X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=vg_m.h;h=c753be797bc9e1da62b96c29ead2e8e800f7f0b9;hb=76d234b7dc5e6500e8a54009b367e7620f11ef97;hp=8b354d697f442b03d4c943aac878c11b7829ef36;hpb=51a168e586d5cb911b95dc9e9037421452b4cb8c;p=vg.git

diff --git a/vg_m.h b/vg_m.h
index 8b354d6..c753be7 100644
--- a/vg_m.h
+++ b/vg_m.h
@@ -710,6 +710,16 @@ 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 +1204,7 @@ 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 +1212,19 @@ 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 +1459,7 @@ 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 +1546,7 @@ 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 +1568,17 @@ 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 +1589,7 @@ 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 +1666,7 @@ 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 +1675,13 @@ 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 +1690,7 @@ 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 +1702,7 @@ 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 +1798,7 @@ 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;