2 // ==================================================================================================================
4 #define CSR_PIf 3.14159265358979323846264338327950288f
6 // Simple min/max replacements
7 float csr_minf( float a
, float b
)
12 float csr_maxf( float a
, float b
)
17 int csr_min( int a
, int b
)
22 int csr_max( int a
, int b
)
27 // Convert double precision vec3 into single
28 void v3d_v3f( double a
[3], float b
[3] )
35 // Convert degrees to radians
36 float csr_rad( float deg
)
38 return deg
* CSR_PIf
/ 180.0f
;
42 // ==================================================================================================================
44 void v2_copy( v2f a
, v2f b
)
46 b
[0] = a
[0]; b
[1] = a
[1];
49 void v2_minv( v2f a
, v2f b
, v2f dest
)
51 dest
[0] = csr_minf(a
[0], b
[0]);
52 dest
[1] = csr_minf(a
[1], b
[1]);
55 void v2_maxv( v2f a
, v2f b
, v2f dest
)
57 dest
[0] = csr_maxf(a
[0], b
[0]);
58 dest
[1] = csr_maxf(a
[1], b
[1]);
61 void v2_sub( v2f a
, v2f b
, v2f d
)
63 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
66 float v2_cross( v2f a
, v2f b
)
68 return a
[0] * b
[1] - a
[1] * b
[0];
71 void v2_add( v2f a
, v2f b
, v2f d
)
73 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
77 // ==================================================================================================================
81 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
84 void v3_copy( v3f a
, v3f b
)
86 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
89 void v3_add( 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_sub( 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_mul( 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_div( 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_muls( v3f a
, float s
, v3f d
)
111 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
114 void v3_divs( 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_muladds( v3f a
, v3f b
, float s
, v3f d
)
121 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
124 float v3_dot( v3f a
, v3f b
)
126 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
129 void v3_cross( v3f a
, v3f b
, v3f d
)
131 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
132 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
133 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
136 float v3_length2( v3f a
)
138 return v3_dot( a
, a
);
141 float v3_length( v3f a
)
143 return sqrtf( v3_length2( a
) );
146 float v3_dist2( v3f a
, v3f b
)
149 v3_sub( a
, b
, delta
);
150 return v3_length2( delta
);
153 float v3_dist( v3f a
, v3f b
)
155 return sqrtf( v3_dist2( a
, b
) );
158 void v3_normalize( v3f a
)
160 v3_muls( a
, 1.f
/ v3_length( a
), a
);
163 float csr_lerpf( float a
, float b
, float t
)
168 void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
170 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
171 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
172 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
175 void v3_minv( v3f a
, v3f b
, v3f dest
)
177 dest
[0] = csr_minf(a
[0], b
[0]);
178 dest
[1] = csr_minf(a
[1], b
[1]);
179 dest
[2] = csr_minf(a
[2], b
[2]);
182 void v3_maxv( v3f a
, v3f b
, v3f dest
)
184 dest
[0] = csr_maxf(a
[0], b
[0]);
185 dest
[1] = csr_maxf(a
[1], b
[1]);
186 dest
[2] = csr_maxf(a
[2], b
[2]);
189 float v3_minf( v3f a
)
191 return csr_minf( csr_minf( a
[0], a
[1] ), a
[2] );
194 float v3_maxf( v3f a
)
196 return csr_maxf( csr_maxf( a
[0], a
[1] ), a
[2] );
199 void v3_fill( v3f a
, float v
)
207 void v4_copy( v4f a
, v4f b
)
209 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
213 //======================================================================================================
215 void m3x3_inv_transpose( m3x3f src
, m3x3f dest
)
217 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
218 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
219 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
226 dest
[0][0] = (e
*i
-h
*f
)*det
;
227 dest
[1][0] = -(b
*i
-c
*h
)*det
;
228 dest
[2][0] = (b
*f
-c
*e
)*det
;
229 dest
[0][1] = -(d
*i
-f
*g
)*det
;
230 dest
[1][1] = (a
*i
-c
*g
)*det
;
231 dest
[2][1] = -(a
*f
-d
*c
)*det
;
232 dest
[0][2] = (d
*h
-g
*e
)*det
;
233 dest
[1][2] = -(a
*h
-g
*b
)*det
;
234 dest
[2][2] = (a
*e
-d
*b
)*det
;
237 void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
241 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
242 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
243 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
249 // ==================================================================================================================
251 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
252 { 0.0f, 1.0f, 0.0f, },\
253 { 0.0f, 0.0f, 1.0f, },\
254 { 0.0f, 0.0f, 0.0f }}
256 void m4x3_to_3x3( m4x3f a
, m3x3f b
)
258 v3_copy( a
[0], b
[0] );
259 v3_copy( a
[1], b
[1] );
260 v3_copy( a
[2], b
[2] );
263 void m4x3_copy( m4x3f a
, m4x3f b
)
265 v3_copy( a
[0], b
[0] );
266 v3_copy( a
[1], b
[1] );
267 v3_copy( a
[2], b
[2] );
268 v3_copy( a
[3], b
[3] );
271 void m4x3_identity( m4x3f a
)
273 m4x3f id
= M4X3_IDENTITY
;
277 void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
280 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
281 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
282 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
283 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
284 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
285 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
286 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
287 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
289 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
290 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
291 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
292 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
293 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
294 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
295 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
296 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
297 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
298 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
299 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
300 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
303 void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
307 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
308 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
309 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
316 void m4x3_translate( m4x3f m
, v3f v
)
318 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
319 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
320 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
323 void m4x3_scale( m4x3f m
, float s
)
325 v3_muls( m
[0], s
, m
[0] );
326 v3_muls( m
[1], s
, m
[1] );
327 v3_muls( m
[2], s
, m
[2] );
330 void m4x3_rotate_x( m4x3f m
, float angle
)
332 m4x3f t
= M4X3_IDENTITY
;
346 void m4x3_rotate_y( m4x3f m
, float angle
)
348 m4x3f t
= M4X3_IDENTITY
;
362 void m4x3_rotate_z( m4x3f m
, float angle
)
364 m4x3f t
= M4X3_IDENTITY
;
378 // Warning: These functions are unoptimized..
379 void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
382 m4x3_mulv( m
, point
, v
);
384 v3_minv( box
[0], v
, box
[0] );
385 v3_maxv( box
[1], v
, box
[1] );
388 void box_concat( boxf a
, boxf b
)
390 v3_minv( a
[0], b
[0], a
[0] );
391 v3_maxv( a
[1], b
[1], a
[1] );
394 void box_copy( boxf a
, boxf b
)
396 v3_copy( a
[0], b
[0] );
397 v3_copy( a
[1], b
[1] );
400 void m4x3_transform_aabb( m4x3f m
, boxf box
)
404 v3_copy( box
[0], a
);
405 v3_copy( box
[1], b
);
406 v3_fill( box
[0], INFINITY
);
407 v3_fill( box
[1], -INFINITY
);
409 m4x3_expand_aabb_point( m
, box
, a
);
410 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
411 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
412 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
413 m4x3_expand_aabb_point( m
, box
, b
);
414 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
415 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
416 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
419 // Planes (double precision)
420 // ==================================================================================================================
422 void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
428 edge0
[0] = b
[0] - a
[0];
429 edge0
[1] = b
[1] - a
[1];
430 edge0
[2] = b
[2] - a
[2];
432 edge1
[0] = c
[0] - a
[0];
433 edge1
[1] = c
[1] - a
[1];
434 edge1
[2] = c
[2] - a
[2];
436 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
437 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
438 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
440 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
441 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
448 int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
450 double const epsilon
= 1e-8f
;
455 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
456 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
457 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
459 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
461 if( d
< epsilon
&& d
> -epsilon
) return 0;
463 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
464 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
465 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
467 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
468 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
469 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
471 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
472 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
473 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
482 double plane_polarity( double p
[4], double a
[3] )
485 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
486 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])