+// Copyright (C) 2021 Harry Godden (hgn)
+
// Util
// ==================================================================================================================
-float csr_minf( float a, float b )
+#define CSR_INLINE static inline
+#define CSR_PIf 3.14159265358979323846264338327950288f
+
+// Simple min/max replacements
+CSR_INLINE float csr_minf( float a, float b )
{
- if( a < b )
- return a;
- return b;
+ return a < b? a: b;
}
-float csr_maxf( float a, float b )
+CSR_INLINE float csr_maxf( float a, float b )
{
- if( a > b )
- return a;
- return b;
+ return a > b? a: b;
}
-int csr_min( int a, int b )
+CSR_INLINE int csr_min( int a, int b )
{
- if( a < b )
- return a;
- return b;
+ return a < b? a: b;
}
-int csr_max( int a, int b )
+CSR_INLINE int csr_max( int a, int b )
{
- if( a > b )
- return a;
- return b;
+ return a > b? a: b;
}
-void v3d_v3f( double a[3], float b[3] )
+// Convert double precision vec3 into single
+CSR_INLINE void v3d_v3f( double a[3], float b[3] )
{
b[0] = a[0];
b[1] = a[1];
b[2] = a[2];
}
+// Convert degrees to radians
+CSR_INLINE float csr_rad( float deg )
+{
+ return deg * CSR_PIf / 180.0f;
+}
+
// Vector 2
// ==================================================================================================================
-void v2_copy( v2f a, v2f b )
+CSR_INLINE void v2_copy( v2f a, v2f b )
{
b[0] = a[0]; b[1] = a[1];
}
-void v2_minv( v2f a, v2f b, v2f dest )
+CSR_INLINE void v2_minv( v2f a, v2f b, v2f dest )
{
dest[0] = csr_minf(a[0], b[0]);
dest[1] = csr_minf(a[1], b[1]);
}
-void v2_maxv( v2f a, v2f b, v2f dest )
+CSR_INLINE void v2_maxv( v2f a, v2f b, v2f dest )
{
dest[0] = csr_maxf(a[0], b[0]);
dest[1] = csr_maxf(a[1], b[1]);
}
+CSR_INLINE void v2_sub( v2f a, v2f b, v2f d )
+{
+ d[0] = a[0]-b[0]; d[1] = a[1]-b[1];
+}
+
+CSR_INLINE float v2_cross( v2f a, v2f b )
+{
+ return a[0] * b[1] - a[1] * b[0];
+}
+
+CSR_INLINE void v2_add( v2f a, v2f b, v2f d )
+{
+ d[0] = a[0]+b[0]; d[1] = a[1]+b[1];
+}
+
+CSR_INLINE void v2_muls( v2f a, float s, v2f d )
+{
+ d[0] = a[0]*s; d[1] = a[1]*s;
+}
+
+CSR_INLINE void v2_mul( v2f a, v2f b, v2f d )
+{
+ d[0] = a[0]*b[0]; d[1] = a[1]*b[1];
+}
+
+CSR_INLINE void v2_div( v2f a, v2f b, v2f d )
+{
+ d[0] = a[0]/b[0]; d[1] = a[1]/b[1];
+}
+
// Vector 3
// ==================================================================================================================
-void v3_copy( v3f a, v3f b )
+CSR_INLINE void v3_zero( v3f a )
+{
+ a[0] = 0.f; a[1] = 0.f; a[2] = 0.f;
+}
+
+CSR_INLINE void v3_copy( v3f a, v3f b )
{
b[0] = a[0]; b[1] = a[1]; b[2] = a[2];
}
-void v3_add( v3f a, v3f b, v3f d )
+CSR_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];
}
-void v3_sub( v3f a, v3f b, v3f d )
+CSR_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];
}
-void v3_mul( v3f a, v3f b, v3f d )
+CSR_INLINE void v3_mul( v3f a, v3f b, v3f d )
{
d[0] = a[0]*b[0]; d[1] = a[1]*b[1]; d[2] = a[2]*b[2];
}
-void v3_div( v3f a, v3f b, v3f d )
+CSR_INLINE void v3_div( v3f a, v3f b, v3f d )
{
d[0] = a[0]/b[0]; d[1] = a[1]/b[1]; d[2] = a[2]/b[2];
}
-void v3_muls( v3f a, float s, v3f d )
+CSR_INLINE void v3_muls( v3f a, float s, v3f d )
{
d[0] = a[0]*s; d[1] = a[1]*s; d[2] = a[2]*s;
}
-void v3_divs( v3f a, float s, v3f d )
+CSR_INLINE void v3_divs( v3f a, float s, v3f d )
{
d[0] = a[0]/s; d[1] = a[1]/s; d[2] = a[2]/s;
}
-void v3_muladds( v3f a, v3f b, float s, v3f d )
+CSR_INLINE void v3_muladds( v3f a, v3f b, float s, v3f d )
{
d[0] = a[0]+b[0]*s; d[1] = a[1]+b[1]*s; d[2] = a[2]+b[2]*s;
}
-float v3_dot( v3f a, v3f b )
+CSR_INLINE float v3_dot( v3f a, v3f b )
{
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
-void v3_cross( v3f a, v3f b, v3f d )
+CSR_INLINE void v3_cross( v3f a, v3f b, v3f d )
{
d[0] = a[1] * b[2] - a[2] * b[1];
d[1] = a[2] * b[0] - a[0] * b[2];
d[2] = a[0] * b[1] - a[1] * b[0];
}
-float v3_length2( v3f a )
+CSR_INLINE float v3_length2( v3f a )
{
return v3_dot( a, a );
}
-float v3_length( v3f a )
+CSR_INLINE float v3_length( v3f a )
{
return sqrtf( v3_length2( a ) );
}
-float v3_dist2( v3f a, v3f b )
+CSR_INLINE float v3_dist2( v3f a, v3f b )
{
v3f delta;
v3_sub( a, b, delta );
return v3_length2( delta );
}
-float v3_dist( v3f a, v3f b )
+CSR_INLINE float v3_dist( v3f a, v3f b )
{
return sqrtf( v3_dist2( a, b ) );
}
-void v3_normalize( v3f a )
+CSR_INLINE void v3_normalize( v3f a )
{
v3_muls( a, 1.f / v3_length( a ), a );
}
-float csr_lerpf( float a, float b, float t )
+CSR_INLINE float csr_lerpf( float a, float b, float t )
{
return a + t*(b-a);
}
-void v3_lerp( v3f a, v3f b, float t, v3f d )
+CSR_INLINE void v3_lerp( v3f a, v3f b, float t, v3f d )
{
d[0] = a[0] + t*(b[0]-a[0]);
d[1] = a[1] + t*(b[1]-a[1]);
d[2] = a[2] + t*(b[2]-a[2]);
}
-void v3_minv( v3f a, v3f b, v3f dest )
+CSR_INLINE void v3_minv( v3f a, v3f b, v3f dest )
{
dest[0] = csr_minf(a[0], b[0]);
dest[1] = csr_minf(a[1], b[1]);
dest[2] = csr_minf(a[2], b[2]);
}
-void v3_maxv( v3f a, v3f b, v3f dest )
+CSR_INLINE void v3_maxv( v3f a, v3f b, v3f dest )
{
dest[0] = csr_maxf(a[0], b[0]);
dest[1] = csr_maxf(a[1], b[1]);
dest[2] = csr_maxf(a[2], b[2]);
}
-float v3_minf( v3f a )
+CSR_INLINE float v3_minf( v3f a )
{
return csr_minf( csr_minf( a[0], a[1] ), a[2] );
}
-float v3_maxf( v3f a )
+CSR_INLINE float v3_maxf( v3f a )
{
return csr_maxf( csr_maxf( a[0], a[1] ), a[2] );
}
-void v3_fill( v3f a, float v )
+CSR_INLINE void v3_fill( v3f a, float v )
{
a[0] = v;
a[1] = v;
a[2] = v;
}
+// Vector 4
+// ==================================================================================================================
+
+CSR_INLINE void v4_copy( v4f a, v4f b )
+{
+ b[0] = a[0]; b[1] = a[1]; b[2] = a[2]; b[3] = a[3];
+}
+
+CSR_INLINE void v4_zero( v4f a )
+{
+ a[0] = 0.f; a[1] = 0.f; a[2] = 0.f; a[3] = 0.f;
+}
+
+// Matrix 3x3
+//======================================================================================================
+CSR_INLINE void m3x3_inv_transpose( m3x3f src, m3x3f dest )
+{
+ float a = src[0][0], b = src[0][1], c = src[0][2],
+ d = src[1][0], e = src[1][1], f = src[1][2],
+ g = src[2][0], h = src[2][1], i = src[2][2];
+
+ float det = 1.f /
+ (+a*(e*i-h*f)
+ -b*(d*i-f*g)
+ +c*(d*h-e*g));
+
+ dest[0][0] = (e*i-h*f)*det;
+ dest[1][0] = -(b*i-c*h)*det;
+ dest[2][0] = (b*f-c*e)*det;
+ dest[0][1] = -(d*i-f*g)*det;
+ dest[1][1] = (a*i-c*g)*det;
+ dest[2][1] = -(a*f-d*c)*det;
+ dest[0][2] = (d*h-g*e)*det;
+ dest[1][2] = -(a*h-g*b)*det;
+ dest[2][2] = (a*e-d*b)*det;
+}
+
+CSR_INLINE void m3x3_mulv( m3x3f m, v3f v, v3f d )
+{
+ v3f res;
+
+ res[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
+ res[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
+ res[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
+
+ v3_copy( res, d );
+}
// Matrix 4x3
// ==================================================================================================================
{ 0.0f, 0.0f, 1.0f, },\
{ 0.0f, 0.0f, 0.0f }}
-void m4x3_mul( m4x3f a, m4x3f b, m4x3f d )
+CSR_INLINE void m4x3_to_3x3( m4x3f a, m3x3f b )
+{
+ v3_copy( a[0], b[0] );
+ v3_copy( a[1], b[1] );
+ v3_copy( a[2], b[2] );
+}
+
+CSR_INLINE void m4x3_copy( m4x3f a, m4x3f b )
+{
+ v3_copy( a[0], b[0] );
+ v3_copy( a[1], b[1] );
+ v3_copy( a[2], b[2] );
+ v3_copy( a[3], b[3] );
+}
+
+CSR_INLINE void m4x3_identity( m4x3f a )
+{
+ m4x3f id = M4X3_IDENTITY;
+ m4x3_copy( id, a );
+}
+
+CSR_INLINE void m4x3_mul( m4x3f a, m4x3f b, m4x3f d )
{
float
a00 = a[0][0], a01 = a[0][1], a02 = a[0][2],
b10 = b[1][0], b11 = b[1][1], b12 = b[1][2],
b20 = b[2][0], b21 = b[2][1], b22 = b[2][2],
b30 = b[3][0], b31 = b[3][1], b32 = b[3][2];
-
- d[0][0] = a00*b00 + a10*b01 + a20*b02 + a30;
- d[0][1] = a01*b00 + a11*b01 + a21*b02 + a31;
- d[0][2] = a02*b00 + a12*b01 + a22*b02 + a32;
- d[1][0] = a00*b10 + a10*b11 + a20*b12 + a30;
- d[1][1] = a01*b10 + a11*b11 + a21*b12 + a31;
- d[1][2] = a02*b10 + a12*b11 + a22*b12 + a32;
- d[2][0] = a00*b20 + a10*b21 + a20*b22 + a30;
- d[2][1] = a01*b20 + a11*b21 + a21*b22 + a31;
- d[2][2] = a02*b20 + a12*b21 + a22*b22 + a32;
+
+ d[0][0] = a00*b00 + a10*b01 + a20*b02;
+ d[0][1] = a01*b00 + a11*b01 + a21*b02;
+ d[0][2] = a02*b00 + a12*b01 + a22*b02;
+ d[1][0] = a00*b10 + a10*b11 + a20*b12;
+ d[1][1] = a01*b10 + a11*b11 + a21*b12;
+ d[1][2] = a02*b10 + a12*b11 + a22*b12;
+ d[2][0] = a00*b20 + a10*b21 + a20*b22;
+ d[2][1] = a01*b20 + a11*b21 + a21*b22;
+ d[2][2] = a02*b20 + a12*b21 + a22*b22;
d[3][0] = a00*b30 + a10*b31 + a20*b32 + a30;
d[3][1] = a01*b30 + a11*b31 + a21*b32 + a31;
d[3][2] = a02*b30 + a12*b31 + a22*b32 + a32;
}
-void m4x3_mulv( m4x3f m, v3f v, v3f d )
+CSR_INLINE void m4x3_mulv( m4x3f m, v3f v, v3f d )
{
v3f res;
// Affine transforms
-void m4x3_translate( m4x3f m, v3f v )
+CSR_INLINE void m4x3_translate( m4x3f m, v3f v )
{
v3_muladds( m[3], m[0], v[0], m[3] );
v3_muladds( m[3], m[1], v[1], m[3] );
v3_muladds( m[3], m[2], v[2], m[3] );
}
-void m4x3_scale( m4x3f m, float s )
+CSR_INLINE void m4x3_scale( m4x3f m, float s )
{
v3_muls( m[0], s, m[0] );
v3_muls( m[1], s, m[1] );
v3_muls( m[2], s, m[2] );
}
-void m4x3_rotate_x( m4x3f m, float angle )
+CSR_INLINE void m4x3_rotate_x( m4x3f m, float angle )
{
m4x3f t = M4X3_IDENTITY;
float c, s;
m4x3_mul( m, t, m );
}
-void m4x3_rotate_y( m4x3f m, float angle )
+CSR_INLINE void m4x3_rotate_y( m4x3f m, float angle )
{
m4x3f t = M4X3_IDENTITY;
float c, s;
m4x3_mul( m, t, m );
}
-void m4x3_rotate_z( m4x3f m, float angle )
+CSR_INLINE void m4x3_rotate_z( m4x3f m, float angle )
{
m4x3f t = M4X3_IDENTITY;
float c, s;
m4x3_mul( m, t, m );
}
+// Warning: These functions are unoptimized..
+CSR_INLINE void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
+{
+ v3f v;
+ m4x3_mulv( m, point, v );
+
+ v3_minv( box[0], v, box[0] );
+ v3_maxv( box[1], v, box[1] );
+}
+
+CSR_INLINE void box_concat( boxf a, boxf b )
+{
+ v3_minv( a[0], b[0], a[0] );
+ v3_maxv( a[1], b[1], a[1] );
+}
+
+CSR_INLINE void box_copy( boxf a, boxf b )
+{
+ v3_copy( a[0], b[0] );
+ v3_copy( a[1], b[1] );
+}
+
+CSR_INLINE void m4x3_transform_aabb( m4x3f m, boxf box )
+{
+ v3f a; v3f b;
+
+ v3_copy( box[0], a );
+ v3_copy( box[1], b );
+ v3_fill( box[0], INFINITY );
+ v3_fill( box[1], -INFINITY );
+
+ m4x3_expand_aabb_point( m, box, a );
+ m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], a[2] } );
+ m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], a[2] } );
+ m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], a[2] } );
+ m4x3_expand_aabb_point( m, box, b );
+ m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], b[2] } );
+ m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], b[2] } );
+ m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], b[2] } );
+}
+
// Planes (double precision)
// ==================================================================================================================
-void tri_to_plane( double a[3], double b[3], double c[3], double p[4] )
+CSR_INLINE void tri_to_plane( double a[3], double b[3], double c[3], double p[4] )
{
double edge0[3];
double edge1[3];
p[2] = p[2] / l;
}
-int plane_intersect( double a[4], double b[4], double c[4], double p[4] )
+CSR_INLINE int plane_intersect( double a[4], double b[4], double c[4], double p[4] )
{
double const epsilon = 1e-8f;
return 1;
}
-double plane_polarity( double p[4], double a[3] )
+CSR_INLINE double plane_polarity( double p[4], double a[3] )
{
return
(a[0] * p[0] + a[1] * p[1] + a[2] * p[2])
-(p[0]*p[3] * p[0] + p[1]*p[3] * p[1] + p[2]*p[3] * p[2])
;
}
-
-// Raycasting
-// ==================================================================================================================
-
-int csr_slabs( v3f box[2], v3f o, v3f id )
-{
- v3f t0; v3f t1;
- v3f tmin; v3f tmax;
-
- v3_sub( box[0], o, t0 );
- v3_sub( box[1], o, t1 );
- v3_mul( t0, id, t0 );
- v3_mul( t1, id, t1 );
-
- v3_minv( t0, t1, tmin );
- v3_maxv( t0, t1, tmax );
-
- return v3_maxf( tmin ) <= v3_minf( tmax );
-}
-
-float csr_ray_tri( v3f o, v3f d, v3f v0, v3f v1, v3f v2, float *u, float *v )
-{
- float const k_cullEpsilon = 0.0001f;
-
- v3f v0v1;
- v3f v0v2;
- v3f p;
- float det, inv;
-
- v3f tv;
- v3f qv;
-
- v3_sub( v1, v0, v0v1 );
- v3_sub( v2, v0, v0v2 );
- v3_cross( d, v0v2, p );
-
- det = v3_dot( v0v1, p );
-
- if( det < k_cullEpsilon ) return INFINITY;
-
- inv = 1.f / det;
-
- v3_sub( o, v0, tv );
- *u = v3_dot( tv, p ) * inv;
-
- if( *u < 0.f || *u > 1.f ) return INFINITY;
-
- v3_cross( tv, v0v1, qv );
- *v = v3_dot( d, qv ) * inv;
-
- if( *v < 0.f || *u + *v > 1.f ) return INFINITY;
-
- return v3_dot( v0v2, qv ) * inv;
-}
projects / csRadar.git / blobdiff