X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=vg_m.h;h=e70222ef1bb6b51de5948ecaa257bce90cef92a0;hb=71cdc299d260abd83eec20748578805509d5468f;hp=d6da3a1b933e2ff14790895728e6a5918d344903;hpb=fa8c2262459bbc760875536323baa5c05349ed75;p=vg.git

diff --git a/vg_m.h b/vg_m.h
index d6da3a1..e70222e 100644
--- a/vg_m.h
+++ b/vg_m.h
@@ -56,6 +56,8 @@ static inline float vg_fractf( float a )
    return a - floorf( a );
 }
 
+
+__attribute__ ((deprecated))
 static float stable_force( float current, float diff )
 {
    float fnew = current + diff;
@@ -66,6 +68,11 @@ static float stable_force( float current, float diff )
    return fnew;
 }
 
+static float vg_cfrictf( float current, float F )
+{
+   return -vg_signf(current) * vg_minf( F, fabsf(current) );
+}
+
 static inline int vg_min( int a, int b )
 {
    return a < b? a: b;
@@ -146,6 +153,12 @@ static inline void v2_add( v2f a, v2f b, v2f d )
    d[0] = a[0]+b[0]; d[1] = a[1]+b[1];
 }
 
+static inline void v2_abs( v2f a, v2f d )
+{
+   d[0] = fabsf( a[0] );
+   d[1] = fabsf( a[1] );
+}
+
 static inline void v2_muls( v2f a, float s, v2f d )
 {
    d[0] = a[0]*s; d[1] = a[1]*s;
@@ -225,6 +238,19 @@ static inline void v2_floor( v2f a, v2f b )
    b[1] = floorf( a[1] );
 }
 
+static inline void v2_fill( v2f a, float v )
+{
+   a[0] = v;
+   a[1] = v;
+}
+
+/* copysign of b to a */
+static inline void v2_copysign( v2f a, v2f b )
+{
+   a[0] = copysignf( a[0], b[0] );
+   a[1] = copysignf( a[1], b[1] );
+}
+
 /*
  * Vector 3
  */
@@ -243,6 +269,14 @@ static inline void v3_add( v3f a, v3f b, v3f d )
    d[0] = a[0]+b[0]; d[1] = a[1]+b[1]; d[2] = a[2]+b[2];
 }
 
+static inline void v4_add( v4f a, v4f b, v4f d )
+{
+   d[0] = a[0]+b[0]; 
+   d[1] = a[1]+b[1];
+   d[2] = a[2]+b[2];
+   d[3] = a[3]+b[3];
+}
+
 static inline void v3_sub( v3f a, v3f b, v3f d )
 {
    d[0] = a[0]-b[0]; d[1] = a[1]-b[1]; d[2] = a[2]-b[2];
@@ -520,6 +554,27 @@ static inline void m2x2_create_rotation( m2x2f a, float theta )
                         { 0.0f, 0.0f, 0.0f, }}
 
 
+/* a X b == [b]T a == ...*/
+static void m3x3_skew_symetric( m3x3f a, v3f v )
+{
+   a[0][0] =  0.0f;
+   a[0][1] =  v[2];
+   a[0][2] = -v[1];
+   a[1][0] = -v[2];
+   a[1][1] =  0.0f;
+   a[1][2] =  v[0];
+   a[2][0] =  v[1];
+   a[2][1] = -v[0];
+   a[2][2] =  0.0f;
+}
+
+static void m3x3_add( m3x3f a, m3x3f b, m3x3f d )
+{
+   v3_add( a[0], b[0], d[0] );
+   v3_add( a[1], b[1], d[1] );
+   v3_add( a[2], b[2], d[2] );
+}
+
 static inline void m3x3_copy( m3x3f a, m3x3f b )
 {
    v3_copy( a[0], b[0] );
@@ -533,6 +588,14 @@ static inline void m3x3_identity( m3x3f a )
    m3x3_copy( id, a );
 }
 
+static void m3x3_diagonal( m3x3f a, float v )
+{
+   m3x3_identity( a );
+   a[0][0] = v;
+   a[1][1] = v;
+   a[2][2] = v;
+}
+
 static inline void m3x3_zero( m3x3f a )
 {
    m3x3f z = M3X3_ZERO;
@@ -561,6 +624,13 @@ static inline void m3x3_inv( m3x3f src, m3x3f dest )
    dest[2][2] =  (a*e-d*b)*det;
 }
 
+static float m3x3_det( m3x3f m )
+{
+   return   m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
+          - m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
+          + m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
+}
+
 static inline void m3x3_transpose( m3x3f src, m3x3f dest )
 {
    float a = src[0][0], b = src[0][1], c = src[0][2],
@@ -951,7 +1021,7 @@ static inline void m4x3_transform_aabb( m4x3f m, boxf box )
    m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], b[2] } );
 }
 
-int ray_aabb( boxf box, v3f co, v3f dir, float dist )
+int ray_aabb1( boxf box, v3f co, v3f dir_inv, float dist )
 {
    v3f v0, v1;
    float tmin, tmax;
@@ -959,8 +1029,8 @@ int ray_aabb( boxf box, v3f co, v3f dir, float dist )
    v3_sub( box[0], co, v0 );
    v3_sub( box[1], co, v1 );
 
-   v3_div( v0, dir, v0 );
-   v3_div( v1, dir, v1 );
+   v3_mul( v0, dir_inv, v0 );
+   v3_mul( v1, dir_inv, v1 );
    
    tmin = vg_minf( v0[0], v1[0] );
    tmax = vg_maxf( v0[0], v1[0] );
@@ -969,7 +1039,7 @@ int ray_aabb( boxf box, v3f co, v3f dir, float dist )
    tmin = vg_maxf( tmin, vg_minf( v0[2], v1[2] ));
    tmax = vg_minf( tmax, vg_maxf( v0[2], v1[2] ));
 
-   return tmax >= tmin && tmin < dist && tmax > 0;
+   return (tmax >= tmin) && (tmin <= dist) && (tmax >= 0.0f);
 }
 
 static inline void m4x3_lookat( m4x3f m, v3f pos, v3f target, v3f up )
@@ -1289,6 +1359,26 @@ static inline void q_nlerp( v4f a, v4f b, float t, v4f d )
    q_normalize( d );
 }
 
+static void euler_m3x3( v3f angles, m3x3f d )
+{
+   float cosY = cosf( angles[0] ),
+         sinY = sinf( angles[0] ),
+         cosP = cosf( angles[1] ),
+         sinP = sinf( angles[1] ),
+         cosR = cosf( angles[2] ),
+         sinR = sinf( angles[2] );
+
+   d[2][0] = -sinY * cosP;
+   d[2][1] =  sinP;
+   d[2][2] =  cosY * cosP;
+
+   d[0][0] =  cosY * cosR;
+   d[0][1] =  sinR;
+   d[0][2] =  sinY * cosR;
+
+   v3_cross( d[0], d[2], d[1] );
+}
+
 static inline void q_m3x3( v4f q, m3x3f d )
 {
    float
@@ -1648,6 +1738,45 @@ VG_STATIC enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
    return k_contact_type_default;
 }
 
+
+static void closest_point_elipse( v2f p, v2f e, v2f o )
+{
+   v2f pabs, ei, e2, ve, t;
+
+   v2_abs( p, pabs );
+   v2_div( (v2f){ 1.0f, 1.0f }, e, ei );
+   v2_mul( e, e, e2 );
+   v2_mul( ei, (v2f){ e2[0]-e2[1], e2[1]-e2[0] }, ve );
+
+   v2_fill( t, 0.70710678118654752f );
+
+   for( int i=0; i<3; i++ )
+   {
+      v2f v, u, ud, w;
+
+      v2_mul( ve, t, v );  /* ve*t*t*t */
+      v2_mul( v, t, v );
+      v2_mul( v, t, v );
+
+      v2_sub( pabs, v, u );
+      v2_normalize( u );
+      
+      v2_mul( t, e, ud );
+      v2_sub( ud, v, ud );
+
+      v2_muls( u, v2_length( ud ), u );
+
+      v2_add( v, u, w );
+      v2_mul( w, ei, w );
+
+      v2_maxv( (v2f){0.0f,0.0f}, w, t );
+      v2_normalize( t );
+   }
+
+   v2_mul( t, e, o );
+   v2_copysign( o, p );
+}
+
 /*
  * Raycasts
  */
@@ -1675,6 +1804,7 @@ static int ray_tri( v3f tri[3], v3f co,
    
    /* Parralel */
    a = v3_dot( v0, h );
+
    if( a > -kEpsilon && a < kEpsilon )
       return 0;