X-Git-Url: https://harrygodden.com/git/?p=fishladder.git;a=blobdiff_plain;f=vg%2Fvg_m.h;fp=vg%2Fvg_m.h;h=0000000000000000000000000000000000000000;hp=577138fb12e575698d1c941e15958f05a898beeb;hb=30490c4c08d5c0f811017a901aa9e25a95be7c40;hpb=3363633178b1eea582304742ad1202487af0feb1 diff --git a/vg/vg_m.h b/vg/vg_m.h deleted file mode 100644 index 577138f..0000000 --- a/vg/vg_m.h +++ /dev/null @@ -1,733 +0,0 @@ -// Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved - -// Util -// ================================================================================================================== - -#define VG_PIf 3.14159265358979323846264338327950288f -#define VG_TAUf 6.28318530717958647692528676655900576f - -// Simple min/max replacements -static inline float vg_minf( float a, float b ) -{ - return a < b? a: b; -} - -static inline float vg_maxf( float a, float b ) -{ - return a > b? a: b; -} - -static inline float vg_clampf( float a, float min, float max ) -{ - return vg_minf( max, vg_maxf( a, min ) ); -} - -#define VG_MIN( A, B ) ((A)<(B)?(A):(B)) -#define VG_MAX( A, B ) ((A)>(B)?(A):(B)) - -// Hopefully deprecate this!! -static inline int vg_min( int a, int b ) -{ - return a < b? a: b; -} - -static inline int vg_max( int a, int b ) -{ - return a > b? a: b; -} - -// Convert degrees to radians -static inline float vg_rad( float deg ) -{ - return deg * VG_PIf / 180.0f; -} - -// Vector 2 -// ================================================================================================================== - -static inline void v2_copy( v2f a, v2f b ) -{ - b[0] = a[0]; b[1] = a[1]; -} - -static inline void v2i_copy( v2i a, v2i b ) -{ - b[0] = a[0]; b[1] = a[1]; -} - -static inline int v2i_eq( v2i a, v2i b ) -{ - return ((a[0] == b[0]) && (a[1] == b[1])); -} - -static inline void v2i_add( v2i a, v2i b, v2i d ) -{ - d[0] = a[0]+b[0]; d[1] = a[1]+b[1]; -} - -static inline void v2i_sub( v2i a, v2i b, v2i d ) -{ - d[0] = a[0]-b[0]; d[1] = a[1]-b[1]; -} - -static inline void v2_minv( v2f a, v2f b, v2f dest ) -{ - dest[0] = vg_minf(a[0], b[0]); - dest[1] = vg_minf(a[1], b[1]); -} - -static inline void v2_maxv( v2f a, v2f b, v2f dest ) -{ - dest[0] = vg_maxf(a[0], b[0]); - dest[1] = vg_maxf(a[1], b[1]); -} - -static inline void v2_sub( v2f a, v2f b, v2f d ) -{ - d[0] = a[0]-b[0]; d[1] = a[1]-b[1]; -} - -static inline float v2_cross( v2f a, v2f b ) -{ - return a[0] * b[1] - a[1] * b[0]; -} - -static inline void v2_add( v2f a, v2f b, v2f d ) -{ - d[0] = a[0]+b[0]; d[1] = a[1]+b[1]; -} - -static inline void v2_muls( v2f a, float s, v2f d ) -{ - d[0] = a[0]*s; d[1] = a[1]*s; -} - -static inline void v2_divs( v2f a, float s, v2f d ) -{ - d[0] = a[0]/s; d[1] = a[1]/s; -} - - -static inline void v2_mul( v2f a, v2f b, v2f d ) -{ - d[0] = a[0]*b[0]; - d[1] = a[1]*b[1]; -} - -static inline void v2_div( v2f a, v2f b, v2f d ) -{ - d[0] = a[0]/b[0]; d[1] = a[1]/b[1]; -} - -static inline void v2_muladd( v2f a, v2f b, v2f s, v2f d ) -{ - d[0] = a[0]+b[0]*s[0]; - d[1] = a[1]+b[1]*s[1]; -} - -static inline void v2_muladds( v2f a, v2f b, float s, v2f d ) -{ - d[0] = a[0]+b[0]*s; - d[1] = a[1]+b[1]*s; -} - -static inline float v2_length2( v2f a ) -{ - return a[0]*a[0] + a[1]*a[1]; -} - -static inline float v2_length( v2f a ) -{ - return sqrtf( v2_length2( a ) ); -} - -static inline float v2_dist2( v2f a, v2f b ) -{ - v2f delta; - v2_sub( a, b, delta ); - return v2_length2( delta ); -} - -static inline float v2_dist( v2f a, v2f b ) -{ - return sqrtf( v2_dist2( a, b ) ); -} - -static inline void v2_lerp( v2f a, v2f b, float t, v2f d ) -{ - d[0] = a[0] + t*(b[0]-a[0]); - d[1] = a[1] + t*(b[1]-a[1]); -} - -// Vector 3 -// ================================================================================================================== - -static inline void v3_zero( v3f a ) -{ - a[0] = 0.f; a[1] = 0.f; a[2] = 0.f; -} - -static inline void v3_copy( v3f a, v3f b ) -{ - b[0] = a[0]; b[1] = a[1]; b[2] = a[2]; -} - -static 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]; -} - -static 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]; -} - -static 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]; -} - -static 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]; -} - -static 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; -} - -static 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; -} - -static 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; -} - -static inline float v3_dot( v3f a, v3f b ) -{ - return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; -} - -static 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]; -} - -static inline float v3_length2( v3f a ) -{ - return v3_dot( a, a ); -} - -static inline float v3_length( v3f a ) -{ - return sqrtf( v3_length2( a ) ); -} - -static inline float v3_dist2( v3f a, v3f b ) -{ - v3f delta; - v3_sub( a, b, delta ); - return v3_length2( delta ); -} - -static inline float v3_dist( v3f a, v3f b ) -{ - return sqrtf( v3_dist2( a, b ) ); -} - -static inline void v3_normalize( v3f a ) -{ - v3_muls( a, 1.f / v3_length( a ), a ); -} - -static inline float vg_lerpf( float a, float b, float t ) -{ - return a + t*(b-a); -} - -static 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]); -} - -static inline void v3_minv( v3f a, v3f b, v3f dest ) -{ - dest[0] = vg_minf(a[0], b[0]); - dest[1] = vg_minf(a[1], b[1]); - dest[2] = vg_minf(a[2], b[2]); -} - -static inline void v3_maxv( v3f a, v3f b, v3f dest ) -{ - dest[0] = vg_maxf(a[0], b[0]); - dest[1] = vg_maxf(a[1], b[1]); - dest[2] = vg_maxf(a[2], b[2]); -} - -static inline float v3_minf( v3f a ) -{ - return vg_minf( vg_minf( a[0], a[1] ), a[2] ); -} - -static inline float v3_maxf( v3f a ) -{ - return vg_maxf( vg_maxf( a[0], a[1] ), a[2] ); -} - -static inline void v3_fill( v3f a, float v ) -{ - a[0] = v; - a[1] = v; - a[2] = v; -} - -// Vector 4 -// ================================================================================================================== - -static inline void v4_copy( v4f a, v4f b ) -{ - b[0] = a[0]; b[1] = a[1]; b[2] = a[2]; b[3] = a[3]; -} - -static inline void v4_zero( v4f a ) -{ - a[0] = 0.f; a[1] = 0.f; a[2] = 0.f; a[3] = 0.f; -} - -// Matrix 2x2 -// =========================================================================================================== - -#define M2X2_INDENTIY {{1.0f, 0.0f, }, \ - { 0.0f, 1.0f, }} - -#define M2X2_ZERO {{0.0f, 0.0f, }, \ - { 0.0f, 0.0f, }} - -static inline void m2x2_copy( m2x2f a, m2x2f b ) -{ - v2_copy( a[0], b[0] ); - v2_copy( a[1], b[1] ); -} - -static inline void m2x2_identity( m2x2f a ) -{ - m2x2f id = M2X2_INDENTIY; - m2x2_copy( id, a ); -} - -static inline void m2x2_create_rotation( m2x2f a, float theta ) -{ - float s, c; - - s = sinf( theta ); - c = cosf( theta ); - - a[0][0] = c; - a[0][1] = -s; - a[1][0] = s; - a[1][1] = c; -} - -// Matrix 3x3 -//====================================================================================================== - -#define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\ - { 0.0f, 1.0f, 0.0f, },\ - { 0.0f, 0.0f, 1.0f, }} - -#define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\ - { 0.0f, 0.0f, 0.0f, },\ - { 0.0f, 0.0f, 0.0f, }} - - -static inline void m3x3_copy( m3x3f a, m3x3f b ) -{ - v3_copy( a[0], b[0] ); - v3_copy( a[1], b[1] ); - v3_copy( a[2], b[2] ); -} - -static inline void m3x3_identity( m3x3f a ) -{ - m3x3f id = M3X3_IDENTITY; - m3x3_copy( id, a ); -} - -static inline void m3x3_zero( m3x3f a ) -{ - m3x3f z = M3X3_ZERO; - m3x3_copy( z, a ); -} - -static inline void m3x3_inv( 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[0][1] = -(b*i-c*h)*det; - dest[0][2] = (b*f-c*e)*det; - dest[1][0] = -(d*i-f*g)*det; - dest[1][1] = (a*i-c*g)*det; - dest[1][2] = -(a*f-d*c)*det; - dest[2][0] = (d*h-g*e)*det; - dest[2][1] = -(a*h-g*b)*det; - dest[2][2] = (a*e-d*b)*det; -} - -static inline void m3x3_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]; - - dest[0][0] = a; - dest[0][1] = d; - dest[0][2] = g; - dest[1][0] = b; - dest[1][1] = e; - dest[1][2] = h; - dest[2][0] = c; - dest[2][1] = f; - dest[2][2] = i; -} - -static inline void m3x3_mul( m3x3f a, m3x3f b, m3x3f d ) -{ - float a00 = a[0][0], a01 = a[0][1], a02 = a[0][2], - a10 = a[1][0], a11 = a[1][1], a12 = a[1][2], - a20 = a[2][0], a21 = a[2][1], a22 = a[2][2], - - b00 = b[0][0], b01 = b[0][1], b02 = b[0][2], - b10 = b[1][0], b11 = b[1][1], b12 = b[1][2], - b20 = b[2][0], b21 = b[2][1], b22 = b[2][2]; - - 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; -} - -static 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 ); -} - -static inline void m3x3_projection( m3x3f dst, float const left, float const right, float const bottom, float const top ) -{ - float rl, tb; - - m3x3_zero( dst ); - - rl = 1.0f / (right - left); - tb = 1.0f / (top - bottom); - - dst[0][0] = 2.0f * rl; - dst[1][1] = 2.0f * tb; - dst[2][2] = 1.0f; -} - -static inline void m3x3_translate( m3x3f m, v3f v ) -{ - m[2][0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0]; - m[2][1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1]; - m[2][2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2]; -} - -static inline void m3x3_scale( m3x3f m, v3f v ) -{ - m[0][0] = m[0][0] * v[0]; - m[0][1] = m[0][1] * v[0]; - m[0][2] = m[0][2] * v[0]; - - m[1][0] = m[1][0] * v[1]; - m[1][1] = m[1][1] * v[1]; - m[1][2] = m[1][2] * v[1]; -} - -static inline void m3x3_rotate( m3x3f m, float angle ) -{ - float m00 = m[0][0], m10 = m[1][0], - m01 = m[0][1], m11 = m[1][1], - m02 = m[0][2], m12 = m[1][2]; - float c, s; - - s = sinf( angle ); - c = cosf( angle ); - - m[0][0] = m00 * c + m10 * s; - m[0][1] = m01 * c + m11 * s; - m[0][2] = m02 * c + m12 * s; - - m[1][0] = m00 * -s + m10 * c; - m[1][1] = m01 * -s + m11 * c; - m[1][2] = m02 * -s + m12 * c; -} - -// Matrix 4x3 -// ================================================================================================================== - -#define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\ - { 0.0f, 1.0f, 0.0f, },\ - { 0.0f, 0.0f, 1.0f, },\ - { 0.0f, 0.0f, 0.0f }} - -static 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] ); -} - -static 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] ); -} - -static inline void m4x3_identity( m4x3f a ) -{ - m4x3f id = M4X3_IDENTITY; - m4x3_copy( id, a ); -} - -static inline void m4x3_mul( m4x3f a, m4x3f b, m4x3f d ) -{ - float - a00 = a[0][0], a01 = a[0][1], a02 = a[0][2], - a10 = a[1][0], a11 = a[1][1], a12 = a[1][2], - a20 = a[2][0], a21 = a[2][1], a22 = a[2][2], - a30 = a[3][0], a31 = a[3][1], a32 = a[3][2], - b00 = b[0][0], b01 = b[0][1], b02 = b[0][2], - 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; - 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; -} - -static inline void m4x3_mulv( m4x3f m, v3f v, v3f d ) -{ - v3f res; - - res[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2] + m[3][0]; - res[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2] + m[3][1]; - res[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2] + m[3][2]; - - v3_copy( res, d ); -} - -// Affine transforms -// ==================================================================================================================== - -static 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] ); -} - -static 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] ); -} - -static inline void m4x3_rotate_x( m4x3f m, float angle ) -{ - m4x3f t = M4X3_IDENTITY; - float c, s; - - c = cosf( angle ); - s = sinf( angle ); - - t[1][1] = c; - t[1][2] = s; - t[2][1] = -s; - t[2][2] = c; - - m4x3_mul( m, t, m ); -} - -static inline void m4x3_rotate_y( m4x3f m, float angle ) -{ - m4x3f t = M4X3_IDENTITY; - float c, s; - - c = cosf( angle ); - s = sinf( angle ); - - t[0][0] = c; - t[0][2] = -s; - t[2][0] = s; - t[2][2] = c; - - m4x3_mul( m, t, m ); -} - -static inline void m4x3_rotate_z( m4x3f m, float angle ) -{ - m4x3f t = M4X3_IDENTITY; - float c, s; - - c = cosf( angle ); - s = sinf( angle ); - - t[0][0] = c; - t[0][1] = s; - t[1][0] = -s; - t[1][1] = c; - - m4x3_mul( m, t, m ); -} - -// Warning: These functions are unoptimized.. -static 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] ); -} - -static inline void box_concat( boxf a, boxf b ) -{ - v3_minv( a[0], b[0], a[0] ); - v3_maxv( a[1], b[1], a[1] ); -} - -static inline void box_copy( boxf a, boxf b ) -{ - v3_copy( a[0], b[0] ); - v3_copy( a[1], b[1] ); -} - -static 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) -// ================================================================================================================== - -static inline void tri_to_plane( double a[3], double b[3], double c[3], double p[4] ) -{ - double edge0[3]; - double edge1[3]; - double l; - - edge0[0] = b[0] - a[0]; - edge0[1] = b[1] - a[1]; - edge0[2] = b[2] - a[2]; - - edge1[0] = c[0] - a[0]; - edge1[1] = c[1] - a[1]; - edge1[2] = c[2] - a[2]; - - p[0] = edge0[1] * edge1[2] - edge0[2] * edge1[1]; - p[1] = edge0[2] * edge1[0] - edge0[0] * edge1[2]; - p[2] = edge0[0] * edge1[1] - edge0[1] * edge1[0]; - - l = sqrt(p[0] * p[0] + p[1] * p[1] + p[2] * p[2]); - p[3] = (p[0] * a[0] + p[1] * a[1] + p[2] * a[2]) / l; - - p[0] = p[0] / l; - p[1] = p[1] / l; - p[2] = p[2] / l; -} - -static inline int plane_intersect( double a[4], double b[4], double c[4], double p[4] ) -{ - double const epsilon = 1e-8f; - - double x[3]; - double d; - - x[0] = a[1] * b[2] - a[2] * b[1]; - x[1] = a[2] * b[0] - a[0] * b[2]; - x[2] = a[0] * b[1] - a[1] * b[0]; - - d = x[0] * c[0] + x[1] * c[1] + x[2] * c[2]; - - if( d < epsilon && d > -epsilon ) return 0; - - p[0] = (b[1] * c[2] - b[2] * c[1]) * -a[3]; - p[1] = (b[2] * c[0] - b[0] * c[2]) * -a[3]; - p[2] = (b[0] * c[1] - b[1] * c[0]) * -a[3]; - - p[0] += (c[1] * a[2] - c[2] * a[1]) * -b[3]; - p[1] += (c[2] * a[0] - c[0] * a[2]) * -b[3]; - p[2] += (c[0] * a[1] - c[1] * a[0]) * -b[3]; - - p[0] += (a[1] * b[2] - a[2] * b[1]) * -c[3]; - p[1] += (a[2] * b[0] - a[0] * b[2]) * -c[3]; - p[2] += (a[0] * b[1] - a[1] * b[0]) * -c[3]; - - p[0] = -p[0] / d; - p[1] = -p[1] / d; - p[2] = -p[2] / d; - - return 1; -} - -static 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]) - ; -}