X-Git-Url: https://harrygodden.com/git/?p=csRadar.git;a=blobdiff_plain;f=csrMath.h;h=36ad62fe4583bb848e5d7ef90929594982ed3d23;hp=c758afca1f66fa96f1e1615df7dc371282c8f29d;hb=HEAD;hpb=a97099abba0a239e20929f04ece9d6839c96ac14 diff --git a/csrMath.h b/csrMath.h index c758afc..36ad62f 100644 --- a/csrMath.h +++ b/csrMath.h @@ -1,187 +1,274 @@ +// 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 // ================================================================================================================== @@ -191,7 +278,28 @@ void v3_fill( v3f a, float v ) { 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], @@ -202,22 +310,22 @@ 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; } -void m4x3_mulv( m4x3f m, v3f v, v3f d ) +CSR_INLINE void m4x3_mulv( m4x3f m, v3f v, v3f d ) { v3f res; @@ -230,21 +338,21 @@ void m4x3_mulv( m4x3f m, v3f v, v3f d ) // 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; @@ -260,7 +368,7 @@ void m4x3_rotate_x( m4x3f m, float angle ) 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; @@ -276,7 +384,7 @@ void m4x3_rotate_y( m4x3f m, float angle ) 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; @@ -292,10 +400,51 @@ void m4x3_rotate_z( m4x3f m, float angle ) 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]; @@ -321,7 +470,7 @@ void tri_to_plane( double a[3], double b[3], double c[3], double p[4] ) 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; @@ -355,64 +504,10 @@ int plane_intersect( double a[4], double b[4], double c[4], double p[4] ) 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; -}