X-Git-Url: https://harrygodden.com/git/?p=csRadar.git;a=blobdiff_plain;f=csrMath.h;h=31891f8cd682758faa0c897a6eb758f4f5584c2a;hp=9149bfb9abba65d219b3455d780b51c40875d7a9;hb=1d2752b69b6285d5eb6436728c6cf84228a9ccde;hpb=1bdd02062cda9b107c4d66586d3c036ea15f6ae2

diff --git a/csrMath.h b/csrMath.h
index 9149bfb..31891f8 100644
--- 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];
@@ -188,6 +208,12 @@ 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
 //======================================================================================================
 
@@ -354,6 +380,45 @@ 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)
 // ==================================================================================================================
 
@@ -446,7 +511,7 @@ 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;