63e5bd0e29115a0ddbb1d11f809d4eed48f27a4b
2 // ==================================================================================================================
4 float csr_minf( float a
, float b
)
11 float csr_maxf( float a
, float b
)
18 int csr_min( int a
, int b
)
25 int csr_max( int a
, int b
)
32 void v3d_v3f( double a
[3], float b
[3] )
40 // ==================================================================================================================
42 void v2_copy( v2f a
, v2f b
)
44 b
[0] = a
[0]; b
[1] = a
[1];
47 void v2_minv( v2f a
, v2f b
, v2f dest
)
49 dest
[0] = csr_minf(a
[0], b
[0]);
50 dest
[1] = csr_minf(a
[1], b
[1]);
53 void v2_maxv( v2f a
, v2f b
, v2f dest
)
55 dest
[0] = csr_maxf(a
[0], b
[0]);
56 dest
[1] = csr_maxf(a
[1], b
[1]);
60 // ==================================================================================================================
62 void v3_copy( v3f a
, v3f b
)
64 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
67 void v3_add( v3f a
, v3f b
, v3f d
)
69 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
72 void v3_sub( v3f a
, v3f b
, v3f d
)
74 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
77 void v3_mul( v3f a
, v3f b
, v3f d
)
79 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
82 void v3_div( v3f a
, v3f b
, v3f d
)
84 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
87 void v3_muls( v3f a
, float s
, v3f d
)
89 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
92 void v3_divs( v3f a
, float s
, v3f d
)
94 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
97 void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
99 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
102 float v3_dot( v3f a
, v3f b
)
104 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
107 void v3_cross( v3f a
, v3f b
, v3f d
)
109 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
110 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
111 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
114 float v3_length2( v3f a
)
116 return v3_dot( a
, a
);
119 float v3_length( v3f a
)
121 return sqrtf( v3_length2( a
) );
124 float v3_dist2( v3f a
, v3f b
)
127 v3_sub( a
, b
, delta
);
128 return v3_length2( delta
);
131 float v3_dist( v3f a
, v3f b
)
133 return sqrtf( v3_dist2( a
, b
) );
136 void v3_normalize( v3f a
)
138 v3_muls( a
, 1.f
/ v3_length( a
), a
);
141 float csr_lerpf( float a
, float b
, float t
)
146 void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
148 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
149 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
150 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
153 void v3_minv( v3f a
, v3f b
, v3f dest
)
155 dest
[0] = csr_minf(a
[0], b
[0]);
156 dest
[1] = csr_minf(a
[1], b
[1]);
157 dest
[2] = csr_minf(a
[2], b
[2]);
160 void v3_maxv( v3f a
, v3f b
, v3f dest
)
162 dest
[0] = csr_maxf(a
[0], b
[0]);
163 dest
[1] = csr_maxf(a
[1], b
[1]);
164 dest
[2] = csr_maxf(a
[2], b
[2]);
167 float v3_minf( v3f a
)
169 return csr_minf( csr_minf( a
[0], a
[1] ), a
[2] );
172 float v3_maxf( v3f a
)
174 return csr_maxf( csr_maxf( a
[0], a
[1] ), a
[2] );
177 void v3_fill( v3f a
, float v
)
185 //======================================================================================================
187 void m3x3_inv_transpose( m3x3f src
, m3x3f dest
)
189 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
190 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
191 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
198 dest
[0][0] = (e
*i
-h
*f
)*det
;
199 dest
[1][0] = -(b
*i
-c
*h
)*det
;
200 dest
[2][0] = (b
*f
-c
*e
)*det
;
201 dest
[0][1] = -(d
*i
-f
*g
)*det
;
202 dest
[1][1] = (a
*i
-c
*g
)*det
;
203 dest
[2][1] = -(a
*f
-d
*c
)*det
;
204 dest
[0][2] = (d
*h
-g
*e
)*det
;
205 dest
[1][2] = -(a
*h
-g
*b
)*det
;
206 dest
[2][2] = (a
*e
-d
*b
)*det
;
209 void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
213 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
214 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
215 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
221 // ==================================================================================================================
223 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
224 { 0.0f, 1.0f, 0.0f, },\
225 { 0.0f, 0.0f, 1.0f, },\
226 { 0.0f, 0.0f, 0.0f }}
228 void m4x3_to_3x3( m4x3f a
, m3x3f b
)
230 v3_copy( a
[0], b
[0] );
231 v3_copy( a
[1], b
[1] );
232 v3_copy( a
[2], b
[2] );
235 void m4x3_copy( m4x3f a
, m4x3f b
)
237 v3_copy( a
[0], b
[0] );
238 v3_copy( a
[1], b
[1] );
239 v3_copy( a
[2], b
[2] );
240 v3_copy( a
[3], b
[3] );
243 void m4x3_identity( m4x3f a
)
245 m4x3f id
= M4X3_IDENTITY
;
249 void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
252 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
253 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
254 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
255 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
256 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
257 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
258 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
259 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
261 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
;
262 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
;
263 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
;
264 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
;
265 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
;
266 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
;
267 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
;
268 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
;
269 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
;
270 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
271 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
272 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
275 void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
279 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
280 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
281 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
288 void m4x3_translate( m4x3f m
, v3f v
)
290 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
291 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
292 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
295 void m4x3_scale( m4x3f m
, float s
)
297 v3_muls( m
[0], s
, m
[0] );
298 v3_muls( m
[1], s
, m
[1] );
299 v3_muls( m
[2], s
, m
[2] );
302 void m4x3_rotate_x( m4x3f m
, float angle
)
304 m4x3f t
= M4X3_IDENTITY
;
318 void m4x3_rotate_y( m4x3f m
, float angle
)
320 m4x3f t
= M4X3_IDENTITY
;
334 void m4x3_rotate_z( m4x3f m
, float angle
)
336 m4x3f t
= M4X3_IDENTITY
;
350 // Planes (double precision)
351 // ==================================================================================================================
353 void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
359 edge0
[0] = b
[0] - a
[0];
360 edge0
[1] = b
[1] - a
[1];
361 edge0
[2] = b
[2] - a
[2];
363 edge1
[0] = c
[0] - a
[0];
364 edge1
[1] = c
[1] - a
[1];
365 edge1
[2] = c
[2] - a
[2];
367 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
368 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
369 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
371 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
372 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
379 int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
381 double const epsilon
= 1e-8f
;
386 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
387 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
388 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
390 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
392 if( d
< epsilon
&& d
> -epsilon
) return 0;
394 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
395 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
396 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
398 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
399 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
400 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
402 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
403 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
404 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
413 double plane_polarity( double p
[4], double a
[3] )
416 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
417 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
422 // ==================================================================================================================
424 int csr_slabs( v3f box
[2], v3f o
, v3f id
)
429 v3_sub( box
[0], o
, t0
);
430 v3_sub( box
[1], o
, t1
);
431 v3_mul( t0
, id
, t0
);
432 v3_mul( t1
, id
, t1
);
434 v3_minv( t0
, t1
, tmin
);
435 v3_maxv( t0
, t1
, tmax
);
437 return v3_maxf( tmin
) <= v3_minf( tmax
);
440 float csr_ray_tri( v3f o
, v3f d
, v3f v0
, v3f v1
, v3f v2
, float *u
, float *v
)
442 float const k_cullEpsilon
= 0.0001f
;
452 v3_sub( v1
, v0
, v0v1
);
453 v3_sub( v2
, v0
, v0v2
);
454 v3_cross( d
, v0v2
, p
);
456 det
= v3_dot( v0v1
, p
);
458 if( det
< k_cullEpsilon
) return INFINITY
;
463 *u
= v3_dot( tv
, p
) * inv
;
465 if( *u
< 0.f
|| *u
> 1.f
) return INFINITY
;
467 v3_cross( tv
, v0v1
, qv
);
468 *v
= v3_dot( d
, qv
) * inv
;
470 if( *v
< 0.f
|| *u
+ *v
> 1.f
) return INFINITY
;
472 return v3_dot( v0v2
, qv
) * inv
;