a[1][1] = c;
}
+static inline void m2x2_mulv( m2x2f m, v2f v, v2f d )
+{
+ v2f res;
+
+ res[0] = m[0][0]*v[0] + m[1][0]*v[1];
+ res[1] = m[0][1]*v[0] + m[1][1]*v[1];
+
+ v2_copy( res, d );
+}
+
/*
* -----------------------------------------------------------------------------
* Section 4.b 3x3 matrices
m3x3_q( rot, q );
}
-static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
-{
+static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point ){
v3f v;
m4x3_mulv( m, point, v );
v3_maxv( box[1], v, box[1] );
}
-static void m4x3_transform_aabb( m4x3f m, boxf box )
-{
+static void m4x3_expand_aabb_aabb( m4x3f m, boxf boxa, boxf boxb ){
v3f a; v3f b;
-
- v3_copy( box[0], a );
- v3_copy( box[1], b );
- v3_fill( box[0], INFINITY );
- v3_fill( box[1], -INFINITY );
-
- m4x3_expand_aabb_point( m, box, (v3f){ a[0], a[1], a[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], a[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], a[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], a[2] } );
-
- m4x3_expand_aabb_point( m, box, (v3f){ a[0], a[1], b[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ a[0], b[1], b[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ b[0], b[1], b[2] } );
- m4x3_expand_aabb_point( m, box, (v3f){ b[0], a[1], b[2] } );
+ v3_copy( boxb[0], a );
+ v3_copy( boxb[1], b );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], a[1], a[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], b[1], a[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], b[1], a[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], a[1], a[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], a[1], b[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ a[0], b[1], b[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], b[1], b[2] } );
+ m4x3_expand_aabb_point( m, boxa, (v3f){ b[0], a[1], b[2] } );
}
-
static inline void m4x3_lookat( m4x3f m, v3f pos, v3f target, v3f up )
{
v3f dir;
return 0;
}
-static inline void box_init_inf( boxf box )
-{
+static inline void box_init_inf( boxf box ){
v3_fill( box[0], INFINITY );
v3_fill( box[1], -INFINITY );
}
static int plane_segment( v4f plane, v3f a, v3f b, v3f co )
{
f32 d0 = v3_dot( a, plane ) - plane[3],
- d1 = v3_dot( b, plane ) - plane[3];
+ d1 = v3_dot( b, plane ) - plane[3];
if( d0*d1 < 0.0f )
{
;
}
+static f32 ray_plane( v4f plane, v3f co, v3f dir ){
+ f32 d = v3_dot( plane, dir );
+ if( fabsf(d) > 1e-6f ){
+ v3f v0;
+ v3_muls( plane, plane[3], v0 );
+ v3_sub( v0, co, v0 );
+ return v3_dot( v0, plane ) / d;
+ }
+ else return INFINITY;
+}
+
/*
* -----------------------------------------------------------------------------
* Section 5.c Closest point functions