X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=src%2Fvg%2Fvg_m.h;h=8e49fe55e330f4adb99d2291ae552c56fbf55274;hb=3dd767bb10e6fee9cbffeb185d1a9685810c17b5;hp=7e827a531ca74db784c2a86620306af5fd97af35;hpb=8ba70f2cdae0a0dd23eadca7b3f72331494e910e;p=vg.git diff --git a/src/vg/vg_m.h b/src/vg/vg_m.h index 7e827a5..8e49fe5 100644 --- a/src/vg/vg_m.h +++ b/src/vg/vg_m.h @@ -1,4 +1,11 @@ -/* Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved */ +/* Copyright (C) 2021-2022 Harry Godden (hgn) - All Rights Reserved */ + +#ifndef VG_M_H +#define VG_M_H + +#include "vg_platform.h" +#include +#include #define VG_PIf 3.14159265358979323846264338327950288f #define VG_TAUf 6.28318530717958647692528676655900576f @@ -28,16 +35,6 @@ static inline float vg_fractf( float a ) return a - floorf( a ); } -static inline float vg_randf(void) -{ - return (float)rand()/(float)(RAND_MAX); -} - -static inline int vg_randint(int max) -{ - return rand()%max; -} - static float stable_force( float current, float diff ) { float fnew = current + diff; @@ -48,9 +45,6 @@ static float stable_force( float current, float diff ) return fnew; } -#define VG_MIN( A, B ) ((A)<(B)?(A):(B)) -#define VG_MAX( A, B ) ((A)>(B)?(A):(B)) - static inline int vg_min( int a, int b ) { return a < b? a: b; @@ -194,7 +188,14 @@ static inline void v2_lerp( v2f a, v2f b, float t, v2f d ) static inline void v2_normalize( v2f a ) { - v2_muls( a, 1.f / v2_length( a ), a ); + v2_muls( a, 1.0f / v2_length( a ), a ); +} + +static void v2_normalize_clamp( v2f a ) +{ + float l2 = v2_length2( a ); + if( l2 > 1.0f ) + v2_muls( a, 1.0f/sqrtf(l2), a ); } static inline void v2_floor( v2f a, v2f b ) @@ -304,6 +305,19 @@ static inline float vg_lerpf( float a, float b, float t ) return a + t*(b-a); } +static inline double vg_lerp( double a, double b, double t ) +{ + return a + t*(b-a); +} + +/* correctly lerp around circular period -pi -> pi */ +static float vg_alerpf( float a, float b, float t ) +{ + float d = fmodf( b-a, VG_TAUf ), + s = fmodf( 2.0f*d, VG_TAUf ) - d; + return a + s*t; +} + static inline void v3_lerp( v3f a, v3f b, float t, v3f d ) { d[0] = a[0] + t*(b[0]-a[0]); @@ -641,6 +655,45 @@ static inline void m4x3_invert_affine( m4x3f a, m4x3f b ) v3_negate( b[3], b[3] ); } +static void m4x3_invert_full( m4x3f src, m4x3f dst ) +{ + float t2, t4, t5, + det, + a = src[0][0], b = src[0][1], c = src[0][2], + e = src[1][0], f = src[1][1], g = src[1][2], + i = src[2][0], j = src[2][1], k = src[2][2], + m = src[3][0], n = src[3][1], o = src[3][2]; + + t2 = j*o - n*k; + t4 = i*o - m*k; + t5 = i*n - m*j; + + dst[0][0] = f*k - g*j; + dst[1][0] =-(e*k - g*i); + dst[2][0] = e*j - f*i; + dst[3][0] =-(e*t2 - f*t4 + g*t5); + + dst[0][1] =-(b*k - c*j); + dst[1][1] = a*k - c*i; + dst[2][1] =-(a*j - b*i); + dst[3][1] = a*t2 - b*t4 + c*t5; + + t2 = f*o - n*g; + t4 = e*o - m*g; + t5 = e*n - m*f; + + dst[0][2] = b*g - c*f ; + dst[1][2] =-(a*g - c*e ); + dst[2][2] = a*f - b*e ; + dst[3][2] =-(a*t2 - b*t4 + c * t5); + + det = 1.0f / (a * dst[0][0] + b * dst[1][0] + c * dst[2][0]); + v3_muls( dst[0], det, dst[0] ); + v3_muls( dst[1], det, dst[1] ); + v3_muls( dst[2], det, dst[2] ); + v3_muls( dst[3], det, dst[3] ); +} + static inline void m4x3_copy( m4x3f a, m4x3f b ) { v3_copy( a[0], b[0] ); @@ -902,29 +955,29 @@ static inline void m4x3_lookat( m4x3f m, v3f pos, v3f target, v3f up ) { 0.0f, 0.0f, 0.0f, 0.0f }} static void m4x4_projection( m4x4f m, float angle, - float ratio, float near, float far ) + float ratio, float fnear, float ffar ) { - float scale = tanf( angle * 0.5f * VG_PIf / 180.0f ) * near, + float scale = tanf( angle * 0.5f * VG_PIf / 180.0f ) * fnear, r = ratio * scale, l = -r, t = scale, b = -t; - m[0][0] = 2.0f * near / (r - l); + m[0][0] = 2.0f * fnear / (r - l); m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f; m[1][0] = 0.0f; - m[1][1] = 2.0f * near / (t - b); + m[1][1] = 2.0f * fnear / (t - b); m[1][2] = 0.0f; m[1][3] = 0.0f; m[2][0] = (r + l) / (r - l); m[2][1] = (t + b) / (t - b); - m[2][2] = -(far + near) / (far - near); + m[2][2] = -(ffar + fnear) / (ffar - fnear); m[2][3] = -1.0f; m[3][0] = 0.0f; m[3][1] = 0.0f; - m[3][2] = -2.0f * far * near / (far - near); + m[3][2] = -2.0f * ffar * fnear / (ffar - fnear); m[3][3] = 0.0f; } @@ -1174,6 +1227,19 @@ static inline void q_inv( v4f q, v4f d ) d[3] = q[3]*s; } +static inline void q_nlerp( v4f a, v4f b, float t, v4f d ) +{ + if( v4_dot(a,b) < 0.0f ) + { + v4_muls( b, -1.0f, d ); + v4_lerp( a, d, t, d ); + } + else + v4_lerp( a, b, t, d ); + + q_normalize( d ); +} + static inline void q_m3x3( v4f q, m3x3f d ) { float @@ -1282,3 +1348,44 @@ static int ray_tri( v3f tri[3], v3f co, v3f dir, float *dist ) } else return 0; } + +static inline float vg_randf(void) +{ + return (float)rand()/(float)(RAND_MAX); +} + +static inline void vg_rand_dir(v3f dir) +{ + dir[0] = vg_randf(); + dir[1] = vg_randf(); + dir[2] = vg_randf(); + + v3_muls( dir, 2.0f, dir ); + v3_sub( dir, (v3f){1.0f,1.0f,1.0f}, dir ); + + v3_normalize( dir ); +} + +static inline void vg_rand_sphere( v3f co ) +{ + vg_rand_dir(co); + v3_muls( co, cbrtf( vg_randf() ), co ); +} + +static inline int vg_randint(int max) +{ + return rand()%max; +} + +static void eval_bezier_time( v3f p0, v3f p1, v3f h0, v3f h1, float t, v3f p ) +{ + float tt = t*t, + ttt = tt*t; + + v3_muls( p1, ttt, p ); + v3_muladds( p, h1, 3.0f*tt -3.0f*ttt, p ); + v3_muladds( p, h0, 3.0f*ttt -6.0f*tt +3.0f*t, p ); + v3_muladds( p, p0, 3.0f*tt -ttt -3.0f*t +1.0f, p ); +} + +#endif /* VG_M_H */