1 /* Copyright (C) 2021-2022 Harry Godden (hgn) - All Rights Reserved */
6 #include "vg_platform.h"
10 #define VG_PIf 3.14159265358979323846264338327950288f
11 #define VG_TAUf 6.28318530717958647692528676655900576f
13 static inline float vg_minf( float a
, float b
)
18 static inline float vg_maxf( float a
, float b
)
23 static inline float vg_clampf( float a
, float min
, float max
)
25 return vg_minf( max
, vg_maxf( a
, min
) );
28 static inline float vg_signf( float a
)
30 return a
< 0.0f
? -1.0f
: 1.0f
;
33 static inline float vg_fractf( float a
)
35 return a
- floorf( a
);
38 static float stable_force( float current
, float diff
)
40 float fnew
= current
+ diff
;
42 if( fnew
* current
< 0.0f
)
48 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
49 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
51 static inline int vg_min( int a
, int b
)
56 static inline int vg_max( int a
, int b
)
61 static inline float vg_rad( float deg
)
63 return deg
* VG_PIf
/ 180.0f
;
69 static inline void v2_copy( v2f a
, v2f b
)
71 b
[0] = a
[0]; b
[1] = a
[1];
74 static inline void v2_zero( v2f a
)
76 a
[0] = 0.f
; a
[1] = 0.f
;
79 static inline void v2i_copy( v2i a
, v2i b
)
81 b
[0] = a
[0]; b
[1] = a
[1];
84 static inline int v2i_eq( v2i a
, v2i b
)
86 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
89 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
91 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
94 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
96 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
99 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
101 dest
[0] = vg_minf(a
[0], b
[0]);
102 dest
[1] = vg_minf(a
[1], b
[1]);
105 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
107 dest
[0] = vg_maxf(a
[0], b
[0]);
108 dest
[1] = vg_maxf(a
[1], b
[1]);
111 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
113 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
116 static inline float v2_dot( v2f a
, v2f b
)
118 return a
[0] * b
[0] + a
[1] * b
[1];
121 static inline float v2_cross( v2f a
, v2f b
)
123 return a
[0]*b
[1] - a
[1]*b
[0];
126 static inline void v2_add( v2f a
, v2f b
, v2f d
)
128 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
131 static inline void v2_muls( v2f a
, float s
, v2f d
)
133 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
136 static inline void v2_divs( v2f a
, float s
, v2f d
)
138 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
141 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
147 static inline void v2_div( v2f a
, v2f b
, v2f d
)
149 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
152 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
154 d
[0] = a
[0]+b
[0]*s
[0];
155 d
[1] = a
[1]+b
[1]*s
[1];
158 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
164 static inline float v2_length2( v2f a
)
166 return a
[0]*a
[0] + a
[1]*a
[1];
169 static inline float v2_length( v2f a
)
171 return sqrtf( v2_length2( a
) );
174 static inline float v2_dist2( v2f a
, v2f b
)
177 v2_sub( a
, b
, delta
);
178 return v2_length2( delta
);
181 static inline float v2_dist( v2f a
, v2f b
)
183 return sqrtf( v2_dist2( a
, b
) );
186 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
188 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
189 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
192 static inline void v2_normalize( v2f a
)
194 v2_muls( a
, 1.f
/ v2_length( a
), a
);
197 static inline void v2_floor( v2f a
, v2f b
)
199 b
[0] = floorf( a
[0] );
200 b
[1] = floorf( a
[1] );
206 static inline void v3_zero( v3f a
)
208 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
211 static inline void v3_copy( v3f a
, v3f b
)
213 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
216 static inline void v3_add( v3f a
, v3f b
, v3f d
)
218 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
221 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
223 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
226 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
228 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
231 static inline void v3_div( v3f a
, v3f b
, v3f d
)
233 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
236 static inline void v3_muls( v3f a
, float s
, v3f d
)
238 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
241 static inline void v3_divs( v3f a
, float s
, v3f d
)
243 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
246 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
248 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
251 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
253 d
[0] = a
[0]+b
[0]*s
[0];
254 d
[1] = a
[1]+b
[1]*s
[1];
255 d
[2] = a
[2]+b
[2]*s
[2];
258 static inline float v3_dot( v3f a
, v3f b
)
260 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
263 static inline void v3_cross( v3f a
, v3f b
, v3f dest
)
266 d
[0] = a
[1]*b
[2] - a
[2]*b
[1];
267 d
[1] = a
[2]*b
[0] - a
[0]*b
[2];
268 d
[2] = a
[0]*b
[1] - a
[1]*b
[0];
272 static inline float v3_length2( v3f a
)
274 return v3_dot( a
, a
);
277 static inline float v3_length( v3f a
)
279 return sqrtf( v3_length2( a
) );
282 static inline float v3_dist2( v3f a
, v3f b
)
285 v3_sub( a
, b
, delta
);
286 return v3_length2( delta
);
289 static inline float v3_dist( v3f a
, v3f b
)
291 return sqrtf( v3_dist2( a
, b
) );
294 static inline void v3_normalize( v3f a
)
296 v3_muls( a
, 1.f
/ v3_length( a
), a
);
299 static inline float vg_lerpf( float a
, float b
, float t
)
304 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
306 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
307 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
308 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
311 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
313 dest
[0] = vg_minf(a
[0], b
[0]);
314 dest
[1] = vg_minf(a
[1], b
[1]);
315 dest
[2] = vg_minf(a
[2], b
[2]);
318 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
320 dest
[0] = vg_maxf(a
[0], b
[0]);
321 dest
[1] = vg_maxf(a
[1], b
[1]);
322 dest
[2] = vg_maxf(a
[2], b
[2]);
325 static inline float v3_minf( v3f a
)
327 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
330 static inline float v3_maxf( v3f a
)
332 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
335 static inline void v3_fill( v3f a
, float v
)
342 static inline void v3_floor( v3f a
, v3f b
)
344 b
[0] = floorf( a
[0] );
345 b
[1] = floorf( a
[1] );
346 b
[2] = floorf( a
[2] );
349 static inline void v3_ceil( v3f a
, v3f b
)
351 b
[0] = ceilf( a
[0] );
352 b
[1] = ceilf( a
[1] );
353 b
[2] = ceilf( a
[2] );
356 static inline void v3_negate( v3f a
, v3f b
)
363 static inline void v3_rotate( v3f v
, float angle
, v3f axis
, v3f d
)
374 v3_cross( k
, v
, v2
);
375 v3_muls( v2
, s
, v2
);
376 v3_add( v1
, v2
, v1
);
377 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
384 static inline void v4_copy( v4f a
, v4f b
)
386 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
389 static inline void v4_zero( v4f a
)
391 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
394 static inline void v4_muls( v4f a
, float s
, v4f d
)
402 static inline void v4_muladds( v4f a
, v4f b
, float s
, v4f d
)
410 static inline void v4_lerp( v4f a
, v4f b
, float t
, v4f d
)
412 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
413 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
414 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
415 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
418 static inline float v4_dot( v4f a
, v4f b
)
420 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*a
[3];
423 static inline float v4_length( v4f a
)
425 return sqrtf( v4_dot(a
,a
) );
432 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
435 #define M2X2_ZERO {{0.0f, 0.0f, }, \
438 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
440 v2_copy( a
[0], b
[0] );
441 v2_copy( a
[1], b
[1] );
444 static inline void m2x2_identity( m2x2f a
)
446 m2x2f id
= M2X2_INDENTIY
;
450 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
467 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
468 { 0.0f, 1.0f, 0.0f, },\
469 { 0.0f, 0.0f, 1.0f, }}
471 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
472 { 0.0f, 0.0f, 0.0f, },\
473 { 0.0f, 0.0f, 0.0f, }}
476 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
478 v3_copy( a
[0], b
[0] );
479 v3_copy( a
[1], b
[1] );
480 v3_copy( a
[2], b
[2] );
483 static inline void m3x3_identity( m3x3f a
)
485 m3x3f id
= M3X3_IDENTITY
;
489 static inline void m3x3_zero( m3x3f a
)
495 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
497 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
498 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
499 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
506 dest
[0][0] = (e
*i
-h
*f
)*det
;
507 dest
[0][1] = -(b
*i
-c
*h
)*det
;
508 dest
[0][2] = (b
*f
-c
*e
)*det
;
509 dest
[1][0] = -(d
*i
-f
*g
)*det
;
510 dest
[1][1] = (a
*i
-c
*g
)*det
;
511 dest
[1][2] = -(a
*f
-d
*c
)*det
;
512 dest
[2][0] = (d
*h
-g
*e
)*det
;
513 dest
[2][1] = -(a
*h
-g
*b
)*det
;
514 dest
[2][2] = (a
*e
-d
*b
)*det
;
517 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
519 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
520 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
521 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
534 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
536 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
537 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
538 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
540 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
541 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
542 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
544 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
545 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
546 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
547 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
548 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
549 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
550 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
551 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
552 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
555 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
559 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
560 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
561 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
566 static inline void m3x3_projection( m3x3f dst
,
567 float const left
, float const right
, float const bottom
, float const top
)
573 rl
= 1.0f
/ (right
- left
);
574 tb
= 1.0f
/ (top
- bottom
);
576 dst
[0][0] = 2.0f
* rl
;
577 dst
[1][1] = 2.0f
* tb
;
581 static inline void m3x3_translate( m3x3f m
, v3f v
)
583 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
584 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
585 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
588 static inline void m3x3_scale( m3x3f m
, v3f v
)
590 m
[0][0] = m
[0][0] * v
[0];
591 m
[0][1] = m
[0][1] * v
[0];
592 m
[0][2] = m
[0][2] * v
[0];
594 m
[1][0] = m
[1][0] * v
[1];
595 m
[1][1] = m
[1][1] * v
[1];
596 m
[1][2] = m
[1][2] * v
[1];
599 static inline void m3x3_rotate( m3x3f m
, float angle
)
601 float m00
= m
[0][0], m10
= m
[1][0],
602 m01
= m
[0][1], m11
= m
[1][1],
603 m02
= m
[0][2], m12
= m
[1][2];
609 m
[0][0] = m00
* c
+ m10
* s
;
610 m
[0][1] = m01
* c
+ m11
* s
;
611 m
[0][2] = m02
* c
+ m12
* s
;
613 m
[1][0] = m00
* -s
+ m10
* c
;
614 m
[1][1] = m01
* -s
+ m11
* c
;
615 m
[1][2] = m02
* -s
+ m12
* c
;
622 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
623 { 0.0f, 1.0f, 0.0f, },\
624 { 0.0f, 0.0f, 1.0f, },\
625 { 0.0f, 0.0f, 0.0f }}
627 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
629 v3_copy( a
[0], b
[0] );
630 v3_copy( a
[1], b
[1] );
631 v3_copy( a
[2], b
[2] );
634 static inline void m4x3_invert_affine( m4x3f a
, m4x3f b
)
636 m3x3_transpose( a
, b
);
637 m3x3_mulv( b
, a
[3], b
[3] );
638 v3_negate( b
[3], b
[3] );
641 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
643 v3_copy( a
[0], b
[0] );
644 v3_copy( a
[1], b
[1] );
645 v3_copy( a
[2], b
[2] );
646 v3_copy( a
[3], b
[3] );
649 static inline void m4x3_identity( m4x3f a
)
651 m4x3f id
= M4X3_IDENTITY
;
655 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
658 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
659 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
660 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
661 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
662 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
663 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
664 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
665 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
667 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
668 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
669 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
670 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
671 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
672 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
673 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
674 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
675 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
676 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
677 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
678 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
681 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
685 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
686 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
687 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
693 * Transform plane ( xyz, distance )
695 static inline void m4x3_mulp( m4x3f m
, v4f p
, v4f d
)
699 v3_muls( p
, p
[3], o
);
700 m4x3_mulv( m
, o
, o
);
701 m3x3_mulv( m
, p
, d
);
703 d
[3] = v3_dot( o
, d
);
710 static inline void m4x3_translate( m4x3f m
, v3f v
)
712 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
713 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
714 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
717 static inline void m4x3_scale( m4x3f m
, float s
)
719 v3_muls( m
[0], s
, m
[0] );
720 v3_muls( m
[1], s
, m
[1] );
721 v3_muls( m
[2], s
, m
[2] );
724 static inline void m4x3_scalev( m4x3f m
, v3f v
)
726 v3_muls(m
[0], v
[0], m
[0]);
727 v3_muls(m
[1], v
[1], m
[1]);
728 v3_muls(m
[2], v
[2], m
[2]);
731 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
733 m4x3f t
= M4X3_IDENTITY
;
747 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
749 m4x3f t
= M4X3_IDENTITY
;
763 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
765 m4x3f t
= M4X3_IDENTITY
;
779 static inline void m4x3_expand( m4x3f m
, m4x4f d
)
781 v3_copy( m
[0], d
[0] );
782 v3_copy( m
[1], d
[1] );
783 v3_copy( m
[2], d
[2] );
784 v3_copy( m
[3], d
[3] );
791 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
794 m4x3_mulv( m
, point
, v
);
796 v3_minv( box
[0], v
, box
[0] );
797 v3_maxv( box
[1], v
, box
[1] );
800 static inline void box_addpt( boxf a
, v3f pt
)
802 v3_minv( a
[0], pt
, a
[0] );
803 v3_maxv( a
[1], pt
, a
[1] );
806 static inline void box_concat( boxf a
, boxf b
)
808 v3_minv( a
[0], b
[0], a
[0] );
809 v3_maxv( a
[1], b
[1], a
[1] );
812 static inline void box_copy( boxf a
, boxf b
)
814 v3_copy( a
[0], b
[0] );
815 v3_copy( a
[1], b
[1] );
818 static inline int box_overlap( boxf a
, boxf b
)
821 ( a
[0][0] <= b
[1][0] && a
[1][0] >= b
[0][0] ) &&
822 ( a
[0][1] <= b
[1][1] && a
[1][1] >= b
[0][1] ) &&
823 ( a
[0][2] <= b
[1][2] && a
[1][2] >= b
[0][2] )
827 static inline void box_init_inf( boxf box
)
829 v3_fill( box
[0], INFINITY
);
830 v3_fill( box
[1], -INFINITY
);
833 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
837 v3_copy( box
[0], a
);
838 v3_copy( box
[1], b
);
839 v3_fill( box
[0], INFINITY
);
840 v3_fill( box
[1], -INFINITY
);
842 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], a
[2] } );
843 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
844 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
845 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
847 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], b
[2] } );
848 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
849 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
850 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
853 int ray_aabb( boxf box
, v3f co
, v3f dir
, float dist
)
858 v3_sub( box
[0], co
, v0
);
859 v3_sub( box
[1], co
, v1
);
860 v3_div( v0
, dir
, v0
);
861 v3_div( v1
, dir
, v1
);
863 tmin
= vg_minf( v0
[0], v1
[0] );
864 tmax
= vg_maxf( v0
[0], v1
[0] );
865 tmin
= vg_maxf( tmin
, vg_minf( v0
[1], v1
[1] ));
866 tmax
= vg_minf( tmax
, vg_maxf( v0
[1], v1
[1] ));
867 tmin
= vg_maxf( tmin
, vg_minf( v0
[2], v1
[2] ));
868 tmax
= vg_minf( tmax
, vg_maxf( v0
[2], v1
[2] ));
870 return tmax
>= tmin
&& tmin
< dist
&& tmax
> 0;
873 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
876 v3_sub( target
, pos
, dir
);
879 v3_copy( dir
, m
[2] );
881 v3_cross( up
, m
[2], m
[0] );
882 v3_normalize( m
[0] );
884 v3_cross( m
[2], m
[0], m
[1] );
885 v3_copy( pos
, m
[3] );
892 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
893 { 0.0f, 1.0f, 0.0f, 0.0f },\
894 { 0.0f, 0.0f, 1.0f, 0.0f },\
895 { 0.0f, 0.0f, 0.0f, 1.0f }}
896 #define M4X4_ZERO {{0.0f, 0.0f, 0.0f, 0.0f },\
897 { 0.0f, 0.0f, 0.0f, 0.0f },\
898 { 0.0f, 0.0f, 0.0f, 0.0f },\
899 { 0.0f, 0.0f, 0.0f, 0.0f }}
901 static void m4x4_projection( m4x4f m
, float angle
,
902 float ratio
, float fnear
, float ffar
)
904 float scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * fnear
,
910 m
[0][0] = 2.0f
* fnear
/ (r
- l
);
915 m
[1][1] = 2.0f
* fnear
/ (t
- b
);
918 m
[2][0] = (r
+ l
) / (r
- l
);
919 m
[2][1] = (t
+ b
) / (t
- b
);
920 m
[2][2] = -(ffar
+ fnear
) / (ffar
- fnear
);
924 m
[3][2] = -2.0f
* ffar
* fnear
/ (ffar
- fnear
);
928 static void m4x4_translate( m4x4f m
, v3f v
)
930 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
931 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
932 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
935 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
937 v4_copy( a
[0], b
[0] );
938 v4_copy( a
[1], b
[1] );
939 v4_copy( a
[2], b
[2] );
940 v4_copy( a
[3], b
[3] );
943 static inline void m4x4_identity( m4x4f a
)
945 m4x4f id
= M4X4_IDENTITY
;
949 static inline void m4x4_zero( m4x4f a
)
951 m4x4f zero
= M4X4_ZERO
;
952 m4x4_copy( zero
, a
);
955 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
957 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
958 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
959 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
960 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
962 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
963 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
964 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
965 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
967 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
968 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
969 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
970 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
971 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
972 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
973 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
974 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
975 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
976 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
977 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
978 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
979 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
980 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
981 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
982 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
985 static inline void m4x4_mulv( m4x4f m
, v4f v
, v4f d
)
989 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0]*v
[3];
990 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1]*v
[3];
991 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2]*v
[3];
992 res
[3] = m
[0][3]*v
[0] + m
[1][3]*v
[1] + m
[2][3]*v
[2] + m
[3][3]*v
[3];
997 static inline void m4x4_inv( m4x4f a
, m4x4f d
)
999 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
1000 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
1001 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
1002 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
1006 t
[0] = a22
*a33
- a32
*a23
;
1007 t
[1] = a21
*a33
- a31
*a23
;
1008 t
[2] = a21
*a32
- a31
*a22
;
1009 t
[3] = a20
*a33
- a30
*a23
;
1010 t
[4] = a20
*a32
- a30
*a22
;
1011 t
[5] = a20
*a31
- a30
*a21
;
1013 d
[0][0] = a11
*t
[0] - a12
*t
[1] + a13
*t
[2];
1014 d
[1][0] =-(a10
*t
[0] - a12
*t
[3] + a13
*t
[4]);
1015 d
[2][0] = a10
*t
[1] - a11
*t
[3] + a13
*t
[5];
1016 d
[3][0] =-(a10
*t
[2] - a11
*t
[4] + a12
*t
[5]);
1018 d
[0][1] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1019 d
[1][1] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1020 d
[2][1] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1021 d
[3][1] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1023 t
[0] = a12
*a33
- a32
*a13
;
1024 t
[1] = a11
*a33
- a31
*a13
;
1025 t
[2] = a11
*a32
- a31
*a12
;
1026 t
[3] = a10
*a33
- a30
*a13
;
1027 t
[4] = a10
*a32
- a30
*a12
;
1028 t
[5] = a10
*a31
- a30
*a11
;
1030 d
[0][2] = a01
*t
[0] - a02
*t
[1] + a03
*t
[2];
1031 d
[1][2] =-(a00
*t
[0] - a02
*t
[3] + a03
*t
[4]);
1032 d
[2][2] = a00
*t
[1] - a01
*t
[3] + a03
*t
[5];
1033 d
[3][2] =-(a00
*t
[2] - a01
*t
[4] + a02
*t
[5]);
1035 t
[0] = a12
*a23
- a22
*a13
;
1036 t
[1] = a11
*a23
- a21
*a13
;
1037 t
[2] = a11
*a22
- a21
*a12
;
1038 t
[3] = a10
*a23
- a20
*a13
;
1039 t
[4] = a10
*a22
- a20
*a12
;
1040 t
[5] = a10
*a21
- a20
*a11
;
1042 d
[0][3] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1043 d
[1][3] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1044 d
[2][3] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1045 d
[3][3] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1047 det
= 1.0f
/ (a00
*d
[0][0] + a01
*d
[1][0] + a02
*d
[2][0] + a03
*d
[3][0]);
1048 v4_muls( d
[0], det
, d
[0] );
1049 v4_muls( d
[1], det
, d
[1] );
1050 v4_muls( d
[2], det
, d
[2] );
1051 v4_muls( d
[3], det
, d
[3] );
1055 * Planes (double precision)
1057 static inline void tri_to_plane( double a
[3], double b
[3],
1058 double c
[3], double p
[4] )
1064 edge0
[0] = b
[0] - a
[0];
1065 edge0
[1] = b
[1] - a
[1];
1066 edge0
[2] = b
[2] - a
[2];
1068 edge1
[0] = c
[0] - a
[0];
1069 edge1
[1] = c
[1] - a
[1];
1070 edge1
[2] = c
[2] - a
[2];
1072 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
1073 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
1074 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
1076 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
1077 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
1084 static inline int plane_intersect( double a
[4], double b
[4],
1085 double c
[4], double p
[4] )
1087 double const epsilon
= 1e-8f
;
1092 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
1093 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
1094 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
1096 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
1098 if( d
< epsilon
&& d
> -epsilon
) return 0;
1100 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
1101 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
1102 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
1104 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
1105 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
1106 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
1108 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
1109 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
1110 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
1119 static inline double plane_polarity( double p
[4], double a
[3] )
1122 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
1123 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
1129 static inline void q_identity( v4f q
)
1131 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
1134 static inline void q_axis_angle( v4f q
, v3f axis
, float angle
)
1136 float a
= angle
*0.5f
,
1146 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
1149 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
1150 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
1151 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
1152 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
1156 static inline void q_normalize( v4f q
)
1158 float s
= 1.0f
/ sqrtf(v4_dot(q
,q
));
1165 static inline void q_inv( v4f q
, v4f d
)
1167 float s
= 1.0f
/ v4_dot(q
,q
);
1174 static inline void q_nlerp( v4f a
, v4f b
, float t
, v4f d
)
1176 v4_lerp( a
, b
, t
, d
);
1180 static inline void q_m3x3( v4f q
, m3x3f d
)
1184 s
= l
> 0.0f
? 2.0f
/l
: 0.0f
,
1186 xx
= s
*q
[0]*q
[0], xy
= s
*q
[0]*q
[1], wx
= s
*q
[3]*q
[0],
1187 yy
= s
*q
[1]*q
[1], yz
= s
*q
[1]*q
[2], wy
= s
*q
[3]*q
[1],
1188 zz
= s
*q
[2]*q
[2], xz
= s
*q
[0]*q
[2], wz
= s
*q
[3]*q
[2];
1190 d
[0][0] = 1.0f
- yy
- zz
;
1191 d
[1][1] = 1.0f
- xx
- zz
;
1192 d
[2][2] = 1.0f
- xx
- yy
;
1201 static void m3x3_q( m3x3f m
, v4f q
)
1203 float diag
, r
, rinv
;
1205 diag
= m
[0][0] + m
[1][1] + m
[2][2];
1208 r
= sqrtf( 1.0f
+ diag
);
1210 q
[0] = rinv
* (m
[1][2] - m
[2][1]);
1211 q
[1] = rinv
* (m
[2][0] - m
[0][2]);
1212 q
[2] = rinv
* (m
[0][1] - m
[1][0]);
1215 else if( m
[0][0] >= m
[1][1] && m
[0][0] >= m
[2][2] )
1217 r
= sqrtf( 1.0f
- m
[1][1] - m
[2][2] + m
[0][0] );
1220 q
[1] = rinv
* (m
[0][1] + m
[1][0]);
1221 q
[2] = rinv
* (m
[0][2] + m
[2][0]);
1222 q
[3] = rinv
* (m
[1][2] - m
[2][1]);
1224 else if( m
[1][1] >= m
[2][2] )
1226 r
= sqrtf( 1.0f
- m
[0][0] - m
[2][2] + m
[1][1] );
1228 q
[0] = rinv
* (m
[0][1] + m
[1][0]);
1230 q
[2] = rinv
* (m
[1][2] + m
[2][1]);
1231 q
[3] = rinv
* (m
[2][0] - m
[0][2]);
1235 r
= sqrtf( 1.0f
- m
[0][0] - m
[1][1] + m
[2][2] );
1237 q
[0] = rinv
* (m
[0][2] + m
[2][0]);
1238 q
[1] = rinv
* (m
[1][2] + m
[2][1]);
1240 q
[3] = rinv
* (m
[0][1] - m
[1][0]);
1244 static int ray_tri( v3f tri
[3], v3f co
, v3f dir
, float *dist
)
1246 float const kEpsilon
= 0.00001f
;
1248 v3f v0
, v1
, h
, s
, q
, n
;
1255 v3_sub( pb
, pa
, v0
);
1256 v3_sub( pc
, pa
, v1
);
1257 v3_cross( dir
, v1
, h
);
1258 v3_cross( v0
, v1
, n
);
1260 if( v3_dot( n
, dir
) > 0.0f
) /* Backface culling */
1264 a
= v3_dot( v0
, h
);
1265 if( a
> -kEpsilon
&& a
< kEpsilon
)
1269 v3_sub( co
, pa
, s
);
1271 u
= f
* v3_dot(s
, h
);
1272 if( u
< 0.0f
|| u
> 1.0f
)
1275 v3_cross( s
, v0
, q
);
1276 v
= f
* v3_dot( dir
, q
);
1277 if( v
< 0.0f
|| u
+v
> 1.0f
)
1280 t
= f
* v3_dot(v1
, q
);
1289 static inline float vg_randf(void)
1291 return (float)rand()/(float)(RAND_MAX
);
1294 static inline void vg_rand_dir(v3f dir
)
1296 dir
[0] = vg_randf();
1297 dir
[1] = vg_randf();
1298 dir
[2] = vg_randf();
1300 v3_muls( dir
, 2.0f
, dir
);
1301 v3_sub( dir
, (v3f
){1.0f
,1.0f
,1.0f
}, dir
);
1303 v3_normalize( dir
);
1306 static inline void vg_rand_sphere( v3f co
)
1309 v3_muls( co
, cbrtf( vg_randf() ), co
);
1312 static inline int vg_randint(int max
)