d[0] = a[0]+b[0]; d[1] = a[1]+b[1]; d[2] = a[2]+b[2];
}
+static inline void v3i_add( v3i a, v3i b, v3i d )
+{
+ d[0] = a[0]+b[0]; d[1] = a[1]+b[1]; d[2] = a[2]+b[2];
+}
+
static inline void v4_add( v4f a, v4f b, v4f d )
{
d[0] = a[0]+b[0];
d[0] = a[0]-b[0]; d[1] = a[1]-b[1]; d[2] = a[2]-b[2];
}
+static inline void v3i_sub( v3i a, v3i b, v3i d )
+{
+ d[0] = a[0]-b[0]; d[1] = a[1]-b[1]; d[2] = a[2]-b[2];
+}
+
static inline void v3_mul( v3f a, v3f b, v3f d )
{
d[0] = a[0]*b[0]; d[1] = a[1]*b[1]; d[2] = a[2]*b[2];
return 1;
}
+static int plane_segment( v4f plane, v3f a, v3f b, v3f co )
+{
+ float d0 = v3_dot( a, plane ) - plane[3],
+ d1 = v3_dot( b, plane ) - plane[3];
+
+ if( d0*d1 < 0.0f )
+ {
+ float tot = 1.0f/( fabsf(d0)+fabsf(d1) );
+
+ v3_muls( a, fabsf(d1) * tot, co );
+ v3_muladds( co, b, fabsf(d0) * tot, co );
+ return 1;
+ }
+
+ return 0;
+}
static inline double plane_polarity( double p[4], double a[3] )
{
static inline void q_nlerp( v4f a, v4f b, float t, v4f d )
{
- if( v4_dot(a,b) < 0.0f )
- {
+ if( v4_dot(a,b) < 0.0f ){
v4_muls( b, -1.0f, d );
v4_lerp( a, d, t, d );
}
}
}
+static void q_mulv( v4f q, v3f v, v3f d )
+{
+ v3f v1, v2;
+
+ v3_muls( q, 2.0f*v3_dot(q,v), v1 );
+ v3_muls( v, q[3]*q[3] - v3_dot(q,q), v2 );
+ v3_add( v1, v2, v1 );
+ v3_cross( q, v, v2 );
+ v3_muls( v2, 2.0f*q[3], v2 );
+ v3_add( v1, v2, d );
+}
+
enum contact_type
{
k_contact_type_default,
return v3_length2( v0 );
}
+VG_STATIC int point_inside_aabb( boxf box, v3f point )
+{
+ if((point[0]<=box[1][0]) && (point[1]<=box[1][1]) && (point[2]<=box[1][2]) &&
+ (point[0]>=box[0][0]) && (point[1]>=box[0][1]) && (point[2]>=box[0][2]) )
+ return 1;
+ else
+ return 0;
+}
+
VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
{
v3_maxv( p, box[0], dest );
static inline float vg_randf(void)
{
+ /* TODO: replace with our own rand */
return (float)rand()/(float)(RAND_MAX);
}
v3_muladds( p, p0, 3.0f*tt -ttt -3.0f*t +1.0f, p );
}
+static void eval_bezier3( v3f p0, v3f p1, v3f p2, float t, v3f p )
+{
+ float u = 1.0f-t;
+
+ v3_muls( p0, u*u, p );
+ v3_muladds( p, p1, 2.0f*u*t, p );
+ v3_muladds( p, p2, t*t, p );
+}
+
#endif /* VG_M_H */