cropping

[csRadar.git] / csrMath.h

diff --git a/csrMath.h b/csrMath.h
index 63e5bd0e29115a0ddbb1d11f809d4eed48f27a4b..fae268daf0e2bf3e09784cec494018698b1aba5a 100644 (file)
--- a/csrMath.h
+++ b/csrMath.h
@@ -1,6 +1,8 @@
 // Util
 // ==================================================================================================================
 
+#define CSR_PIf 3.14159265358979323846264338327950288f
+
 float csr_minf( float a, float b )
 {
        if( a < b )
@@ -36,6 +38,11 @@ void v3d_v3f( double a[3], float b[3] )
        b[2] = a[2];
 }
 
+float csr_rad( float deg )
+{
+       return deg * CSR_PIf / 180.0f;
+}
+
 // Vector 2
 // ==================================================================================================================
 
@@ -181,6 +188,12 @@ void v3_fill( v3f a, float v )
        a[2] = v;
 }
 
+// Vector 4
+void v4_copy( v4f a, v4f b )
+{
+       b[0] = a[0]; b[1] = a[1]; b[2] = a[2]; b[3] = a[3];
+}
+
 // Matrix 3x3
 //======================================================================================================
 
@@ -257,16 +270,16 @@ void m4x3_mul( m4x3f a, m4x3f b, m4x3f d )
        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;
@@ -347,6 +360,45 @@ 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 );
+
+       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)
 // ==================================================================================================================
 
@@ -455,19 +507,19 @@ float csr_ray_tri( v3f o, v3f d, v3f v0, v3f v1, v3f v2, float *u, float *v )
        
        det = v3_dot( v0v1, p );
        
-       if( det < k_cullEpsilon ) return INFINITY;
+       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;
+       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;
+       if( *v < 0.f || *u + *v > 1.f ) return -INFINITY;
        
        return v3_dot( v0v2, qv ) * inv;
 }