X-Git-Url: https://harrygodden.com/git/?p=csRadar.git;a=blobdiff_plain;f=csrMath.h;h=9149bfb9abba65d219b3455d780b51c40875d7a9;hp=c758afca1f66fa96f1e1615df7dc371282c8f29d;hb=1bdd02062cda9b107c4d66586d3c036ea15f6ae2;hpb=a97099abba0a239e20929f04ece9d6839c96ac14

diff --git a/csrMath.h b/csrMath.h
index c758afc..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
 // ==================================================================================================================
 
@@ -181,7 +188,41 @@ void v3_fill( v3f a, float v )
 	a[2] = v;
 }
 
+// Matrix 3x3
+//======================================================================================================
 
+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;
+}
+
+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
 // ==================================================================================================================
@@ -191,6 +232,27 @@ void v3_fill( v3f a, float v )
 								{ 0.0f, 0.0f, 1.0f, },\
 								{ 0.0f, 0.0f, 0.0f }}
 
+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] );
+}
+
+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] );
+}
+
+void m4x3_identity( m4x3f a )
+{
+	m4x3f id = M4X3_IDENTITY;
+	m4x3_copy( id, a );
+}
+
 void m4x3_mul( m4x3f a, m4x3f b, m4x3f d ) 
 {
 	float 
@@ -202,16 +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;
@@ -400,19 +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;
 }