fixed aabb transform func

[csRadar.git] / csrMath.h

diff --git a/csrMath.h b/csrMath.h
index d9a414f1b372ba651977c3622d92ccacbada39eb..c14234fe6f9da4a44d0278b8cfff498ffc2be8a9 100644 (file)
--- a/csrMath.h
+++ b/csrMath.h
@@ -63,9 +63,29 @@ void v2_maxv( v2f a, v2f b, v2f dest )
        dest[1] = csr_maxf(a[1], b[1]);
 }
 
+void v2_sub( v2f a, v2f b, v2f d )
+{
+       d[0] = a[0]-b[0]; d[1] = a[1]-b[1];
+}
+
+float v2_cross( v2f a, v2f b )
+{
+       return a[0] * b[1] - a[1] * b[0];
+}
+
+void v2_add( v2f a, v2f b, v2f d )
+{
+       d[0] = a[0]+b[0]; d[1] = a[1]+b[1];
+}
+
 // Vector 3
 // ==================================================================================================================
 
+void v3_zero( v3f a )
+{
+       a[0] = 0.f; a[1] = 0.f; a[2] = 0.f;
+}
+
 void v3_copy( v3f a, v3f b )
 {
        b[0] = a[0]; b[1] = a[1]; b[2] = a[2];
@@ -360,6 +380,47 @@ void m4x3_rotate_z( m4x3f m, float angle )
        m4x3_mul( m, t, m );
 }
 
+// Warning: These functions are unoptimized..
+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] );
+}
+
+void box_concat( boxf a, boxf b )
+{
+       v3_minv( a[0], b[0], a[0] );
+       v3_maxv( a[1], b[1], a[1] );
+}
+
+void box_copy( boxf a, boxf b )
+{
+       v3_copy( a[0], b[0] );
+       v3_copy( a[1], b[1] );
+}
+
+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)
 // ==================================================================================================================
 
@@ -452,7 +513,7 @@ int csr_slabs( v3f box[2], v3f o, v3f id )
 
 float csr_ray_tri( v3f o, v3f d, v3f v0, v3f v1, v3f v2, float *u, float *v )
 {
-       float const k_cullEpsilon = 0.0001f;
+       float const k_cullEpsilon = 0.000001f;
 
        v3f v0v1;
        v3f v0v2;