950ebd792574240c5b3aa289b39fc695d5120056
1 /* Copyright (C) 2021-2023 Harry Godden (hgn) - All Rights Reserved
19 * 5.d Raycast & Spherecasts
29 #include "vg_platform.h"
33 #define VG_PIf 3.14159265358979323846264338327950288f
34 #define VG_TAUf 6.28318530717958647692528676655900576f
36 * -----------------------------------------------------------------------------
37 * Section 0. Misc Operations
38 * -----------------------------------------------------------------------------
41 /* get the f32 as the raw bits in a u32 without converting */
42 static u32
vg_ftu32( f32 a
)
44 u32
*ptr
= (u32
*)(&a
);
48 /* check if f32 is infinite */
49 static int vg_isinff( f32 a
)
51 return ((vg_ftu32(a
)) & 0x7FFFFFFFU
) == 0x7F800000U
;
54 /* check if f32 is not a number */
55 static int vg_isnanf( f32 a
)
57 return !vg_isinff(a
) && ((vg_ftu32(a
)) & 0x7F800000U
) == 0x7F800000U
;
60 /* check if f32 is a number and is not infinite */
61 static int vg_validf( f32 a
)
63 return ((vg_ftu32(a
)) & 0x7F800000U
) != 0x7F800000U
;
66 static int v3_valid( v3f a
){
67 for( u32 i
=0; i
<3; i
++ )
68 if( !vg_validf(a
[i
]) ) return 0;
73 * -----------------------------------------------------------------------------
74 * Section 1. Scalar Operations
75 * -----------------------------------------------------------------------------
78 static inline f32
vg_minf( f32 a
, f32 b
){ return a
< b
? a
: b
; }
79 static inline f32
vg_maxf( f32 a
, f32 b
){ return a
> b
? a
: b
; }
81 static inline int vg_min( int a
, int b
){ return a
< b
? a
: b
; }
82 static inline int vg_max( int a
, int b
){ return a
> b
? a
: b
; }
84 static inline f32
vg_clampf( f32 a
, f32 min
, f32 max
)
86 return vg_minf( max
, vg_maxf( a
, min
) );
89 static inline f32
vg_signf( f32 a
)
91 return a
< 0.0f
? -1.0f
: 1.0f
;
94 static inline f32
vg_fractf( f32 a
)
96 return a
- floorf( a
);
99 static f32
vg_cfrictf( f32 velocity
, f32 F
)
101 return -vg_signf(velocity
) * vg_minf( F
, fabsf(velocity
) );
104 static inline f32
vg_rad( f32 deg
)
106 return deg
* VG_PIf
/ 180.0f
;
110 * -----------------------------------------------------------------------------
111 * Section 2.a 2D Vectors
112 * -----------------------------------------------------------------------------
115 static inline void v2_copy( v2f a
, v2f d
)
117 d
[0] = a
[0]; d
[1] = a
[1];
120 static inline void v2_zero( v2f a
)
122 a
[0] = 0.f
; a
[1] = 0.f
;
125 static inline void v2_add( v2f a
, v2f b
, v2f d
)
127 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
130 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
132 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
135 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
137 dest
[0] = vg_minf(a
[0], b
[0]);
138 dest
[1] = vg_minf(a
[1], b
[1]);
141 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
143 dest
[0] = vg_maxf(a
[0], b
[0]);
144 dest
[1] = vg_maxf(a
[1], b
[1]);
147 static inline f32
v2_dot( v2f a
, v2f b
)
149 return a
[0] * b
[0] + a
[1] * b
[1];
152 static inline f32
v2_cross( v2f a
, v2f b
)
154 return a
[0]*b
[1] - a
[1]*b
[0];
157 static inline void v2_abs( v2f a
, v2f d
)
159 d
[0] = fabsf( a
[0] );
160 d
[1] = fabsf( a
[1] );
163 static inline void v2_muls( v2f a
, f32 s
, v2f d
)
165 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
168 static inline void v2_divs( v2f a
, f32 s
, v2f d
)
170 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
173 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
179 static inline void v2_div( v2f a
, v2f b
, v2f d
)
181 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
184 static inline void v2_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
186 d
[0] = a
[0]+b
[0]*s
[0];
187 d
[1] = a
[1]+b
[1]*s
[1];
190 static inline void v2_muladds( v2f a
, v2f b
, f32 s
, v2f d
)
196 static inline f32
v2_length2( v2f a
)
198 return a
[0]*a
[0] + a
[1]*a
[1];
201 static inline f32
v2_length( v2f a
)
203 return sqrtf( v2_length2( a
) );
206 static inline f32
v2_dist2( v2f a
, v2f b
)
209 v2_sub( a
, b
, delta
);
210 return v2_length2( delta
);
213 static inline f32
v2_dist( v2f a
, v2f b
)
215 return sqrtf( v2_dist2( a
, b
) );
218 static inline void v2_lerp( v2f a
, v2f b
, f32 t
, v2f d
)
220 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
221 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
224 static inline void v2_normalize( v2f a
)
226 v2_muls( a
, 1.0f
/ v2_length( a
), a
);
229 static void v2_normalize_clamp( v2f a
)
231 f32 l2
= v2_length2( a
);
233 v2_muls( a
, 1.0f
/sqrtf(l2
), a
);
236 static inline void v2_floor( v2f a
, v2f b
)
238 b
[0] = floorf( a
[0] );
239 b
[1] = floorf( a
[1] );
242 static inline void v2_fill( v2f a
, f32 v
)
248 static inline void v2_copysign( v2f a
, v2f b
)
250 a
[0] = copysignf( a
[0], b
[0] );
251 a
[1] = copysignf( a
[1], b
[1] );
255 * ---------------- */
257 static inline void v2i_copy( v2i a
, v2i b
)
259 b
[0] = a
[0]; b
[1] = a
[1];
262 static inline int v2i_eq( v2i a
, v2i b
)
264 return ((a
[0] == b
[0]) && (a
[1] == b
[1]));
267 static inline void v2i_add( v2i a
, v2i b
, v2i d
)
269 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
272 static inline void v2i_sub( v2i a
, v2i b
, v2i d
)
274 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
278 * -----------------------------------------------------------------------------
279 * Section 2.b 3D Vectors
280 * -----------------------------------------------------------------------------
283 static inline void v3_copy( v3f a
, v3f b
)
285 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
288 static inline void v3_zero( v3f a
)
290 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
293 static inline void v3_add( v3f a
, v3f b
, v3f d
)
295 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
298 static inline void v3i_add( v3i a
, v3i b
, v3i d
)
300 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
303 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
305 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
308 static inline void v3i_sub( v3i a
, v3i b
, v3i d
)
310 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
313 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
315 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
318 static inline void v3_div( v3f a
, v3f b
, v3f d
)
320 d
[0] = b
[0]!=0.0f
? a
[0]/b
[0]: INFINITY
;
321 d
[1] = b
[1]!=0.0f
? a
[1]/b
[1]: INFINITY
;
322 d
[2] = b
[2]!=0.0f
? a
[2]/b
[2]: INFINITY
;
325 static inline void v3_muls( v3f a
, f32 s
, v3f d
)
327 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
330 static inline void v3_fill( v3f a
, f32 v
)
337 static inline void v3_divs( v3f a
, f32 s
, v3f d
)
340 v3_fill( d
, INFINITY
);
349 static inline void v3_muladds( v3f a
, v3f b
, f32 s
, v3f d
)
351 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
354 static inline void v3_muladd( v2f a
, v2f b
, v2f s
, v2f d
)
356 d
[0] = a
[0]+b
[0]*s
[0];
357 d
[1] = a
[1]+b
[1]*s
[1];
358 d
[2] = a
[2]+b
[2]*s
[2];
361 static inline f32
v3_dot( v3f a
, v3f b
)
363 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
366 static inline void v3_cross( v3f a
, v3f b
, v3f dest
)
369 d
[0] = a
[1]*b
[2] - a
[2]*b
[1];
370 d
[1] = a
[2]*b
[0] - a
[0]*b
[2];
371 d
[2] = a
[0]*b
[1] - a
[1]*b
[0];
375 static inline f32
v3_length2( v3f a
)
377 return v3_dot( a
, a
);
380 static inline f32
v3_length( v3f a
)
382 return sqrtf( v3_length2( a
) );
385 static inline f32
v3_dist2( v3f a
, v3f b
)
388 v3_sub( a
, b
, delta
);
389 return v3_length2( delta
);
392 static inline f32
v3_dist( v3f a
, v3f b
)
394 return sqrtf( v3_dist2( a
, b
) );
397 static inline void v3_normalize( v3f a
)
399 v3_muls( a
, 1.f
/ v3_length( a
), a
);
402 static inline f32
vg_lerpf( f32 a
, f32 b
, f32 t
)
407 static inline f64
vg_lerp( f64 a
, f64 b
, f64 t
)
412 /* correctly lerp around circular period -pi -> pi */
413 static f32
vg_alerpf( f32 a
, f32 b
, f32 t
)
415 f32 d
= fmodf( b
-a
, VG_TAUf
),
416 s
= fmodf( 2.0f
*d
, VG_TAUf
) - d
;
420 static inline void v3_lerp( v3f a
, v3f b
, f32 t
, v3f d
)
422 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
423 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
424 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
427 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
429 dest
[0] = vg_minf(a
[0], b
[0]);
430 dest
[1] = vg_minf(a
[1], b
[1]);
431 dest
[2] = vg_minf(a
[2], b
[2]);
434 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
436 dest
[0] = vg_maxf(a
[0], b
[0]);
437 dest
[1] = vg_maxf(a
[1], b
[1]);
438 dest
[2] = vg_maxf(a
[2], b
[2]);
441 static inline f32
v3_minf( v3f a
)
443 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
446 static inline f32
v3_maxf( v3f a
)
448 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
451 static inline void v3_floor( v3f a
, v3f b
)
453 b
[0] = floorf( a
[0] );
454 b
[1] = floorf( a
[1] );
455 b
[2] = floorf( a
[2] );
458 static inline void v3_ceil( v3f a
, v3f b
)
460 b
[0] = ceilf( a
[0] );
461 b
[1] = ceilf( a
[1] );
462 b
[2] = ceilf( a
[2] );
465 static inline void v3_negate( v3f a
, v3f b
)
472 static inline void v3_rotate( v3f v
, f32 angle
, v3f axis
, v3f d
)
483 v3_cross( k
, v
, v2
);
484 v3_muls( v2
, s
, v2
);
485 v3_add( v1
, v2
, v1
);
486 v3_muls( k
, v3_dot(k
, v
) * (1.0f
- c
), v2
);
490 static void v3_tangent_basis( v3f n
, v3f tx
, v3f ty
){
491 /* Compute tangent basis (box2d) */
492 if( fabsf( n
[0] ) >= 0.57735027f
){
504 v3_cross( n
, tx
, ty
);
509 * -----------------------------------------------------------------------------
510 * Section 2.c 4D Vectors
511 * -----------------------------------------------------------------------------
514 static inline void v4_copy( v4f a
, v4f b
)
516 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
519 static inline void v4_add( v4f a
, v4f b
, v4f d
)
527 static inline void v4_zero( v4f a
)
529 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
532 static inline void v4_muls( v4f a
, f32 s
, v4f d
)
540 static inline void v4_muladds( v4f a
, v4f b
, f32 s
, v4f d
)
548 static inline void v4_lerp( v4f a
, v4f b
, f32 t
, v4f d
)
550 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
551 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
552 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
553 d
[3] = a
[3] + t
*(b
[3]-a
[3]);
556 static inline f32
v4_dot( v4f a
, v4f b
)
558 return a
[0]*b
[0] + a
[1]*b
[1] + a
[2]*b
[2] + a
[3]*b
[3];
561 static inline f32
v4_length( v4f a
)
563 return sqrtf( v4_dot(a
,a
) );
567 * -----------------------------------------------------------------------------
568 * Section 3 Quaternions
569 * -----------------------------------------------------------------------------
572 static inline void q_identity( v4f q
)
574 q
[0] = 0.0f
; q
[1] = 0.0f
; q
[2] = 0.0f
; q
[3] = 1.0f
;
577 static inline void q_axis_angle( v4f q
, v3f axis
, f32 angle
)
589 static inline void q_mul( v4f q
, v4f q1
, v4f d
)
592 t
[0] = q
[3]*q1
[0] + q
[0]*q1
[3] + q
[1]*q1
[2] - q
[2]*q1
[1];
593 t
[1] = q
[3]*q1
[1] - q
[0]*q1
[2] + q
[1]*q1
[3] + q
[2]*q1
[0];
594 t
[2] = q
[3]*q1
[2] + q
[0]*q1
[1] - q
[1]*q1
[0] + q
[2]*q1
[3];
595 t
[3] = q
[3]*q1
[3] - q
[0]*q1
[0] - q
[1]*q1
[1] - q
[2]*q1
[2];
599 static inline void q_normalize( v4f q
)
601 f32 l2
= v4_dot(q
,q
);
602 if( l2
< 0.00001f
) q_identity( q
);
604 f32 s
= 1.0f
/sqrtf(l2
);
612 static inline void q_inv( v4f q
, v4f d
)
614 f32 s
= 1.0f
/ v4_dot(q
,q
);
621 static inline void q_nlerp( v4f a
, v4f b
, f32 t
, v4f d
)
623 if( v4_dot(a
,b
) < 0.0f
){
624 v4_muls( b
, -1.0f
, d
);
625 v4_lerp( a
, d
, t
, d
);
628 v4_lerp( a
, b
, t
, d
);
633 static inline void q_m3x3( v4f q
, m3x3f d
)
637 s
= l
> 0.0f
? 2.0f
/l
: 0.0f
,
639 xx
= s
*q
[0]*q
[0], xy
= s
*q
[0]*q
[1], wx
= s
*q
[3]*q
[0],
640 yy
= s
*q
[1]*q
[1], yz
= s
*q
[1]*q
[2], wy
= s
*q
[3]*q
[1],
641 zz
= s
*q
[2]*q
[2], xz
= s
*q
[0]*q
[2], wz
= s
*q
[3]*q
[2];
643 d
[0][0] = 1.0f
- yy
- zz
;
644 d
[1][1] = 1.0f
- xx
- zz
;
645 d
[2][2] = 1.0f
- xx
- yy
;
654 static void q_mulv( v4f q
, v3f v
, v3f d
)
658 v3_muls( q
, 2.0f
*v3_dot(q
,v
), v1
);
659 v3_muls( v
, q
[3]*q
[3] - v3_dot(q
,q
), v2
);
660 v3_add( v1
, v2
, v1
);
661 v3_cross( q
, v
, v2
);
662 v3_muls( v2
, 2.0f
*q
[3], v2
);
667 * -----------------------------------------------------------------------------
668 * Section 4.a 2x2 matrices
669 * -----------------------------------------------------------------------------
672 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
675 #define M2X2_ZERO {{0.0f, 0.0f, }, \
678 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
680 v2_copy( a
[0], b
[0] );
681 v2_copy( a
[1], b
[1] );
684 static inline void m2x2_identity( m2x2f a
)
686 m2x2f id
= M2X2_INDENTIY
;
690 static inline void m2x2_create_rotation( m2x2f a
, f32 theta
)
704 * -----------------------------------------------------------------------------
705 * Section 4.b 3x3 matrices
706 * -----------------------------------------------------------------------------
709 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
710 { 0.0f, 1.0f, 0.0f, },\
711 { 0.0f, 0.0f, 1.0f, }}
713 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
714 { 0.0f, 0.0f, 0.0f, },\
715 { 0.0f, 0.0f, 0.0f, }}
718 static void euler_m3x3( v3f angles
, m3x3f d
)
720 f32 cosY
= cosf( angles
[0] ),
721 sinY
= sinf( angles
[0] ),
722 cosP
= cosf( angles
[1] ),
723 sinP
= sinf( angles
[1] ),
724 cosR
= cosf( angles
[2] ),
725 sinR
= sinf( angles
[2] );
727 d
[2][0] = -sinY
* cosP
;
729 d
[2][2] = cosY
* cosP
;
731 d
[0][0] = cosY
* cosR
;
733 d
[0][2] = sinY
* cosR
;
735 v3_cross( d
[0], d
[2], d
[1] );
738 static void m3x3_q( m3x3f m
, v4f q
)
742 diag
= m
[0][0] + m
[1][1] + m
[2][2];
745 r
= sqrtf( 1.0f
+ diag
);
747 q
[0] = rinv
* (m
[1][2] - m
[2][1]);
748 q
[1] = rinv
* (m
[2][0] - m
[0][2]);
749 q
[2] = rinv
* (m
[0][1] - m
[1][0]);
752 else if( m
[0][0] >= m
[1][1] && m
[0][0] >= m
[2][2] )
754 r
= sqrtf( 1.0f
- m
[1][1] - m
[2][2] + m
[0][0] );
757 q
[1] = rinv
* (m
[0][1] + m
[1][0]);
758 q
[2] = rinv
* (m
[0][2] + m
[2][0]);
759 q
[3] = rinv
* (m
[1][2] - m
[2][1]);
761 else if( m
[1][1] >= m
[2][2] )
763 r
= sqrtf( 1.0f
- m
[0][0] - m
[2][2] + m
[1][1] );
765 q
[0] = rinv
* (m
[0][1] + m
[1][0]);
767 q
[2] = rinv
* (m
[1][2] + m
[2][1]);
768 q
[3] = rinv
* (m
[2][0] - m
[0][2]);
772 r
= sqrtf( 1.0f
- m
[0][0] - m
[1][1] + m
[2][2] );
774 q
[0] = rinv
* (m
[0][2] + m
[2][0]);
775 q
[1] = rinv
* (m
[1][2] + m
[2][1]);
777 q
[3] = rinv
* (m
[0][1] - m
[1][0]);
781 /* a X b == [b]T a == ...*/
782 static void m3x3_skew_symetric( m3x3f a
, v3f v
)
795 static void m3x3_add( m3x3f a
, m3x3f b
, m3x3f d
)
797 v3_add( a
[0], b
[0], d
[0] );
798 v3_add( a
[1], b
[1], d
[1] );
799 v3_add( a
[2], b
[2], d
[2] );
802 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
804 v3_copy( a
[0], b
[0] );
805 v3_copy( a
[1], b
[1] );
806 v3_copy( a
[2], b
[2] );
809 static inline void m3x3_identity( m3x3f a
)
811 m3x3f id
= M3X3_IDENTITY
;
815 static void m3x3_diagonal( m3x3f a
, f32 v
)
823 static void m3x3_setdiagonalv3( m3x3f a
, v3f v
)
830 static inline void m3x3_zero( m3x3f a
)
836 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
838 f32 a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
839 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
840 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
847 dest
[0][0] = (e
*i
-h
*f
)*det
;
848 dest
[0][1] = -(b
*i
-c
*h
)*det
;
849 dest
[0][2] = (b
*f
-c
*e
)*det
;
850 dest
[1][0] = -(d
*i
-f
*g
)*det
;
851 dest
[1][1] = (a
*i
-c
*g
)*det
;
852 dest
[1][2] = -(a
*f
-d
*c
)*det
;
853 dest
[2][0] = (d
*h
-g
*e
)*det
;
854 dest
[2][1] = -(a
*h
-g
*b
)*det
;
855 dest
[2][2] = (a
*e
-d
*b
)*det
;
858 static f32
m3x3_det( m3x3f m
)
860 return m
[0][0] * (m
[1][1] * m
[2][2] - m
[2][1] * m
[1][2])
861 - m
[0][1] * (m
[1][0] * m
[2][2] - m
[1][2] * m
[2][0])
862 + m
[0][2] * (m
[1][0] * m
[2][1] - m
[1][1] * m
[2][0]);
865 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
867 f32 a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
868 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
869 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
882 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
884 f32 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
885 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
886 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
888 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
889 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
890 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
892 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
893 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
894 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
895 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
896 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
897 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
898 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
899 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
900 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
903 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
907 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
908 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
909 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
914 static inline void m3x3_projection( m3x3f dst
,
915 f32
const left
, f32
const right
, f32
const bottom
, f32
const top
)
921 rl
= 1.0f
/ (right
- left
);
922 tb
= 1.0f
/ (top
- bottom
);
924 dst
[0][0] = 2.0f
* rl
;
925 dst
[1][1] = 2.0f
* tb
;
929 static inline void m3x3_translate( m3x3f m
, v3f v
)
931 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
932 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
933 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
936 static inline void m3x3_scale( m3x3f m
, v3f v
)
938 v3_muls( m
[0], v
[0], m
[0] );
939 v3_muls( m
[1], v
[1], m
[1] );
940 v3_muls( m
[2], v
[2], m
[2] );
943 static inline void m3x3_scalef( m3x3f m
, f32 f
)
950 static inline void m3x3_rotate( m3x3f m
, f32 angle
)
952 f32 m00
= m
[0][0], m10
= m
[1][0],
953 m01
= m
[0][1], m11
= m
[1][1],
954 m02
= m
[0][2], m12
= m
[1][2];
960 m
[0][0] = m00
* c
+ m10
* s
;
961 m
[0][1] = m01
* c
+ m11
* s
;
962 m
[0][2] = m02
* c
+ m12
* s
;
964 m
[1][0] = m00
* -s
+ m10
* c
;
965 m
[1][1] = m01
* -s
+ m11
* c
;
966 m
[1][2] = m02
* -s
+ m12
* c
;
970 * -----------------------------------------------------------------------------
971 * Section 4.c 4x3 matrices
972 * -----------------------------------------------------------------------------
975 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
976 { 0.0f, 1.0f, 0.0f, },\
977 { 0.0f, 0.0f, 1.0f, },\
978 { 0.0f, 0.0f, 0.0f }}
980 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
982 v3_copy( a
[0], b
[0] );
983 v3_copy( a
[1], b
[1] );
984 v3_copy( a
[2], b
[2] );
987 static inline void m4x3_invert_affine( m4x3f a
, m4x3f b
)
989 m3x3_transpose( a
, b
);
990 m3x3_mulv( b
, a
[3], b
[3] );
991 v3_negate( b
[3], b
[3] );
994 static void m4x3_invert_full( m4x3f src
, m4x3f dst
)
998 a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
999 e
= src
[1][0], f
= src
[1][1], g
= src
[1][2],
1000 i
= src
[2][0], j
= src
[2][1], k
= src
[2][2],
1001 m
= src
[3][0], n
= src
[3][1], o
= src
[3][2];
1007 dst
[0][0] = f
*k
- g
*j
;
1008 dst
[1][0] =-(e
*k
- g
*i
);
1009 dst
[2][0] = e
*j
- f
*i
;
1010 dst
[3][0] =-(e
*t2
- f
*t4
+ g
*t5
);
1012 dst
[0][1] =-(b
*k
- c
*j
);
1013 dst
[1][1] = a
*k
- c
*i
;
1014 dst
[2][1] =-(a
*j
- b
*i
);
1015 dst
[3][1] = a
*t2
- b
*t4
+ c
*t5
;
1021 dst
[0][2] = b
*g
- c
*f
;
1022 dst
[1][2] =-(a
*g
- c
*e
);
1023 dst
[2][2] = a
*f
- b
*e
;
1024 dst
[3][2] =-(a
*t2
- b
*t4
+ c
* t5
);
1026 det
= 1.0f
/ (a
* dst
[0][0] + b
* dst
[1][0] + c
* dst
[2][0]);
1027 v3_muls( dst
[0], det
, dst
[0] );
1028 v3_muls( dst
[1], det
, dst
[1] );
1029 v3_muls( dst
[2], det
, dst
[2] );
1030 v3_muls( dst
[3], det
, dst
[3] );
1033 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
1035 v3_copy( a
[0], b
[0] );
1036 v3_copy( a
[1], b
[1] );
1037 v3_copy( a
[2], b
[2] );
1038 v3_copy( a
[3], b
[3] );
1041 static inline void m4x3_identity( m4x3f a
)
1043 m4x3f id
= M4X3_IDENTITY
;
1047 static void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
1050 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
1051 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
1052 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
1053 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
1054 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
1055 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
1056 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
1057 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
1059 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
1060 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
1061 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
1062 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
1063 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
1064 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
1065 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
1066 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
1067 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
1068 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
1069 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
1070 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
1073 #if 0 /* shat appf mingw wstringop-overflow */
1076 static void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
1080 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
1081 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
1082 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
1088 * Transform plane ( xyz, distance )
1090 static void m4x3_mulp( m4x3f m
, v4f p
, v4f d
)
1094 v3_muls( p
, p
[3], o
);
1095 m4x3_mulv( m
, o
, o
);
1096 m3x3_mulv( m
, p
, d
);
1098 d
[3] = v3_dot( o
, d
);
1105 static void m4x3_translate( m4x3f m
, v3f v
)
1107 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
1108 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
1109 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
1112 static void m4x3_rotate_x( m4x3f m
, f32 angle
)
1114 m4x3f t
= M4X3_IDENTITY
;
1125 m4x3_mul( m
, t
, m
);
1128 static void m4x3_rotate_y( m4x3f m
, f32 angle
)
1130 m4x3f t
= M4X3_IDENTITY
;
1141 m4x3_mul( m
, t
, m
);
1144 static void m4x3_rotate_z( m4x3f m
, f32 angle
)
1146 m4x3f t
= M4X3_IDENTITY
;
1157 m4x3_mul( m
, t
, m
);
1160 static void m4x3_expand( m4x3f m
, m4x4f d
)
1162 v3_copy( m
[0], d
[0] );
1163 v3_copy( m
[1], d
[1] );
1164 v3_copy( m
[2], d
[2] );
1165 v3_copy( m
[3], d
[3] );
1172 static void m4x3_decompose( m4x3f m
, v3f co
, v4f q
, v3f s
)
1174 v3_copy( m
[3], co
);
1175 s
[0] = v3_length(m
[0]);
1176 s
[1] = v3_length(m
[1]);
1177 s
[2] = v3_length(m
[2]);
1180 v3_divs( m
[0], s
[0], rot
[0] );
1181 v3_divs( m
[1], s
[1], rot
[1] );
1182 v3_divs( m
[2], s
[2], rot
[2] );
1187 static void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
1190 m4x3_mulv( m
, point
, v
);
1192 v3_minv( box
[0], v
, box
[0] );
1193 v3_maxv( box
[1], v
, box
[1] );
1196 static void m4x3_transform_aabb( m4x3f m
, boxf box
)
1200 v3_copy( box
[0], a
);
1201 v3_copy( box
[1], b
);
1202 v3_fill( box
[0], INFINITY
);
1203 v3_fill( box
[1], -INFINITY
);
1205 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], a
[2] } );
1206 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
1207 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
1208 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
1210 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], a
[1], b
[2] } );
1211 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
1212 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
1213 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
1216 static inline void m4x3_lookat( m4x3f m
, v3f pos
, v3f target
, v3f up
)
1219 v3_sub( target
, pos
, dir
);
1220 v3_normalize( dir
);
1222 v3_copy( dir
, m
[2] );
1224 v3_cross( up
, m
[2], m
[0] );
1225 v3_normalize( m
[0] );
1227 v3_cross( m
[2], m
[0], m
[1] );
1228 v3_copy( pos
, m
[3] );
1232 * -----------------------------------------------------------------------------
1233 * Section 4.d 4x4 matrices
1234 * -----------------------------------------------------------------------------
1237 #define M4X4_IDENTITY {{1.0f, 0.0f, 0.0f, 0.0f },\
1238 { 0.0f, 1.0f, 0.0f, 0.0f },\
1239 { 0.0f, 0.0f, 1.0f, 0.0f },\
1240 { 0.0f, 0.0f, 0.0f, 1.0f }}
1241 #define M4X4_ZERO {{0.0f, 0.0f, 0.0f, 0.0f },\
1242 { 0.0f, 0.0f, 0.0f, 0.0f },\
1243 { 0.0f, 0.0f, 0.0f, 0.0f },\
1244 { 0.0f, 0.0f, 0.0f, 0.0f }}
1246 static void m4x4_projection( m4x4f m
, f32 angle
,
1247 f32 ratio
, f32 fnear
, f32 ffar
)
1249 f32 scale
= tanf( angle
* 0.5f
* VG_PIf
/ 180.0f
) * fnear
,
1255 m
[0][0] = 2.0f
* fnear
/ (r
- l
);
1261 m
[1][1] = 2.0f
* fnear
/ (t
- b
);
1265 m
[2][0] = (r
+ l
) / (r
- l
);
1266 m
[2][1] = (t
+ b
) / (t
- b
);
1267 m
[2][2] = -(ffar
+ fnear
) / (ffar
- fnear
);
1272 m
[3][2] = -2.0f
* ffar
* fnear
/ (ffar
- fnear
);
1276 static void m4x4_translate( m4x4f m
, v3f v
)
1278 v4_muladds( m
[3], m
[0], v
[0], m
[3] );
1279 v4_muladds( m
[3], m
[1], v
[1], m
[3] );
1280 v4_muladds( m
[3], m
[2], v
[2], m
[3] );
1283 static inline void m4x4_copy( m4x4f a
, m4x4f b
)
1285 v4_copy( a
[0], b
[0] );
1286 v4_copy( a
[1], b
[1] );
1287 v4_copy( a
[2], b
[2] );
1288 v4_copy( a
[3], b
[3] );
1291 static inline void m4x4_identity( m4x4f a
)
1293 m4x4f id
= M4X4_IDENTITY
;
1297 static inline void m4x4_zero( m4x4f a
)
1299 m4x4f zero
= M4X4_ZERO
;
1300 m4x4_copy( zero
, a
);
1303 static inline void m4x4_mul( m4x4f a
, m4x4f b
, m4x4f d
)
1305 f32 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
1306 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
1307 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
1308 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
1310 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2], b03
= b
[0][3],
1311 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2], b13
= b
[1][3],
1312 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2], b23
= b
[2][3],
1313 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2], b33
= b
[3][3];
1315 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
+ a30
*b03
;
1316 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
+ a31
*b03
;
1317 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
+ a32
*b03
;
1318 d
[0][3] = a03
*b00
+ a13
*b01
+ a23
*b02
+ a33
*b03
;
1319 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
+ a30
*b13
;
1320 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
+ a31
*b13
;
1321 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
+ a32
*b13
;
1322 d
[1][3] = a03
*b10
+ a13
*b11
+ a23
*b12
+ a33
*b13
;
1323 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
+ a30
*b23
;
1324 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
+ a31
*b23
;
1325 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
+ a32
*b23
;
1326 d
[2][3] = a03
*b20
+ a13
*b21
+ a23
*b22
+ a33
*b23
;
1327 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
*b33
;
1328 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
*b33
;
1329 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
*b33
;
1330 d
[3][3] = a03
*b30
+ a13
*b31
+ a23
*b32
+ a33
*b33
;
1333 static inline void m4x4_mulv( m4x4f m
, v4f v
, v4f d
)
1337 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0]*v
[3];
1338 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1]*v
[3];
1339 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2]*v
[3];
1340 res
[3] = m
[0][3]*v
[0] + m
[1][3]*v
[1] + m
[2][3]*v
[2] + m
[3][3]*v
[3];
1345 static inline void m4x4_inv( m4x4f a
, m4x4f d
)
1347 f32 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2], a03
= a
[0][3],
1348 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2], a13
= a
[1][3],
1349 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2], a23
= a
[2][3],
1350 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2], a33
= a
[3][3],
1354 t
[0] = a22
*a33
- a32
*a23
;
1355 t
[1] = a21
*a33
- a31
*a23
;
1356 t
[2] = a21
*a32
- a31
*a22
;
1357 t
[3] = a20
*a33
- a30
*a23
;
1358 t
[4] = a20
*a32
- a30
*a22
;
1359 t
[5] = a20
*a31
- a30
*a21
;
1361 d
[0][0] = a11
*t
[0] - a12
*t
[1] + a13
*t
[2];
1362 d
[1][0] =-(a10
*t
[0] - a12
*t
[3] + a13
*t
[4]);
1363 d
[2][0] = a10
*t
[1] - a11
*t
[3] + a13
*t
[5];
1364 d
[3][0] =-(a10
*t
[2] - a11
*t
[4] + a12
*t
[5]);
1366 d
[0][1] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1367 d
[1][1] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1368 d
[2][1] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1369 d
[3][1] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1371 t
[0] = a12
*a33
- a32
*a13
;
1372 t
[1] = a11
*a33
- a31
*a13
;
1373 t
[2] = a11
*a32
- a31
*a12
;
1374 t
[3] = a10
*a33
- a30
*a13
;
1375 t
[4] = a10
*a32
- a30
*a12
;
1376 t
[5] = a10
*a31
- a30
*a11
;
1378 d
[0][2] = a01
*t
[0] - a02
*t
[1] + a03
*t
[2];
1379 d
[1][2] =-(a00
*t
[0] - a02
*t
[3] + a03
*t
[4]);
1380 d
[2][2] = a00
*t
[1] - a01
*t
[3] + a03
*t
[5];
1381 d
[3][2] =-(a00
*t
[2] - a01
*t
[4] + a02
*t
[5]);
1383 t
[0] = a12
*a23
- a22
*a13
;
1384 t
[1] = a11
*a23
- a21
*a13
;
1385 t
[2] = a11
*a22
- a21
*a12
;
1386 t
[3] = a10
*a23
- a20
*a13
;
1387 t
[4] = a10
*a22
- a20
*a12
;
1388 t
[5] = a10
*a21
- a20
*a11
;
1390 d
[0][3] =-(a01
*t
[0] - a02
*t
[1] + a03
*t
[2]);
1391 d
[1][3] = a00
*t
[0] - a02
*t
[3] + a03
*t
[4];
1392 d
[2][3] =-(a00
*t
[1] - a01
*t
[3] + a03
*t
[5]);
1393 d
[3][3] = a00
*t
[2] - a01
*t
[4] + a02
*t
[5];
1395 det
= 1.0f
/ (a00
*d
[0][0] + a01
*d
[1][0] + a02
*d
[2][0] + a03
*d
[3][0]);
1396 v4_muls( d
[0], det
, d
[0] );
1397 v4_muls( d
[1], det
, d
[1] );
1398 v4_muls( d
[2], det
, d
[2] );
1399 v4_muls( d
[3], det
, d
[3] );
1403 * -----------------------------------------------------------------------------
1405 * -----------------------------------------------------------------------------
1408 static inline void box_addpt( boxf a
, v3f pt
)
1410 v3_minv( a
[0], pt
, a
[0] );
1411 v3_maxv( a
[1], pt
, a
[1] );
1414 static inline void box_concat( boxf a
, boxf b
)
1416 v3_minv( a
[0], b
[0], a
[0] );
1417 v3_maxv( a
[1], b
[1], a
[1] );
1420 static inline void box_copy( boxf a
, boxf b
)
1422 v3_copy( a
[0], b
[0] );
1423 v3_copy( a
[1], b
[1] );
1426 static inline int box_overlap( boxf a
, boxf b
)
1429 ( a
[0][0] <= b
[1][0] && a
[1][0] >= b
[0][0] ) &&
1430 ( a
[0][1] <= b
[1][1] && a
[1][1] >= b
[0][1] ) &&
1431 ( a
[0][2] <= b
[1][2] && a
[1][2] >= b
[0][2] )
1435 static int box_within( boxf greater
, boxf lesser
)
1438 v3_sub( lesser
[0], greater
[0], a
);
1439 v3_sub( lesser
[1], greater
[1], b
);
1441 if( (a
[0] >= 0.0f
) && (a
[1] >= 0.0f
) && (a
[2] >= 0.0f
) &&
1442 (b
[0] <= 0.0f
) && (b
[1] <= 0.0f
) && (b
[2] <= 0.0f
) )
1450 static inline void box_init_inf( boxf box
)
1452 v3_fill( box
[0], INFINITY
);
1453 v3_fill( box
[1], -INFINITY
);
1457 * -----------------------------------------------------------------------------
1458 * Section 5.b Planes
1459 * -----------------------------------------------------------------------------
1462 static inline void tri_to_plane( f64 a
[3], f64 b
[3],
1463 f64 c
[3], f64 p
[4] )
1469 edge0
[0] = b
[0] - a
[0];
1470 edge0
[1] = b
[1] - a
[1];
1471 edge0
[2] = b
[2] - a
[2];
1473 edge1
[0] = c
[0] - a
[0];
1474 edge1
[1] = c
[1] - a
[1];
1475 edge1
[2] = c
[2] - a
[2];
1477 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
1478 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
1479 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
1481 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
1482 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
1489 static int plane_intersect3( v4f a
, v4f b
, v4f c
, v3f p
)
1491 f32
const epsilon
= 1e-6f
;
1494 v3_cross( a
, b
, x
);
1495 f32 d
= v3_dot( x
, c
);
1497 if( (d
< epsilon
) && (d
> -epsilon
) ) return 0;
1500 v3_cross( b
, c
, v0
);
1501 v3_cross( c
, a
, v1
);
1502 v3_cross( a
, b
, v2
);
1504 v3_muls( v0
, a
[3], p
);
1505 v3_muladds( p
, v1
, b
[3], p
);
1506 v3_muladds( p
, v2
, c
[3], p
);
1512 int plane_intersect2( v4f a
, v4f b
, v3f p
, v3f n
)
1514 f32
const epsilon
= 1e-6f
;
1517 v3_cross( a
, b
, c
);
1518 f32 d
= v3_length2( c
);
1520 if( (d
< epsilon
) && (d
> -epsilon
) )
1524 v3_cross( c
, b
, v0
);
1525 v3_cross( a
, c
, v1
);
1527 v3_muls( v0
, a
[3], vx
);
1528 v3_muladds( vx
, v1
, b
[3], vx
);
1529 v3_divs( vx
, d
, p
);
1535 static int plane_segment( v4f plane
, v3f a
, v3f b
, v3f co
)
1537 f32 d0
= v3_dot( a
, plane
) - plane
[3],
1538 d1
= v3_dot( b
, plane
) - plane
[3];
1542 f32 tot
= 1.0f
/( fabsf(d0
)+fabsf(d1
) );
1544 v3_muls( a
, fabsf(d1
) * tot
, co
);
1545 v3_muladds( co
, b
, fabsf(d0
) * tot
, co
);
1552 static inline f64
plane_polarity( f64 p
[4], f64 a
[3] )
1555 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
1556 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])
1561 * -----------------------------------------------------------------------------
1562 * Section 5.c Closest point functions
1563 * -----------------------------------------------------------------------------
1567 * These closest point tests were learned from Real-Time Collision Detection by
1570 VG_STATIC f32
closest_segment_segment( v3f p1
, v3f q1
, v3f p2
, v3f q2
,
1571 f32
*s
, f32
*t
, v3f c1
, v3f c2
)
1574 v3_sub( q1
, p1
, d1
);
1575 v3_sub( q2
, p2
, d2
);
1576 v3_sub( p1
, p2
, r
);
1578 f32 a
= v3_length2( d1
),
1579 e
= v3_length2( d2
),
1580 f
= v3_dot( d2
, r
);
1582 const f32 kEpsilon
= 0.0001f
;
1584 if( a
<= kEpsilon
&& e
<= kEpsilon
)
1592 v3_sub( c1
, c2
, v0
);
1594 return v3_length2( v0
);
1600 *t
= vg_clampf( f
/ e
, 0.0f
, 1.0f
);
1604 f32 c
= v3_dot( d1
, r
);
1608 *s
= vg_clampf( -c
/ a
, 0.0f
, 1.0f
);
1612 f32 b
= v3_dot(d1
,d2
),
1617 *s
= vg_clampf((b
*f
- c
*e
)/d
, 0.0f
, 1.0f
);
1624 *t
= (b
*(*s
)+f
) / e
;
1629 *s
= vg_clampf( -c
/ a
, 0.0f
, 1.0f
);
1631 else if( *t
> 1.0f
)
1634 *s
= vg_clampf((b
-c
)/a
,0.0f
,1.0f
);
1639 v3_muladds( p1
, d1
, *s
, c1
);
1640 v3_muladds( p2
, d2
, *t
, c2
);
1643 v3_sub( c1
, c2
, v0
);
1644 return v3_length2( v0
);
1647 VG_STATIC
int point_inside_aabb( boxf box
, v3f point
)
1649 if((point
[0]<=box
[1][0]) && (point
[1]<=box
[1][1]) && (point
[2]<=box
[1][2]) &&
1650 (point
[0]>=box
[0][0]) && (point
[1]>=box
[0][1]) && (point
[2]>=box
[0][2]) )
1656 VG_STATIC
void closest_point_aabb( v3f p
, boxf box
, v3f dest
)
1658 v3_maxv( p
, box
[0], dest
);
1659 v3_minv( dest
, box
[1], dest
);
1662 VG_STATIC
void closest_point_obb( v3f p
, boxf box
,
1663 m4x3f mtx
, m4x3f inv_mtx
, v3f dest
)
1666 m4x3_mulv( inv_mtx
, p
, local
);
1667 closest_point_aabb( local
, box
, local
);
1668 m4x3_mulv( mtx
, local
, dest
);
1671 VG_STATIC f32
closest_point_segment( v3f a
, v3f b
, v3f point
, v3f dest
)
1675 v3_sub( point
, a
, v1
);
1677 f32 t
= v3_dot( v1
, v0
) / v3_length2(v0
);
1678 t
= vg_clampf(t
,0.0f
,1.0f
);
1679 v3_muladds( a
, v0
, t
, dest
);
1683 VG_STATIC
void closest_on_triangle( v3f p
, v3f tri
[3], v3f dest
)
1688 /* Region outside A */
1689 v3_sub( tri
[1], tri
[0], ab
);
1690 v3_sub( tri
[2], tri
[0], ac
);
1691 v3_sub( p
, tri
[0], ap
);
1695 if( d1
<= 0.0f
&& d2
<= 0.0f
)
1697 v3_copy( tri
[0], dest
);
1698 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1702 /* Region outside B */
1706 v3_sub( p
, tri
[1], bp
);
1707 d3
= v3_dot( ab
, bp
);
1708 d4
= v3_dot( ac
, bp
);
1710 if( d3
>= 0.0f
&& d4
<= d3
)
1712 v3_copy( tri
[1], dest
);
1713 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1717 /* Edge region of AB */
1718 f32 vc
= d1
*d4
- d3
*d2
;
1719 if( vc
<= 0.0f
&& d1
>= 0.0f
&& d3
<= 0.0f
)
1721 f32 v
= d1
/ (d1
-d3
);
1722 v3_muladds( tri
[0], ab
, v
, dest
);
1723 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1727 /* Region outside C */
1730 v3_sub( p
, tri
[2], cp
);
1731 d5
= v3_dot(ab
, cp
);
1732 d6
= v3_dot(ac
, cp
);
1734 if( d6
>= 0.0f
&& d5
<= d6
)
1736 v3_copy( tri
[2], dest
);
1737 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1742 f32 vb
= d5
*d2
- d1
*d6
;
1743 if( vb
<= 0.0f
&& d2
>= 0.0f
&& d6
<= 0.0f
)
1745 f32 w
= d2
/ (d2
-d6
);
1746 v3_muladds( tri
[0], ac
, w
, dest
);
1747 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1752 f32 va
= d3
*d6
- d5
*d4
;
1753 if( va
<= 0.0f
&& (d4
-d3
) >= 0.0f
&& (d5
-d6
) >= 0.0f
)
1755 f32 w
= (d4
-d3
) / ((d4
-d3
) + (d5
-d6
));
1757 v3_sub( tri
[2], tri
[1], bc
);
1758 v3_muladds( tri
[1], bc
, w
, dest
);
1759 v3_copy( (v3f
){INFINITY
,INFINITY
,INFINITY
}, dest
);
1763 /* P inside region, Q via barycentric coordinates uvw */
1764 f32 d
= 1.0f
/(va
+vb
+vc
),
1768 v3_muladds( tri
[0], ab
, v
, dest
);
1769 v3_muladds( dest
, ac
, w
, dest
);
1774 k_contact_type_default
,
1775 k_contact_type_disabled
,
1779 VG_STATIC
enum contact_type
closest_on_triangle_1( v3f p
, v3f tri
[3], v3f dest
)
1784 /* Region outside A */
1785 v3_sub( tri
[1], tri
[0], ab
);
1786 v3_sub( tri
[2], tri
[0], ac
);
1787 v3_sub( p
, tri
[0], ap
);
1791 if( d1
<= 0.0f
&& d2
<= 0.0f
)
1793 v3_copy( tri
[0], dest
);
1794 return k_contact_type_default
;
1797 /* Region outside B */
1801 v3_sub( p
, tri
[1], bp
);
1802 d3
= v3_dot( ab
, bp
);
1803 d4
= v3_dot( ac
, bp
);
1805 if( d3
>= 0.0f
&& d4
<= d3
)
1807 v3_copy( tri
[1], dest
);
1808 return k_contact_type_edge
;
1811 /* Edge region of AB */
1812 f32 vc
= d1
*d4
- d3
*d2
;
1813 if( vc
<= 0.0f
&& d1
>= 0.0f
&& d3
<= 0.0f
)
1815 f32 v
= d1
/ (d1
-d3
);
1816 v3_muladds( tri
[0], ab
, v
, dest
);
1817 return k_contact_type_edge
;
1820 /* Region outside C */
1823 v3_sub( p
, tri
[2], cp
);
1824 d5
= v3_dot(ab
, cp
);
1825 d6
= v3_dot(ac
, cp
);
1827 if( d6
>= 0.0f
&& d5
<= d6
)
1829 v3_copy( tri
[2], dest
);
1830 return k_contact_type_edge
;
1834 f32 vb
= d5
*d2
- d1
*d6
;
1835 if( vb
<= 0.0f
&& d2
>= 0.0f
&& d6
<= 0.0f
)
1837 f32 w
= d2
/ (d2
-d6
);
1838 v3_muladds( tri
[0], ac
, w
, dest
);
1839 return k_contact_type_edge
;
1843 f32 va
= d3
*d6
- d5
*d4
;
1844 if( va
<= 0.0f
&& (d4
-d3
) >= 0.0f
&& (d5
-d6
) >= 0.0f
)
1846 f32 w
= (d4
-d3
) / ((d4
-d3
) + (d5
-d6
));
1848 v3_sub( tri
[2], tri
[1], bc
);
1849 v3_muladds( tri
[1], bc
, w
, dest
);
1850 return k_contact_type_edge
;
1853 /* P inside region, Q via barycentric coordinates uvw */
1854 f32 d
= 1.0f
/(va
+vb
+vc
),
1858 v3_muladds( tri
[0], ab
, v
, dest
);
1859 v3_muladds( dest
, ac
, w
, dest
);
1861 return k_contact_type_default
;
1864 static void closest_point_elipse( v2f p
, v2f e
, v2f o
)
1866 v2f pabs
, ei
, e2
, ve
, t
;
1869 v2_div( (v2f
){ 1.0f
, 1.0f
}, e
, ei
);
1871 v2_mul( ei
, (v2f
){ e2
[0]-e2
[1], e2
[1]-e2
[0] }, ve
);
1873 v2_fill( t
, 0.70710678118654752f
);
1875 for( int i
=0; i
<3; i
++ ){
1878 v2_mul( ve
, t
, v
); /* ve*t*t*t */
1882 v2_sub( pabs
, v
, u
);
1886 v2_sub( ud
, v
, ud
);
1888 v2_muls( u
, v2_length( ud
), u
);
1893 v2_maxv( (v2f
){0.0f
,0.0f
}, w
, t
);
1898 v2_copysign( o
, p
);
1902 * -----------------------------------------------------------------------------
1903 * Section 5.d Raycasts & Spherecasts
1904 * -----------------------------------------------------------------------------
1907 int ray_aabb1( boxf box
, v3f co
, v3f dir_inv
, f32 dist
)
1912 v3_sub( box
[0], co
, v0
);
1913 v3_sub( box
[1], co
, v1
);
1915 v3_mul( v0
, dir_inv
, v0
);
1916 v3_mul( v1
, dir_inv
, v1
);
1918 tmin
= vg_minf( v0
[0], v1
[0] );
1919 tmax
= vg_maxf( v0
[0], v1
[0] );
1920 tmin
= vg_maxf( tmin
, vg_minf( v0
[1], v1
[1] ));
1921 tmax
= vg_minf( tmax
, vg_maxf( v0
[1], v1
[1] ));
1922 tmin
= vg_maxf( tmin
, vg_minf( v0
[2], v1
[2] ));
1923 tmax
= vg_minf( tmax
, vg_maxf( v0
[2], v1
[2] ));
1925 return (tmax
>= tmin
) && (tmin
<= dist
) && (tmax
>= 0.0f
);
1928 /* Time of intersection with ray vs triangle */
1929 static int ray_tri( v3f tri
[3], v3f co
,
1930 v3f dir
, f32
*dist
)
1932 f32
const kEpsilon
= 0.00001f
;
1934 v3f v0
, v1
, h
, s
, q
, n
;
1941 v3_sub( pb
, pa
, v0
);
1942 v3_sub( pc
, pa
, v1
);
1943 v3_cross( dir
, v1
, h
);
1944 v3_cross( v0
, v1
, n
);
1946 if( v3_dot( n
, dir
) > 0.0f
) /* Backface culling */
1950 a
= v3_dot( v0
, h
);
1952 if( a
> -kEpsilon
&& a
< kEpsilon
)
1956 v3_sub( co
, pa
, s
);
1958 u
= f
* v3_dot(s
, h
);
1959 if( u
< 0.0f
|| u
> 1.0f
)
1962 v3_cross( s
, v0
, q
);
1963 v
= f
* v3_dot( dir
, q
);
1964 if( v
< 0.0f
|| u
+v
> 1.0f
)
1967 t
= f
* v3_dot(v1
, q
);
1976 /* time of intersection with ray vs sphere */
1977 static int ray_sphere( v3f c
, f32 r
,
1978 v3f co
, v3f dir
, f32
*t
)
1983 f32 b
= v3_dot( m
, dir
),
1984 c1
= v3_dot( m
, m
) - r
*r
;
1986 /* Exit if r’s origin outside s (c > 0) and r pointing away from s (b > 0) */
1987 if( c1
> 0.0f
&& b
> 0.0f
)
1990 f32 discr
= b
*b
- c1
;
1992 /* A negative discriminant corresponds to ray missing sphere */
1997 * Ray now found to intersect sphere, compute smallest t value of
2000 *t
= -b
- sqrtf( discr
);
2002 /* If t is negative, ray started inside sphere so clamp t to zero */
2010 * time of intersection of ray vs cylinder
2011 * The cylinder does not have caps but is finite
2013 * Heavily adapted from regular segment vs cylinder from:
2014 * Real-Time Collision Detection
2016 static int ray_uncapped_finite_cylinder( v3f q
, v3f p
, f32 r
,
2017 v3f co
, v3f dir
, f32
*t
)
2020 v3_muladds( co
, dir
, 1.0f
, sb
);
2024 v3_sub( sb
, co
, n
);
2026 f32 md
= v3_dot( m
, d
),
2027 nd
= v3_dot( n
, d
),
2028 dd
= v3_dot( d
, d
),
2029 nn
= v3_dot( n
, n
),
2030 mn
= v3_dot( m
, n
),
2032 k
= v3_dot( m
, m
) - r
*r
,
2035 if( fabsf(a
) < 0.00001f
)
2037 /* Segment runs parallel to cylinder axis */
2041 f32 b
= dd
*mn
- nd
*md
,
2045 return 0; /* No real roots; no intersection */
2047 *t
= (-b
- sqrtf(discr
)) / a
;
2049 return 0; /* Intersection behind ray */
2051 /* Check within cylinder segment */
2052 if( md
+ (*t
)*nd
< 0.0f
)
2055 if( md
+ (*t
)*nd
> dd
)
2058 /* Segment intersects cylinder between the endcaps; t is correct */
2063 * Time of intersection of sphere and triangle. Origin must be outside the
2064 * colliding area. This is a fairly long procedure.
2066 static int spherecast_triangle( v3f tri
[3],
2067 v3f co
, v3f dir
, f32 r
, f32
*t
, v3f n
)
2072 v3_sub( tri
[1], tri
[0], v0
);
2073 v3_sub( tri
[2], tri
[0], v1
);
2074 v3_cross( v0
, v1
, n
);
2076 v3_muladds( tri
[0], n
, r
, sum
[0] );
2077 v3_muladds( tri
[1], n
, r
, sum
[1] );
2078 v3_muladds( tri
[2], n
, r
, sum
[2] );
2081 f32 t_min
= INFINITY
,
2084 if( ray_tri( sum
, co
, dir
, &t1
) ){
2085 t_min
= vg_minf( t_min
, t1
);
2090 * Currently disabled; ray_sphere requires |d| = 1. it is not very important.
2093 for( int i
=0; i
<3; i
++ ){
2094 if( ray_sphere( tri
[i
], r
, co
, dir
, &t1
) ){
2095 t_min
= vg_minf( t_min
, t1
);
2101 for( int i
=0; i
<3; i
++ ){
2105 if( ray_uncapped_finite_cylinder( tri
[i0
], tri
[i1
], r
, co
, dir
, &t1
) ){
2110 v3_add( dir
, co
, co1
);
2111 v3_lerp( co
, co1
, t_min
, ct
);
2113 closest_point_segment( tri
[i0
], tri
[i1
], ct
, cx
);
2114 v3_sub( ct
, cx
, n
);
2127 * -----------------------------------------------------------------------------
2128 * Section 5.e Curves
2129 * -----------------------------------------------------------------------------
2132 static void eval_bezier_time( v3f p0
, v3f p1
, v3f h0
, v3f h1
, f32 t
, v3f p
)
2137 v3_muls( p1
, ttt
, p
);
2138 v3_muladds( p
, h1
, 3.0f
*tt
-3.0f
*ttt
, p
);
2139 v3_muladds( p
, h0
, 3.0f
*ttt
-6.0f
*tt
+3.0f
*t
, p
);
2140 v3_muladds( p
, p0
, 3.0f
*tt
-ttt
-3.0f
*t
+1.0f
, p
);
2143 static void eval_bezier3( v3f p0
, v3f p1
, v3f p2
, f32 t
, v3f p
)
2147 v3_muls( p0
, u
*u
, p
);
2148 v3_muladds( p
, p1
, 2.0f
*u
*t
, p
);
2149 v3_muladds( p
, p2
, t
*t
, p
);
2153 * -----------------------------------------------------------------------------
2154 * Section 5.f Volumes
2155 * -----------------------------------------------------------------------------
2158 static float vg_sphere_volume( float radius
){
2159 float r3
= radius
*radius
*radius
;
2160 return (4.0f
/3.0f
) * VG_PIf
* r3
;
2164 * -----------------------------------------------------------------------------
2165 * Section 6.a PSRNG and some distributions
2166 * -----------------------------------------------------------------------------
2169 /* An implementation of the MT19937 Algorithm for the Mersenne Twister
2170 * by Evan Sultanik. Based upon the pseudocode in: M. Matsumoto and
2171 * T. Nishimura, "Mersenne Twister: A 623-dimensionally
2172 * equidistributed uniform pseudorandom number generator," ACM
2173 * Transactions on Modeling and Computer Simulation Vol. 8, No. 1,
2174 * January pp.3-30 1998.
2176 * http://www.sultanik.com/Mersenne_twister
2177 * https://github.com/ESultanik/mtwister/blob/master/mtwister.c
2180 #define MT_UPPER_MASK 0x80000000
2181 #define MT_LOWER_MASK 0x7fffffff
2182 #define MT_TEMPERING_MASK_B 0x9d2c5680
2183 #define MT_TEMPERING_MASK_C 0xefc60000
2185 #define MT_STATE_VECTOR_LENGTH 624
2187 /* changes to STATE_VECTOR_LENGTH also require changes to this */
2188 #define MT_STATE_VECTOR_M 397
2191 u32 mt
[MT_STATE_VECTOR_LENGTH
];
2196 static void vg_rand_seed( unsigned long seed
)
2198 /* set initial seeds to mt[STATE_VECTOR_LENGTH] using the generator
2199 * from Line 25 of Table 1 in: Donald Knuth, "The Art of Computer
2200 * Programming," Vol. 2 (2nd Ed.) pp.102.
2202 vg_rand
.mt
[0] = seed
& 0xffffffff;
2203 for( vg_rand
.index
=1; vg_rand
.index
<MT_STATE_VECTOR_LENGTH
; vg_rand
.index
++){
2204 vg_rand
.mt
[vg_rand
.index
] =
2205 (6069 * vg_rand
.mt
[vg_rand
.index
-1]) & 0xffffffff;
2210 * Generates a pseudo-randomly generated long.
2212 static u32
vg_randu32(void)
2215 /* mag[x] = x * 0x9908b0df for x = 0,1 */
2216 static u32 mag
[2] = {0x0, 0x9908b0df};
2217 if( vg_rand
.index
>= MT_STATE_VECTOR_LENGTH
|| vg_rand
.index
< 0 ){
2218 /* generate STATE_VECTOR_LENGTH words at a time */
2220 if( vg_rand
.index
>= MT_STATE_VECTOR_LENGTH
+1 || vg_rand
.index
< 0 ){
2221 vg_rand_seed( 4357 );
2223 for( kk
=0; kk
<MT_STATE_VECTOR_LENGTH
-MT_STATE_VECTOR_M
; kk
++ ){
2224 y
= (vg_rand
.mt
[kk
] & MT_UPPER_MASK
) |
2225 (vg_rand
.mt
[kk
+1] & MT_LOWER_MASK
);
2226 vg_rand
.mt
[kk
] = vg_rand
.mt
[kk
+MT_STATE_VECTOR_M
] ^
2227 (y
>> 1) ^ mag
[y
& 0x1];
2229 for( ; kk
<MT_STATE_VECTOR_LENGTH
-1; kk
++ ){
2230 y
= (vg_rand
.mt
[kk
] & MT_UPPER_MASK
) |
2231 (vg_rand
.mt
[kk
+1] & MT_LOWER_MASK
);
2233 vg_rand
.mt
[ kk
+(MT_STATE_VECTOR_M
-MT_STATE_VECTOR_LENGTH
)] ^
2234 (y
>> 1) ^ mag
[y
& 0x1];
2236 y
= (vg_rand
.mt
[MT_STATE_VECTOR_LENGTH
-1] & MT_UPPER_MASK
) |
2237 (vg_rand
.mt
[0] & MT_LOWER_MASK
);
2238 vg_rand
.mt
[MT_STATE_VECTOR_LENGTH
-1] =
2239 vg_rand
.mt
[MT_STATE_VECTOR_M
-1] ^ (y
>> 1) ^ mag
[y
& 0x1];
2242 y
= vg_rand
.mt
[vg_rand
.index
++];
2244 y
^= (y
<< 7) & MT_TEMPERING_MASK_B
;
2245 y
^= (y
<< 15) & MT_TEMPERING_MASK_C
;
2251 * Generates a pseudo-randomly generated f64 in the range [0..1].
2253 static inline f64
vg_randf64(void)
2255 return (f64
)vg_randu32()/(f64
)0xffffffff;
2258 static inline f64
vg_randf64_range( f64 min
, f64 max
)
2260 return vg_lerp( min
, max
, (f64
)vg_randf64() );
2263 static inline void vg_rand_dir( v3f dir
)
2265 dir
[0] = vg_randf64();
2266 dir
[1] = vg_randf64();
2267 dir
[2] = vg_randf64();
2269 v3_muls( dir
, 2.0f
, dir
);
2270 v3_sub( dir
, (v3f
){1.0f
,1.0f
,1.0f
}, dir
);
2272 v3_normalize( dir
);
2275 static inline void vg_rand_sphere( v3f co
)
2278 v3_muls( co
, cbrtf( vg_randf64() ), co
);