d9a414f1b372ba651977c3622d92ccacbada39eb
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]);
67 // ==================================================================================================================
69 void v3_copy( v3f a
, v3f b
)
71 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
74 void v3_add( v3f a
, v3f b
, v3f d
)
76 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
79 void v3_sub( v3f a
, v3f b
, v3f d
)
81 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
84 void v3_mul( v3f a
, v3f b
, v3f d
)
86 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
89 void v3_div( v3f a
, v3f b
, v3f d
)
91 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
94 void v3_muls( v3f a
, float s
, v3f d
)
96 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
99 void v3_divs( v3f a
, float s
, v3f d
)
101 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
104 void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
106 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
109 float v3_dot( v3f a
, v3f b
)
111 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
114 void v3_cross( v3f a
, v3f b
, v3f d
)
116 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
117 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
118 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
121 float v3_length2( v3f a
)
123 return v3_dot( a
, a
);
126 float v3_length( v3f a
)
128 return sqrtf( v3_length2( a
) );
131 float v3_dist2( v3f a
, v3f b
)
134 v3_sub( a
, b
, delta
);
135 return v3_length2( delta
);
138 float v3_dist( v3f a
, v3f b
)
140 return sqrtf( v3_dist2( a
, b
) );
143 void v3_normalize( v3f a
)
145 v3_muls( a
, 1.f
/ v3_length( a
), a
);
148 float csr_lerpf( float a
, float b
, float t
)
153 void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
155 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
156 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
157 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
160 void v3_minv( v3f a
, v3f b
, v3f dest
)
162 dest
[0] = csr_minf(a
[0], b
[0]);
163 dest
[1] = csr_minf(a
[1], b
[1]);
164 dest
[2] = csr_minf(a
[2], b
[2]);
167 void v3_maxv( v3f a
, v3f b
, v3f dest
)
169 dest
[0] = csr_maxf(a
[0], b
[0]);
170 dest
[1] = csr_maxf(a
[1], b
[1]);
171 dest
[2] = csr_maxf(a
[2], b
[2]);
174 float v3_minf( v3f a
)
176 return csr_minf( csr_minf( a
[0], a
[1] ), a
[2] );
179 float v3_maxf( v3f a
)
181 return csr_maxf( csr_maxf( a
[0], a
[1] ), a
[2] );
184 void v3_fill( v3f a
, float v
)
192 void v4_copy( v4f a
, v4f b
)
194 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
198 //======================================================================================================
200 void m3x3_inv_transpose( m3x3f src
, m3x3f dest
)
202 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
203 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
204 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
211 dest
[0][0] = (e
*i
-h
*f
)*det
;
212 dest
[1][0] = -(b
*i
-c
*h
)*det
;
213 dest
[2][0] = (b
*f
-c
*e
)*det
;
214 dest
[0][1] = -(d
*i
-f
*g
)*det
;
215 dest
[1][1] = (a
*i
-c
*g
)*det
;
216 dest
[2][1] = -(a
*f
-d
*c
)*det
;
217 dest
[0][2] = (d
*h
-g
*e
)*det
;
218 dest
[1][2] = -(a
*h
-g
*b
)*det
;
219 dest
[2][2] = (a
*e
-d
*b
)*det
;
222 void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
226 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
227 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
228 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
234 // ==================================================================================================================
236 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
237 { 0.0f, 1.0f, 0.0f, },\
238 { 0.0f, 0.0f, 1.0f, },\
239 { 0.0f, 0.0f, 0.0f }}
241 void m4x3_to_3x3( m4x3f a
, m3x3f b
)
243 v3_copy( a
[0], b
[0] );
244 v3_copy( a
[1], b
[1] );
245 v3_copy( a
[2], b
[2] );
248 void m4x3_copy( m4x3f a
, m4x3f b
)
250 v3_copy( a
[0], b
[0] );
251 v3_copy( a
[1], b
[1] );
252 v3_copy( a
[2], b
[2] );
253 v3_copy( a
[3], b
[3] );
256 void m4x3_identity( m4x3f a
)
258 m4x3f id
= M4X3_IDENTITY
;
262 void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
265 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
266 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
267 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
268 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
269 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
270 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
271 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
272 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
274 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
275 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
276 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
277 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
278 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
279 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
280 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
281 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
282 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
283 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
284 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
285 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
288 void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
292 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
293 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
294 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
301 void m4x3_translate( m4x3f m
, v3f v
)
303 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
304 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
305 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
308 void m4x3_scale( m4x3f m
, float s
)
310 v3_muls( m
[0], s
, m
[0] );
311 v3_muls( m
[1], s
, m
[1] );
312 v3_muls( m
[2], s
, m
[2] );
315 void m4x3_rotate_x( m4x3f m
, float angle
)
317 m4x3f t
= M4X3_IDENTITY
;
331 void m4x3_rotate_y( m4x3f m
, float angle
)
333 m4x3f t
= M4X3_IDENTITY
;
347 void m4x3_rotate_z( m4x3f m
, float angle
)
349 m4x3f t
= M4X3_IDENTITY
;
363 // Planes (double precision)
364 // ==================================================================================================================
366 void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
372 edge0
[0] = b
[0] - a
[0];
373 edge0
[1] = b
[1] - a
[1];
374 edge0
[2] = b
[2] - a
[2];
376 edge1
[0] = c
[0] - a
[0];
377 edge1
[1] = c
[1] - a
[1];
378 edge1
[2] = c
[2] - a
[2];
380 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
381 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
382 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
384 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
385 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
392 int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
394 double const epsilon
= 1e-8f
;
399 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
400 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
401 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
403 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
405 if( d
< epsilon
&& d
> -epsilon
) return 0;
407 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
408 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
409 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
411 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
412 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
413 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
415 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
416 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
417 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
426 double plane_polarity( double p
[4], double a
[3] )
429 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
430 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
435 // ==================================================================================================================
437 int csr_slabs( v3f box
[2], v3f o
, v3f id
)
442 v3_sub( box
[0], o
, t0
);
443 v3_sub( box
[1], o
, t1
);
444 v3_mul( t0
, id
, t0
);
445 v3_mul( t1
, id
, t1
);
447 v3_minv( t0
, t1
, tmin
);
448 v3_maxv( t0
, t1
, tmax
);
450 return v3_maxf( tmin
) <= v3_minf( tmax
);
453 float csr_ray_tri( v3f o
, v3f d
, v3f v0
, v3f v1
, v3f v2
, float *u
, float *v
)
455 float const k_cullEpsilon
= 0.0001f
;
465 v3_sub( v1
, v0
, v0v1
);
466 v3_sub( v2
, v0
, v0v2
);
467 v3_cross( d
, v0v2
, p
);
469 det
= v3_dot( v0v1
, p
);
471 if( det
< k_cullEpsilon
) return -INFINITY
;
476 *u
= v3_dot( tv
, p
) * inv
;
478 if( *u
< 0.f
|| *u
> 1.f
) return -INFINITY
;
480 v3_cross( tv
, v0v1
, qv
);
481 *v
= v3_dot( d
, qv
) * inv
;
483 if( *v
< 0.f
|| *u
+ *v
> 1.f
) return -INFINITY
;
485 return v3_dot( v0v2
, qv
) * inv
;