392eb2f09c9d7645350320255b8e489bb37ae43a
1 /* Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved */
3 #define VG_PIf 3.14159265358979323846264338327950288f
4 #define VG_TAUf 6.28318530717958647692528676655900576f
6 static inline float vg_minf( float a
, float b
)
11 static inline float vg_maxf( float a
, float b
)
16 static inline float vg_clampf( float a
, float min
, float max
)
18 return vg_minf( max
, vg_maxf( a
, min
) );
21 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
22 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
24 static inline int vg_min( int a
, int b
)
29 static inline int vg_max( int a
, int b
)
34 static inline float vg_rad( float deg
)
36 return deg
* VG_PIf
/ 180.0f
;
42 static inline void v2_copy( v2f a
, v2f b
)
44 b
[0] = a
[0]; b
[1] = a
[1];
47 static inline void v2i_copy( v2i a
, v2i b
)
49 b
[0] = a
[0]; b
[1] = a
[1];
52 static inline int v2i_eq( v2i a
, v2i b
)
54 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
57 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
59 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
62 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
64 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
67 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
69 dest
[0] = vg_minf(a
[0], b
[0]);
70 dest
[1] = vg_minf(a
[1], b
[1]);
73 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
75 dest
[0] = vg_maxf(a
[0], b
[0]);
76 dest
[1] = vg_maxf(a
[1], b
[1]);
79 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
81 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
84 static inline float v2_cross( v2f a
, v2f b
)
86 return a
[0] * b
[1] - a
[1] * b
[0];
89 static inline void v2_add( v2f a
, v2f b
, v2f d
)
91 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
94 static inline void v2_muls( v2f a
, float s
, v2f d
)
96 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
99 static inline void v2_divs( v2f a
, float s
, v2f d
)
101 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
104 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
110 static inline void v2_div( v2f a
, v2f b
, v2f d
)
112 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
115 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
117 d
[0] = a
[0]+b
[0]*s
[0];
118 d
[1] = a
[1]+b
[1]*s
[1];
121 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
127 static inline float v2_length2( v2f a
)
129 return a
[0]*a
[0] + a
[1]*a
[1];
132 static inline float v2_length( v2f a
)
134 return sqrtf( v2_length2( a
) );
137 static inline float v2_dist2( v2f a
, v2f b
)
140 v2_sub( a
, b
, delta
);
141 return v2_length2( delta
);
144 static inline float v2_dist( v2f a
, v2f b
)
146 return sqrtf( v2_dist2( a
, b
) );
149 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
151 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
152 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
158 static inline void v3_zero( v3f a
)
160 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
163 static inline void v3_copy( v3f a
, v3f b
)
165 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
168 static inline void v3_add( v3f a
, v3f b
, v3f d
)
170 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
173 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
175 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
178 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
180 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
183 static inline void v3_div( v3f a
, v3f b
, v3f d
)
185 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
188 static inline void v3_muls( v3f a
, float s
, v3f d
)
190 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
193 static inline void v3_divs( v3f a
, float s
, v3f d
)
195 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
198 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
200 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
203 static inline float v3_dot( v3f a
, v3f b
)
205 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
208 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
210 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
211 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
212 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
215 static inline float v3_length2( v3f a
)
217 return v3_dot( a
, a
);
220 static inline float v3_length( v3f a
)
222 return sqrtf( v3_length2( a
) );
225 static inline float v3_dist2( v3f a
, v3f b
)
228 v3_sub( a
, b
, delta
);
229 return v3_length2( delta
);
232 static inline float v3_dist( v3f a
, v3f b
)
234 return sqrtf( v3_dist2( a
, b
) );
237 static inline void v3_normalize( v3f a
)
239 v3_muls( a
, 1.f
/ v3_length( a
), a
);
242 static inline float vg_lerpf( float a
, float b
, float t
)
247 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
249 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
250 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
251 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
254 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
256 dest
[0] = vg_minf(a
[0], b
[0]);
257 dest
[1] = vg_minf(a
[1], b
[1]);
258 dest
[2] = vg_minf(a
[2], b
[2]);
261 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
263 dest
[0] = vg_maxf(a
[0], b
[0]);
264 dest
[1] = vg_maxf(a
[1], b
[1]);
265 dest
[2] = vg_maxf(a
[2], b
[2]);
268 static inline float v3_minf( v3f a
)
270 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
273 static inline float v3_maxf( v3f a
)
275 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
278 static inline void v3_fill( v3f a
, float v
)
288 static inline void v4_copy( v4f a
, v4f b
)
290 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
293 static inline void v4_zero( v4f a
)
295 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
302 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
305 #define M2X2_ZERO {{0.0f, 0.0f, }, \
308 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
310 v2_copy( a
[0], b
[0] );
311 v2_copy( a
[1], b
[1] );
314 static inline void m2x2_identity( m2x2f a
)
316 m2x2f id
= M2X2_INDENTIY
;
320 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
337 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
338 { 0.0f, 1.0f, 0.0f, },\
339 { 0.0f, 0.0f, 1.0f, }}
341 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
342 { 0.0f, 0.0f, 0.0f, },\
343 { 0.0f, 0.0f, 0.0f, }}
346 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
348 v3_copy( a
[0], b
[0] );
349 v3_copy( a
[1], b
[1] );
350 v3_copy( a
[2], b
[2] );
353 static inline void m3x3_identity( m3x3f a
)
355 m3x3f id
= M3X3_IDENTITY
;
359 static inline void m3x3_zero( m3x3f a
)
365 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
367 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
368 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
369 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
376 dest
[0][0] = (e
*i
-h
*f
)*det
;
377 dest
[0][1] = -(b
*i
-c
*h
)*det
;
378 dest
[0][2] = (b
*f
-c
*e
)*det
;
379 dest
[1][0] = -(d
*i
-f
*g
)*det
;
380 dest
[1][1] = (a
*i
-c
*g
)*det
;
381 dest
[1][2] = -(a
*f
-d
*c
)*det
;
382 dest
[2][0] = (d
*h
-g
*e
)*det
;
383 dest
[2][1] = -(a
*h
-g
*b
)*det
;
384 dest
[2][2] = (a
*e
-d
*b
)*det
;
387 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
389 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
390 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
391 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
404 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
406 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
407 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
408 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
410 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
411 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
412 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
414 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
415 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
416 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
417 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
418 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
419 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
420 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
421 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
422 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
425 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
429 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
430 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
431 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
436 static inline void m3x3_projection( m3x3f dst
,
437 float const left
, float const right
, float const bottom
, float const top
)
443 rl
= 1.0f
/ (right
- left
);
444 tb
= 1.0f
/ (top
- bottom
);
446 dst
[0][0] = 2.0f
* rl
;
447 dst
[1][1] = 2.0f
* tb
;
451 static inline void m3x3_translate( m3x3f m
, v3f v
)
453 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
454 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
455 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
458 static inline void m3x3_scale( m3x3f m
, v3f v
)
460 m
[0][0] = m
[0][0] * v
[0];
461 m
[0][1] = m
[0][1] * v
[0];
462 m
[0][2] = m
[0][2] * v
[0];
464 m
[1][0] = m
[1][0] * v
[1];
465 m
[1][1] = m
[1][1] * v
[1];
466 m
[1][2] = m
[1][2] * v
[1];
469 static inline void m3x3_rotate( m3x3f m
, float angle
)
471 float m00
= m
[0][0], m10
= m
[1][0],
472 m01
= m
[0][1], m11
= m
[1][1],
473 m02
= m
[0][2], m12
= m
[1][2];
479 m
[0][0] = m00
* c
+ m10
* s
;
480 m
[0][1] = m01
* c
+ m11
* s
;
481 m
[0][2] = m02
* c
+ m12
* s
;
483 m
[1][0] = m00
* -s
+ m10
* c
;
484 m
[1][1] = m01
* -s
+ m11
* c
;
485 m
[1][2] = m02
* -s
+ m12
* c
;
492 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
493 { 0.0f, 1.0f, 0.0f, },\
494 { 0.0f, 0.0f, 1.0f, },\
495 { 0.0f, 0.0f, 0.0f }}
497 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
499 v3_copy( a
[0], b
[0] );
500 v3_copy( a
[1], b
[1] );
501 v3_copy( a
[2], b
[2] );
504 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
506 v3_copy( a
[0], b
[0] );
507 v3_copy( a
[1], b
[1] );
508 v3_copy( a
[2], b
[2] );
509 v3_copy( a
[3], b
[3] );
512 static inline void m4x3_identity( m4x3f a
)
514 m4x3f id
= M4X3_IDENTITY
;
518 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
521 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
522 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
523 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
524 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
525 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
526 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
527 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
528 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
530 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
531 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
532 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
533 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
534 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
535 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
536 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
537 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
538 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
539 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
540 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
541 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
544 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
548 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
549 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
550 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
559 static inline void m4x3_translate( m4x3f m
, v3f v
)
561 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
562 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
563 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
566 static inline void m4x3_scale( m4x3f m
, float s
)
568 v3_muls( m
[0], s
, m
[0] );
569 v3_muls( m
[1], s
, m
[1] );
570 v3_muls( m
[2], s
, m
[2] );
573 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
575 m4x3f t
= M4X3_IDENTITY
;
589 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
591 m4x3f t
= M4X3_IDENTITY
;
605 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
607 m4x3f t
= M4X3_IDENTITY
;
621 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
624 m4x3_mulv( m
, point
, v
);
626 v3_minv( box
[0], v
, box
[0] );
627 v3_maxv( box
[1], v
, box
[1] );
630 static inline void box_concat( boxf a
, boxf b
)
632 v3_minv( a
[0], b
[0], a
[0] );
633 v3_maxv( a
[1], b
[1], a
[1] );
636 static inline void box_copy( boxf a
, boxf b
)
638 v3_copy( a
[0], b
[0] );
639 v3_copy( a
[1], b
[1] );
642 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
646 v3_copy( box
[0], a
);
647 v3_copy( box
[1], b
);
648 v3_fill( box
[0], INFINITY
);
649 v3_fill( box
[1], -INFINITY
);
651 m4x3_expand_aabb_point( m
, box
, a
);
652 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
653 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
654 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
655 m4x3_expand_aabb_point( m
, box
, b
);
656 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
657 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
658 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
662 * Planes (double precision)
664 static inline void tri_to_plane( double a
[3], double b
[3],
665 double c
[3], double p
[4] )
671 edge0
[0] = b
[0] - a
[0];
672 edge0
[1] = b
[1] - a
[1];
673 edge0
[2] = b
[2] - a
[2];
675 edge1
[0] = c
[0] - a
[0];
676 edge1
[1] = c
[1] - a
[1];
677 edge1
[2] = c
[2] - a
[2];
679 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
680 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
681 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
683 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
684 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
691 static inline int plane_intersect( double a
[4], double b
[4],
692 double c
[4], double p
[4] )
694 double const epsilon
= 1e-8f
;
699 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
700 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
701 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
703 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
705 if( d
< epsilon
&& d
> -epsilon
) return 0;
707 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
708 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
709 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
711 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
712 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
713 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
715 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
716 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
717 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
726 static inline double plane_polarity( double p
[4], double a
[3] )
729 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
730 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])