8ecadbdbdf1a19eddaa336f5c6f82efc2a4fa1d9
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 static inline float vg_signf( float a
)
23 return a
< 0.0f
? -1.0f
: 1.0f
;
26 static inline float vg_randf(void)
28 return (float)rand()/(float)(RAND_MAX
);
31 static inline int vg_randint(int max
)
36 static float stable_force( float current
, float diff
)
38 float fnew
= current
+ diff
;
40 if( fnew
* current
< 0.0f
)
46 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
47 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
49 static inline int vg_min( int a
, int b
)
54 static inline int vg_max( int a
, int b
)
59 static inline float vg_rad( float deg
)
61 return deg
* VG_PIf
/ 180.0f
;
67 static inline void v2_copy( v2f a
, v2f b
)
69 b
[0] = a
[0]; b
[1] = a
[1];
72 static inline void v2i_copy( v2i a
, v2i b
)
74 b
[0] = a
[0]; b
[1] = a
[1];
77 static inline int v2i_eq( v2i a
, v2i b
)
79 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
82 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
84 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
87 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
89 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
92 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
94 dest
[0] = vg_minf(a
[0], b
[0]);
95 dest
[1] = vg_minf(a
[1], b
[1]);
98 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
100 dest
[0] = vg_maxf(a
[0], b
[0]);
101 dest
[1] = vg_maxf(a
[1], b
[1]);
104 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
106 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
109 static inline float v2_dot( v2f a
, v2f b
)
111 return a
[0] * b
[0] + a
[1] * b
[1];
114 static inline float v2_cross( v2f a
, v2f b
)
116 return a
[0]*b
[1] - a
[1]*b
[0];
119 static inline void v2_add( v2f a
, v2f b
, v2f d
)
121 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
124 static inline void v2_muls( v2f a
, float s
, v2f d
)
126 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
129 static inline void v2_divs( v2f a
, float s
, v2f d
)
131 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
134 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
140 static inline void v2_div( v2f a
, v2f b
, v2f d
)
142 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
145 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
147 d
[0] = a
[0]+b
[0]*s
[0];
148 d
[1] = a
[1]+b
[1]*s
[1];
151 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
157 static inline float v2_length2( v2f a
)
159 return a
[0]*a
[0] + a
[1]*a
[1];
162 static inline float v2_length( v2f a
)
164 return sqrtf( v2_length2( a
) );
167 static inline float v2_dist2( v2f a
, v2f b
)
170 v2_sub( a
, b
, delta
);
171 return v2_length2( delta
);
174 static inline float v2_dist( v2f a
, v2f b
)
176 return sqrtf( v2_dist2( a
, b
) );
179 static inline void v2_lerp( v2f a
, v2f b
, float t
, v2f d
)
181 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
182 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
185 static inline void v2_normalize( v2f a
)
187 v2_muls( a
, 1.f
/ v2_length( a
), a
);
190 static inline void v2_floor( v2f a
, v2f b
)
192 b
[0] = floorf( a
[0] );
193 b
[1] = floorf( a
[1] );
199 static inline void v3_zero( v3f a
)
201 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
204 static inline void v3_copy( v3f a
, v3f b
)
206 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
209 static inline void v3_add( v3f a
, v3f b
, v3f d
)
211 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
214 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
216 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
219 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
221 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
224 static inline void v3_div( v3f a
, v3f b
, v3f d
)
226 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
229 static inline void v3_muls( v3f a
, float s
, v3f d
)
231 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
234 static inline void v3_divs( v3f a
, float s
, v3f d
)
236 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
239 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
241 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
244 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
246 d
[0] = a
[0]+b
[0]*s
[0];
247 d
[1] = a
[1]+b
[1]*s
[1];
248 d
[2] = a
[2]+b
[2]*s
[2];
251 static inline float v3_dot( v3f a
, v3f b
)
253 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
256 static inline void v3_cross( v3f a
, v3f b
, v3f dest
)
259 d
[0] = a
[1]*b
[2] - a
[2]*b
[1];
260 d
[1] = a
[2]*b
[0] - a
[0]*b
[2];
261 d
[2] = a
[0]*b
[1] - a
[1]*b
[0];
265 static inline float v3_length2( v3f a
)
267 return v3_dot( a
, a
);
270 static inline float v3_length( v3f a
)
272 return sqrtf( v3_length2( a
) );
275 static inline float v3_dist2( v3f a
, v3f b
)
278 v3_sub( a
, b
, delta
);
279 return v3_length2( delta
);
282 static inline float v3_dist( v3f a
, v3f b
)
284 return sqrtf( v3_dist2( a
, b
) );
287 static inline void v3_normalize( v3f a
)
289 v3_muls( a
, 1.f
/ v3_length( a
), a
);
292 static inline float vg_lerpf( float a
, float b
, float t
)
297 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
299 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
300 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
301 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
304 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
306 dest
[0] = vg_minf(a
[0], b
[0]);
307 dest
[1] = vg_minf(a
[1], b
[1]);
308 dest
[2] = vg_minf(a
[2], b
[2]);
311 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
313 dest
[0] = vg_maxf(a
[0], b
[0]);
314 dest
[1] = vg_maxf(a
[1], b
[1]);
315 dest
[2] = vg_maxf(a
[2], b
[2]);
318 static inline float v3_minf( v3f a
)
320 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
323 static inline float v3_maxf( v3f a
)
325 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
328 static inline void v3_fill( v3f a
, float v
)
335 static inline void v3_floor( v3f a
, v3f b
)
337 b
[0] = floorf( a
[0] );
338 b
[1] = floorf( a
[1] );
339 b
[2] = floorf( a
[2] );
342 static inline void v3_ceil( v3f a
, v3f b
)
344 b
[0] = ceilf( a
[0] );
345 b
[1] = ceilf( a
[1] );
346 b
[2] = ceilf( a
[2] );
349 static inline void v3_negate( v3f a
, v3f b
)
356 static inline void v3_rotate( v3f v
, float angle
, v3f axis
, v3f d
)
367 v3_cross( k
, v
, v2
);
368 v3_muls( v2
, s
, v2
);
369 v3_add( v1
, v2
, v1
);
370 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
377 static inline void v4_copy( v4f a
, v4f b
)
379 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
382 static inline void v4_zero( v4f a
)
384 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
387 static inline void v4_muls( v4f a
, float s
, v4f d
)
395 static inline void v4_muladds( v4f a
, v4f b
, float s
, v4f d
)
403 static inline void v4_lerp( v4f a
, v4f b
, float t
, v4f d
)
405 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
406 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
407 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
408 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
411 static inline float v4_dot( v4f a
, v4f b
)
413 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*a
[3];
416 static inline float v4_length( v4f a
)
418 return sqrtf( v4_dot(a
,a
) );
425 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
428 #define M2X2_ZERO {{0.0f, 0.0f, }, \
431 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
433 v2_copy( a
[0], b
[0] );
434 v2_copy( a
[1], b
[1] );
437 static inline void m2x2_identity( m2x2f a
)
439 m2x2f id
= M2X2_INDENTIY
;
443 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
460 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
461 { 0.0f, 1.0f, 0.0f, },\
462 { 0.0f, 0.0f, 1.0f, }}
464 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
465 { 0.0f, 0.0f, 0.0f, },\
466 { 0.0f, 0.0f, 0.0f, }}
469 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
471 v3_copy( a
[0], b
[0] );
472 v3_copy( a
[1], b
[1] );
473 v3_copy( a
[2], b
[2] );
476 static inline void m3x3_identity( m3x3f a
)
478 m3x3f id
= M3X3_IDENTITY
;
482 static inline void m3x3_zero( m3x3f a
)
488 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
490 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
491 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
492 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
499 dest
[0][0] = (e
*i
-h
*f
)*det
;
500 dest
[0][1] = -(b
*i
-c
*h
)*det
;
501 dest
[0][2] = (b
*f
-c
*e
)*det
;
502 dest
[1][0] = -(d
*i
-f
*g
)*det
;
503 dest
[1][1] = (a
*i
-c
*g
)*det
;
504 dest
[1][2] = -(a
*f
-d
*c
)*det
;
505 dest
[2][0] = (d
*h
-g
*e
)*det
;
506 dest
[2][1] = -(a
*h
-g
*b
)*det
;
507 dest
[2][2] = (a
*e
-d
*b
)*det
;
510 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
512 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
513 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
514 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
527 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
529 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
530 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
531 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
533 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
534 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
535 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
537 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
538 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
539 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
540 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
541 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
542 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
543 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
544 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
545 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
548 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
552 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
553 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
554 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
559 static inline void m3x3_projection( m3x3f dst
,
560 float const left
, float const right
, float const bottom
, float const top
)
566 rl
= 1.0f
/ (right
- left
);
567 tb
= 1.0f
/ (top
- bottom
);
569 dst
[0][0] = 2.0f
* rl
;
570 dst
[1][1] = 2.0f
* tb
;
574 static inline void m3x3_translate( m3x3f m
, v3f v
)
576 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
577 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
578 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
581 static inline void m3x3_scale( m3x3f m
, v3f v
)
583 m
[0][0] = m
[0][0] * v
[0];
584 m
[0][1] = m
[0][1] * v
[0];
585 m
[0][2] = m
[0][2] * v
[0];
587 m
[1][0] = m
[1][0] * v
[1];
588 m
[1][1] = m
[1][1] * v
[1];
589 m
[1][2] = m
[1][2] * v
[1];
592 static inline void m3x3_rotate( m3x3f m
, float angle
)
594 float m00
= m
[0][0], m10
= m
[1][0],
595 m01
= m
[0][1], m11
= m
[1][1],
596 m02
= m
[0][2], m12
= m
[1][2];
602 m
[0][0] = m00
* c
+ m10
* s
;
603 m
[0][1] = m01
* c
+ m11
* s
;
604 m
[0][2] = m02
* c
+ m12
* s
;
606 m
[1][0] = m00
* -s
+ m10
* c
;
607 m
[1][1] = m01
* -s
+ m11
* c
;
608 m
[1][2] = m02
* -s
+ m12
* c
;
615 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
616 { 0.0f, 1.0f, 0.0f, },\
617 { 0.0f, 0.0f, 1.0f, },\
618 { 0.0f, 0.0f, 0.0f }}
620 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
622 v3_copy( a
[0], b
[0] );
623 v3_copy( a
[1], b
[1] );
624 v3_copy( a
[2], b
[2] );
627 static inline void m4x3_invert_affine( m4x3f a
, m4x3f b
)
629 m3x3_transpose( a
, b
);
630 m3x3_mulv( b
, a
[3], b
[3] );
631 v3_negate( b
[3], b
[3] );
634 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
636 v3_copy( a
[0], b
[0] );
637 v3_copy( a
[1], b
[1] );
638 v3_copy( a
[2], b
[2] );
639 v3_copy( a
[3], b
[3] );
642 static inline void m4x3_identity( m4x3f a
)
644 m4x3f id
= M4X3_IDENTITY
;
648 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
651 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
652 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
653 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
654 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
655 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
656 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
657 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
658 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
660 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
661 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
662 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
663 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
664 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
665 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
666 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
667 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
668 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
669 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
670 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
671 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
674 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
678 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
679 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
680 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
686 * Transform plane ( xyz, distance )
688 static inline void m4x3_mulp( m4x3f m
, v4f p
, v4f d
)
692 v3_muls( p
, p
[3], o
);
693 m4x3_mulv( m
, o
, o
);
694 m3x3_mulv( m
, p
, d
);
696 d
[3] = v3_dot( o
, d
);
703 static inline void m4x3_translate( m4x3f m
, v3f v
)
705 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
706 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
707 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
710 static inline void m4x3_scale( m4x3f m
, float s
)
712 v3_muls( m
[0], s
, m
[0] );
713 v3_muls( m
[1], s
, m
[1] );
714 v3_muls( m
[2], s
, m
[2] );
717 static inline void m4x3_scalev( m4x3f m
, v3f v
)
719 v3_muls(m
[0], v
[0], m
[0]);
720 v3_muls(m
[1], v
[1], m
[1]);
721 v3_muls(m
[2], v
[2], m
[2]);
724 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
726 m4x3f t
= M4X3_IDENTITY
;
740 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
742 m4x3f t
= M4X3_IDENTITY
;
756 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
758 m4x3f t
= M4X3_IDENTITY
;
772 static inline void m4x3_expand( m4x3f m
, m4x4f d
)
774 v3_copy( m
[0], d
[0] );
775 v3_copy( m
[1], d
[1] );
776 v3_copy( m
[2], d
[2] );
777 v3_copy( m
[3], d
[3] );
784 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
787 m4x3_mulv( m
, point
, v
);
789 v3_minv( box
[0], v
, box
[0] );
790 v3_maxv( box
[1], v
, box
[1] );
793 static inline void box_addpt( boxf a
, v3f pt
)
795 v3_minv( a
[0], pt
, a
[0] );
796 v3_maxv( a
[1], pt
, a
[1] );
799 static inline void box_concat( boxf a
, boxf b
)
801 v3_minv( a
[0], b
[0], a
[0] );
802 v3_maxv( a
[1], b
[1], a
[1] );
805 static inline void box_copy( boxf a
, boxf b
)
807 v3_copy( a
[0], b
[0] );
808 v3_copy( a
[1], b
[1] );
811 static inline int box_overlap( boxf a
, boxf b
)
814 ( a
[0][0] <= b
[1][0] && a
[1][0] >= b
[0][0] ) &&
815 ( a
[0][1] <= b
[1][1] && a
[1][1] >= b
[0][1] ) &&
816 ( a
[0][2] <= b
[1][2] && a
[1][2] >= b
[0][2] )
820 static inline void box_init_inf( boxf box
)
822 v3_fill( box
[0], INFINITY
);
823 v3_fill( box
[1], -INFINITY
);
826 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
830 v3_copy( box
[0], a
);
831 v3_copy( box
[1], b
);
832 v3_fill( box
[0], INFINITY
);
833 v3_fill( box
[1], -INFINITY
);
835 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], a
[2] } );
836 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
837 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
838 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
840 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], b
[2] } );
841 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
842 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
843 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
846 int ray_aabb( boxf box
, v3f co
, v3f dir
, float dist
)
851 v3_sub( box
[0], co
, v0
);
852 v3_sub( box
[1], co
, v1
);
853 v3_div( v0
, dir
, v0
);
854 v3_div( v1
, dir
, v1
);
856 tmin
= vg_minf( v0
[0], v1
[0] );
857 tmax
= vg_maxf( v0
[0], v1
[0] );
858 tmin
= vg_maxf( tmin
, vg_minf( v0
[1], v1
[1] ));
859 tmax
= vg_minf( tmax
, vg_maxf( v0
[1], v1
[1] ));
860 tmin
= vg_maxf( tmin
, vg_minf( v0
[2], v1
[2] ));
861 tmax
= vg_minf( tmax
, vg_maxf( v0
[2], v1
[2] ));
863 return tmax
>= tmin
&& tmin
< dist
&& tmax
> 0;
866 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
869 v3_sub( target
, pos
, dir
);
872 v3_copy( dir
, m
[2] );
874 v3_cross( up
, m
[2], m
[0] );
875 v3_normalize( m
[0] );
877 v3_cross( m
[2], m
[0], m
[1] );
878 v3_copy( pos
, m
[3] );
885 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
886 { 0.0f, 1.0f, 0.0f, 0.0f },\
887 { 0.0f, 0.0f, 1.0f, 0.0f },\
888 { 0.0f, 0.0f, 0.0f, 1.0f }}
889 #define M4X4_ZERO {{0.0f, 0.0f, 0.0f, 0.0f },\
890 { 0.0f, 0.0f, 0.0f, 0.0f },\
891 { 0.0f, 0.0f, 0.0f, 0.0f },\
892 { 0.0f, 0.0f, 0.0f, 0.0f }}
894 static void m4x4_projection( m4x4f m
, float angle
,
895 float ratio
, float near
, float far
)
897 float scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * near
,
903 m
[0][0] = 2.0f
* near
/ (r
- l
);
908 m
[1][1] = 2.0f
* near
/ (t
- b
);
911 m
[2][0] = (r
+ l
) / (r
- l
);
912 m
[2][1] = (t
+ b
) / (t
- b
);
913 m
[2][2] = -(far
+ near
) / (far
- near
);
917 m
[3][2] = -2.0f
* far
* near
/ (far
- near
);
921 static void m4x4_translate( m4x4f m
, v3f v
)
923 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
924 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
925 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
928 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
930 v4_copy( a
[0], b
[0] );
931 v4_copy( a
[1], b
[1] );
932 v4_copy( a
[2], b
[2] );
933 v4_copy( a
[3], b
[3] );
936 static inline void m4x4_identity( m4x4f a
)
938 m4x4f id
= M4X4_IDENTITY
;
942 static inline void m4x4_zero( m4x4f a
)
944 m4x4f zero
= M4X4_ZERO
;
945 m4x4_copy( zero
, a
);
948 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
950 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
951 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
952 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
953 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
955 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
956 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
957 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
958 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
960 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
961 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
962 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
963 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
964 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
965 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
966 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
967 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
968 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
969 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
970 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
971 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
972 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
973 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
974 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
975 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
978 static inline void m4x4_mulv( m4x4f m
, v4f v
, v4f d
)
982 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0]*v
[3];
983 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1]*v
[3];
984 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2]*v
[3];
985 res
[3] = m
[0][3]*v
[0] + m
[1][3]*v
[1] + m
[2][3]*v
[2] + m
[3][3]*v
[3];
990 static inline void m4x4_inv( m4x4f a
, m4x4f d
)
992 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
993 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
994 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
995 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
999 t
[0] = a22
*a33
- a32
*a23
;
1000 t
[1] = a21
*a33
- a31
*a23
;
1001 t
[2] = a21
*a32
- a31
*a22
;
1002 t
[3] = a20
*a33
- a30
*a23
;
1003 t
[4] = a20
*a32
- a30
*a22
;
1004 t
[5] = a20
*a31
- a30
*a21
;
1006 d
[0][0] = a11
*t
[0] - a12
*t
[1] + a13
*t
[2];
1007 d
[1][0] =-(a10
*t
[0] - a12
*t
[3] + a13
*t
[4]);
1008 d
[2][0] = a10
*t
[1] - a11
*t
[3] + a13
*t
[5];
1009 d
[3][0] =-(a10
*t
[2] - a11
*t
[4] + a12
*t
[5]);
1011 d
[0][1] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1012 d
[1][1] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1013 d
[2][1] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1014 d
[3][1] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1016 t
[0] = a12
*a33
- a32
*a13
;
1017 t
[1] = a11
*a33
- a31
*a13
;
1018 t
[2] = a11
*a32
- a31
*a12
;
1019 t
[3] = a10
*a33
- a30
*a13
;
1020 t
[4] = a10
*a32
- a30
*a12
;
1021 t
[5] = a10
*a31
- a30
*a11
;
1023 d
[0][2] = a01
*t
[0] - a02
*t
[1] + a03
*t
[2];
1024 d
[1][2] =-(a00
*t
[0] - a02
*t
[3] + a03
*t
[4]);
1025 d
[2][2] = a00
*t
[1] - a01
*t
[3] + a03
*t
[5];
1026 d
[3][2] =-(a00
*t
[2] - a01
*t
[4] + a02
*t
[5]);
1028 t
[0] = a12
*a23
- a22
*a13
;
1029 t
[1] = a11
*a23
- a21
*a13
;
1030 t
[2] = a11
*a22
- a21
*a12
;
1031 t
[3] = a10
*a23
- a20
*a13
;
1032 t
[4] = a10
*a22
- a20
*a12
;
1033 t
[5] = a10
*a21
- a20
*a11
;
1035 d
[0][3] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1036 d
[1][3] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1037 d
[2][3] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1038 d
[3][3] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1040 det
= 1.0f
/ (a00
*d
[0][0] + a01
*d
[1][0] + a02
*d
[2][0] + a03
*d
[3][0]);
1041 v4_muls( d
[0], det
, d
[0] );
1042 v4_muls( d
[1], det
, d
[1] );
1043 v4_muls( d
[2], det
, d
[2] );
1044 v4_muls( d
[3], det
, d
[3] );
1048 * Planes (double precision)
1050 static inline void tri_to_plane( double a
[3], double b
[3],
1051 double c
[3], double p
[4] )
1057 edge0
[0] = b
[0] - a
[0];
1058 edge0
[1] = b
[1] - a
[1];
1059 edge0
[2] = b
[2] - a
[2];
1061 edge1
[0] = c
[0] - a
[0];
1062 edge1
[1] = c
[1] - a
[1];
1063 edge1
[2] = c
[2] - a
[2];
1065 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
1066 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
1067 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
1069 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
1070 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
1077 static inline int plane_intersect( double a
[4], double b
[4],
1078 double c
[4], double p
[4] )
1080 double const epsilon
= 1e-8f
;
1085 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
1086 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
1087 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
1089 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
1091 if( d
< epsilon
&& d
> -epsilon
) return 0;
1093 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
1094 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
1095 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
1097 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
1098 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
1099 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
1101 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
1102 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
1103 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
1112 static inline double plane_polarity( double p
[4], double a
[3] )
1115 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
1116 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
1122 static inline void q_identity( v4f q
)
1124 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
1127 static inline void q_axis_angle( v4f q
, v3f axis
, float angle
)
1129 float a
= angle
*0.5f
,
1139 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
1142 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
1143 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
1144 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
1145 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
1149 static inline void q_normalize( v4f q
)
1151 float s
= 1.0f
/ sqrtf(v4_dot(q
,q
));
1158 static inline void q_inv( v4f q
, v4f d
)
1160 float s
= 1.0f
/ v4_dot(q
,q
);
1167 static inline void q_m3x3( v4f q
, m3x3f d
)
1171 s
= l
> 0.0f
? 2.0f
/l
: 0.0f
,
1173 xx
= s
*q
[0]*q
[0], xy
= s
*q
[0]*q
[1], wx
= s
*q
[3]*q
[0],
1174 yy
= s
*q
[1]*q
[1], yz
= s
*q
[1]*q
[2], wy
= s
*q
[3]*q
[1],
1175 zz
= s
*q
[2]*q
[2], xz
= s
*q
[0]*q
[2], wz
= s
*q
[3]*q
[2];
1177 d
[0][0] = 1.0f
- yy
- zz
;
1178 d
[1][1] = 1.0f
- xx
- zz
;
1179 d
[2][2] = 1.0f
- xx
- yy
;
1188 static void m3x3_q( m3x3f m
, v4f q
)
1190 float diag
, r
, rinv
;
1192 diag
= m
[0][0] + m
[1][1] + m
[2][2];
1195 r
= sqrtf( 1.0f
+ diag
);
1197 q
[0] = rinv
* (m
[1][2] - m
[2][1]);
1198 q
[1] = rinv
* (m
[2][0] - m
[0][2]);
1199 q
[2] = rinv
* (m
[0][1] - m
[1][0]);
1202 else if( m
[0][0] >= m
[1][1] && m
[0][0] >= m
[2][2] )
1204 r
= sqrtf( 1.0f
- m
[1][1] - m
[2][2] + m
[0][0] );
1207 q
[1] = rinv
* (m
[0][1] + m
[1][0]);
1208 q
[2] = rinv
* (m
[0][2] + m
[2][0]);
1209 q
[3] = rinv
* (m
[1][2] - m
[2][1]);
1211 else if( m
[1][1] >= m
[2][2] )
1213 r
= sqrtf( 1.0f
- m
[0][0] - m
[2][2] + m
[1][1] );
1215 q
[0] = rinv
* (m
[0][1] + m
[1][0]);
1217 q
[2] = rinv
* (m
[1][2] + m
[2][1]);
1218 q
[3] = rinv
* (m
[2][0] - m
[0][2]);
1222 r
= sqrtf( 1.0f
- m
[0][0] - m
[1][1] + m
[2][2] );
1224 q
[0] = rinv
* (m
[0][2] + m
[2][0]);
1225 q
[1] = rinv
* (m
[1][2] + m
[2][1]);
1227 q
[3] = rinv
* (m
[0][1] - m
[1][0]);
1231 static int ray_tri( v3f tri
[3], v3f co
, v3f dir
, float *dist
)
1233 float const kEpsilon
= 0.00001f
;
1235 v3f v0
, v1
, h
, s
, q
, n
;
1242 v3_sub( pb
, pa
, v0
);
1243 v3_sub( pc
, pa
, v1
);
1244 v3_cross( dir
, v1
, h
);
1245 v3_cross( v0
, v1
, n
);
1247 if( v3_dot( n
, dir
) > 0.0f
) /* Backface culling */
1251 a
= v3_dot( v0
, h
);
1252 if( a
> -kEpsilon
&& a
< kEpsilon
)
1256 v3_sub( co
, pa
, s
);
1258 u
= f
* v3_dot(s
, h
);
1259 if( u
< 0.0f
|| u
> 1.0f
)
1262 v3_cross( s
, v0
, q
);
1263 v
= f
* v3_dot( dir
, q
);
1264 if( v
< 0.0f
|| u
+v
> 1.0f
)
1267 t
= f
* v3_dot(v1
, q
);