2 // ==================================================================================================================
4 #define CSR_PIf 3.14159265358979323846264338327950288f
6 float csr_minf( float a
, float b
)
13 float csr_maxf( float a
, float b
)
20 int csr_min( int a
, int b
)
27 int csr_max( int a
, int b
)
34 void v3d_v3f( double a
[3], float b
[3] )
41 float csr_rad( float deg
)
43 return deg
* CSR_PIf
/ 180.0f
;
47 // ==================================================================================================================
49 void v2_copy( v2f a
, v2f b
)
51 b
[0] = a
[0]; b
[1] = a
[1];
54 void v2_minv( v2f a
, v2f b
, v2f dest
)
56 dest
[0] = csr_minf(a
[0], b
[0]);
57 dest
[1] = csr_minf(a
[1], b
[1]);
60 void v2_maxv( v2f a
, v2f b
, v2f dest
)
62 dest
[0] = csr_maxf(a
[0], b
[0]);
63 dest
[1] = csr_maxf(a
[1], b
[1]);
66 void v2_sub( v2f a
, v2f b
, v2f d
)
68 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
71 float v2_cross( v2f a
, v2f b
)
73 return a
[0] * b
[1] - a
[1] * b
[0];
76 void v2_add( v2f a
, v2f b
, v2f d
)
78 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
82 // ==================================================================================================================
86 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
89 void v3_copy( v3f a
, v3f b
)
91 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
94 void v3_add( v3f a
, v3f b
, v3f d
)
96 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
99 void v3_sub( v3f a
, v3f b
, v3f d
)
101 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
104 void v3_mul( v3f a
, v3f b
, v3f d
)
106 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
109 void v3_div( v3f a
, v3f b
, v3f d
)
111 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
114 void v3_muls( v3f a
, float s
, v3f d
)
116 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
119 void v3_divs( v3f a
, float s
, v3f d
)
121 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
124 void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
126 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
129 float v3_dot( v3f a
, v3f b
)
131 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
134 void v3_cross( v3f a
, v3f b
, v3f d
)
136 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
137 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
138 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
141 float v3_length2( v3f a
)
143 return v3_dot( a
, a
);
146 float v3_length( v3f a
)
148 return sqrtf( v3_length2( a
) );
151 float v3_dist2( v3f a
, v3f b
)
154 v3_sub( a
, b
, delta
);
155 return v3_length2( delta
);
158 float v3_dist( v3f a
, v3f b
)
160 return sqrtf( v3_dist2( a
, b
) );
163 void v3_normalize( v3f a
)
165 v3_muls( a
, 1.f
/ v3_length( a
), a
);
168 float csr_lerpf( float a
, float b
, float t
)
173 void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
175 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
176 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
177 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
180 void v3_minv( v3f a
, v3f b
, v3f dest
)
182 dest
[0] = csr_minf(a
[0], b
[0]);
183 dest
[1] = csr_minf(a
[1], b
[1]);
184 dest
[2] = csr_minf(a
[2], b
[2]);
187 void v3_maxv( v3f a
, v3f b
, v3f dest
)
189 dest
[0] = csr_maxf(a
[0], b
[0]);
190 dest
[1] = csr_maxf(a
[1], b
[1]);
191 dest
[2] = csr_maxf(a
[2], b
[2]);
194 float v3_minf( v3f a
)
196 return csr_minf( csr_minf( a
[0], a
[1] ), a
[2] );
199 float v3_maxf( v3f a
)
201 return csr_maxf( csr_maxf( a
[0], a
[1] ), a
[2] );
204 void v3_fill( v3f a
, float v
)
212 void v4_copy( v4f a
, v4f b
)
214 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
218 //======================================================================================================
220 void m3x3_inv_transpose( m3x3f src
, m3x3f dest
)
222 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
223 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
224 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
231 dest
[0][0] = (e
*i
-h
*f
)*det
;
232 dest
[1][0] = -(b
*i
-c
*h
)*det
;
233 dest
[2][0] = (b
*f
-c
*e
)*det
;
234 dest
[0][1] = -(d
*i
-f
*g
)*det
;
235 dest
[1][1] = (a
*i
-c
*g
)*det
;
236 dest
[2][1] = -(a
*f
-d
*c
)*det
;
237 dest
[0][2] = (d
*h
-g
*e
)*det
;
238 dest
[1][2] = -(a
*h
-g
*b
)*det
;
239 dest
[2][2] = (a
*e
-d
*b
)*det
;
242 void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
246 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
247 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
248 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
254 // ==================================================================================================================
256 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
257 { 0.0f, 1.0f, 0.0f, },\
258 { 0.0f, 0.0f, 1.0f, },\
259 { 0.0f, 0.0f, 0.0f }}
261 void m4x3_to_3x3( m4x3f a
, m3x3f b
)
263 v3_copy( a
[0], b
[0] );
264 v3_copy( a
[1], b
[1] );
265 v3_copy( a
[2], b
[2] );
268 void m4x3_copy( m4x3f a
, m4x3f b
)
270 v3_copy( a
[0], b
[0] );
271 v3_copy( a
[1], b
[1] );
272 v3_copy( a
[2], b
[2] );
273 v3_copy( a
[3], b
[3] );
276 void m4x3_identity( m4x3f a
)
278 m4x3f id
= M4X3_IDENTITY
;
282 void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
285 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
286 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
287 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
288 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
289 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
290 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
291 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
292 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
294 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
295 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
296 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
297 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
298 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
299 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
300 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
301 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
302 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
303 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
304 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
305 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
308 void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
312 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
313 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
314 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
321 void m4x3_translate( m4x3f m
, v3f v
)
323 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
324 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
325 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
328 void m4x3_scale( m4x3f m
, float s
)
330 v3_muls( m
[0], s
, m
[0] );
331 v3_muls( m
[1], s
, m
[1] );
332 v3_muls( m
[2], s
, m
[2] );
335 void m4x3_rotate_x( m4x3f m
, float angle
)
337 m4x3f t
= M4X3_IDENTITY
;
351 void m4x3_rotate_y( m4x3f m
, float angle
)
353 m4x3f t
= M4X3_IDENTITY
;
367 void m4x3_rotate_z( m4x3f m
, float angle
)
369 m4x3f t
= M4X3_IDENTITY
;
383 // Warning: These functions are unoptimized..
384 void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
387 m4x3_mulv( m
, point
, v
);
389 v3_minv( box
[0], v
, box
[0] );
390 v3_maxv( box
[1], v
, box
[1] );
393 void box_concat( boxf a
, boxf b
)
395 v3_minv( a
[0], b
[0], a
[0] );
396 v3_maxv( a
[1], b
[1], a
[1] );
399 void box_copy( boxf a
, boxf b
)
401 v3_copy( a
[0], b
[0] );
402 v3_copy( a
[1], b
[1] );
405 void m4x3_transform_aabb( m4x3f m
, boxf box
)
409 v3_copy( box
[0], a
);
410 v3_copy( box
[1], b
);
412 m4x3_expand_aabb_point( m
, box
, a
);
413 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
414 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
415 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
416 m4x3_expand_aabb_point( m
, box
, b
);
417 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
418 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
419 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
422 // Planes (double precision)
423 // ==================================================================================================================
425 void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
431 edge0
[0] = b
[0] - a
[0];
432 edge0
[1] = b
[1] - a
[1];
433 edge0
[2] = b
[2] - a
[2];
435 edge1
[0] = c
[0] - a
[0];
436 edge1
[1] = c
[1] - a
[1];
437 edge1
[2] = c
[2] - a
[2];
439 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
440 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
441 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
443 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
444 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
451 int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
453 double const epsilon
= 1e-8f
;
458 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
459 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
460 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
462 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
464 if( d
< epsilon
&& d
> -epsilon
) return 0;
466 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
467 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
468 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
470 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
471 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
472 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
474 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
475 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
476 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
485 double plane_polarity( double p
[4], double a
[3] )
488 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
489 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
494 // ==================================================================================================================
496 int csr_slabs( v3f box
[2], v3f o
, v3f id
)
501 v3_sub( box
[0], o
, t0
);
502 v3_sub( box
[1], o
, t1
);
503 v3_mul( t0
, id
, t0
);
504 v3_mul( t1
, id
, t1
);
506 v3_minv( t0
, t1
, tmin
);
507 v3_maxv( t0
, t1
, tmax
);
509 return v3_maxf( tmin
) <= v3_minf( tmax
);
512 float csr_ray_tri( v3f o
, v3f d
, v3f v0
, v3f v1
, v3f v2
, float *u
, float *v
)
514 float const k_cullEpsilon
= 0.000001f
;
524 v3_sub( v1
, v0
, v0v1
);
525 v3_sub( v2
, v0
, v0v2
);
526 v3_cross( d
, v0v2
, p
);
528 det
= v3_dot( v0v1
, p
);
530 if( det
< k_cullEpsilon
) return -INFINITY
;
535 *u
= v3_dot( tv
, p
) * inv
;
537 if( *u
< 0.f
|| *u
> 1.f
) return -INFINITY
;
539 v3_cross( tv
, v0v1
, qv
);
540 *v
= v3_dot( d
, qv
) * inv
;
542 if( *v
< 0.f
|| *u
+ *v
> 1.f
) return -INFINITY
;
544 return v3_dot( v0v2
, qv
) * inv
;