X-Git-Url: https://harrygodden.com/git/?p=csRadar.git;a=blobdiff_plain;f=csrMath.h;h=9149bfb9abba65d219b3455d780b51c40875d7a9;hp=63e5bd0e29115a0ddbb1d11f809d4eed48f27a4b;hb=1bdd02062cda9b107c4d66586d3c036ea15f6ae2;hpb=8aa3bce0394bff13b44ea3cd84a47f5880fd7527

diff --git a/csrMath.h b/csrMath.h
index 63e5bd0..9149bfb 100644
--- 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
 // ==================================================================================================================
 
@@ -257,16 +264,16 @@ 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;
@@ -455,19 +462,19 @@ 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;
 }