max ){
+   u32 mask = (0x1 << bits) - 1;
+   return vg_clampf((a - min) * ((f32)mask/(max-min)), 0.0f, mask );
+}
+
+/*
+ * un-quantize discreet to float
+ */
+static f32 vg_dequantf( u32 q, u32 bits, f32 min, f32 max ){
+   u32 mask = (0x1 << bits) - 1;
+   return min + (f32)q * ((max-min) / (f32)mask);
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 2.a                   2D Vectors
@@ -673,6 +699,10 @@ static void q_mulv( v4f q, v3f v, v3f d )
    v3_add( v1, v2, d );
 }
 
+static f32 q_dist( v4f q0, v4f q1 ){
+   return acosf( 2.0f * v4_dot(q0,q1) -1.0f );
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 4.a                  2x2 matrices
@@ -710,6 +740,16 @@ static inline void m2x2_create_rotation( m2x2f a, f32 theta )
    a[1][1] =  c;
 }
 
+static inline void m2x2_mulv( m2x2f m, v2f v, v2f d )
+{
+   v2f res;
+   
+   res[0] = m[0][0]*v[0] + m[1][0]*v[1];
+   res[1] = m[0][1]*v[0] + m[1][1]*v[1];
+   
+   v2_copy( res, d );
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 4.b                  3x3 matrices
@@ -1194,8 +1234,7 @@ static void m4x3_decompose( m4x3f m, v3f co, v4f q, v3f s )
    m3x3_q( rot, q );
 }
 
-static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
-{
+static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point ){
    v3f v;
    m4x3_mulv( m, point, v );
 
@@ -1203,26 +1242,19 @@ static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
    v3_maxv( box[1], v, box[1] );
 }
 
-static void m4x3_transform_aabb( m4x3f m, boxf box )
-{
+static void m4x3_expand_aabb_aabb( m4x3f m, boxf boxa, boxf boxb ){
    v3f a; v3f b;
-   
-   v3_copy( box[0], a );
-   v3_copy( box[1], b );
-   v3_fill( box[0],  INFINITY );
-   v3_fill( box[1], -INFINITY );
-
-   m4x3_expand_aabb_point( m, box, (v3f){ a[0], a[1], a[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], a[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], a[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], a[2] } );
-
-   m4x3_expand_aabb_point( m, box, (v3f){ a[0], a[1], b[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], b[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], b[2] } );
-   m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], b[2] } );
+   v3_copy( boxb[0], a );
+   v3_copy( boxb[1], b );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], a[1], a[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], b[1], a[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], b[1], a[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], a[1], a[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], a[1], b[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], b[1], b[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], b[1], b[2] } );
+   m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], a[1], b[2] } );
 }
-
 static inline void m4x3_lookat( m4x3f m, v3f pos, v3f target, v3f up )
 {
    v3f dir;
@@ -1457,8 +1489,7 @@ static int box_within( boxf greater, boxf lesser )
    return 0;
 }
 
-static inline void box_init_inf( boxf box )
-{
+static inline void box_init_inf( boxf box ){
    v3_fill( box[0],  INFINITY );
    v3_fill( box[1], -INFINITY );
 }
@@ -1545,7 +1576,7 @@ int plane_intersect2( v4f a, v4f b, v3f p, v3f n )
 static int plane_segment( v4f plane, v3f a, v3f b, v3f co )
 {
    f32 d0 = v3_dot( a, plane ) - plane[3],
-         d1 = v3_dot( b, plane ) - plane[3];
+       d1 = v3_dot( b, plane ) - plane[3];
 
    if( d0*d1 < 0.0f )
    {
@@ -1567,6 +1598,17 @@ static inline f64 plane_polarity( f64 p[4], f64 a[3] )
    ;
 }
 
+static f32 ray_plane( v4f plane, v3f co, v3f dir ){
+   f32 d = v3_dot( plane, dir );
+   if( fabsf(d) > 1e-6f ){
+      v3f v0;
+      v3_muls( plane, plane[3], v0 );
+      v3_sub( v0, co, v0 );
+      return v3_dot( v0, plane ) / d;
+   }
+   else return INFINITY;
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 5.c            Closest point functions
@@ -1577,7 +1619,7 @@ static inline f64 plane_polarity( f64 p[4], f64 a[3] )
  * These closest point tests were learned from Real-Time Collision Detection by 
  * Christer Ericson 
  */
-VG_STATIC f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
+static f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
    f32 *s, f32 *t, v3f c1, v3f c2)
 {
    v3f d1,d2,r;
@@ -1654,7 +1696,7 @@ VG_STATIC f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2,
    return v3_length2( v0 );
 }
 
-VG_STATIC int point_inside_aabb( boxf box, v3f point )
+static int point_inside_aabb( boxf box, v3f point )
 {
    if((point[0]<=box[1][0]) && (point[1]<=box[1][1]) && (point[2]<=box[1][2]) &&
       (point[0]>=box[0][0]) && (point[1]>=box[0][1]) && (point[2]>=box[0][2]) )
@@ -1663,13 +1705,13 @@ VG_STATIC int point_inside_aabb( boxf box, v3f point )
       return 0;
 }
 
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
+static void closest_point_aabb( v3f p, boxf box, v3f dest )
 {
    v3_maxv( p, box[0], dest );
    v3_minv( dest, box[1], dest );
 }
 
-VG_STATIC void closest_point_obb( v3f p, boxf box, 
+static void closest_point_obb( v3f p, boxf box, 
                                   m4x3f mtx, m4x3f inv_mtx, v3f dest )
 {
    v3f local;
@@ -1678,7 +1720,7 @@ VG_STATIC void closest_point_obb( v3f p, boxf box,
    m4x3_mulv( mtx, local, dest );
 }
 
-VG_STATIC f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
+static f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
 {
    v3f v0, v1;
    v3_sub( b, a, v0 );
@@ -1690,7 +1732,7 @@ VG_STATIC f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
    return t;
 }
 
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
+static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
 {
    v3f ab, ac, ap;
    f32 d1, d2;
@@ -1786,7 +1828,7 @@ enum contact_type
    k_contact_type_edge
 };
 
-VG_STATIC enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
+static enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
 {
    v3f ab, ac, ap;
    f32 d1, d2;