replace VG_STATIC -> static

[vg.git] / vg_m.h

diff --git a/vg_m.h b/vg_m.h
index 833f1f01598a628a4c09df3c873c1a7cef7a3644..c753be797bc9e1da62b96c29ead2e8e800f7f0b9 100644 (file)
--- a/vg_m.h
+++ b/vg_m.h
@@ -18,6 +18,7 @@
  *    5.c Closest points
  *    5.d Raycast & Spherecasts
  *    5.e Curves
+ *    5.f Volumes
  *  6. Statistics
  *    6.a Random numbers
  **/
@@ -62,6 +63,12 @@ static int vg_validf( f32 a )
    return ((vg_ftu32(a)) & 0x7F800000U) != 0x7F800000U;
 }
 
+static int v3_valid( v3f a ){
+   for( u32 i=0; i<3; i++ )
+      if( !vg_validf(a[i]) ) return 0;
+   return 1;
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 1.                   Scalar Operations
@@ -392,8 +399,7 @@ static inline void v3_normalize( v3f a )
    v3_muls( a, 1.f / v3_length( a ), a );
 }
 
-static inline f32 vg_lerpf( f32 a, f32 b, f32 t )
-{
+static inline f32 vg_lerpf( f32 a, f32 b, f32 t ){
    return a + t*(b-a);
 }
 
@@ -402,6 +408,17 @@ static inline f64 vg_lerp( f64 a, f64 b, f64 t )
    return a + t*(b-a);
 }
 
+static inline void vg_slewf( f32 *a, f32 b, f32 speed ){
+   f32 d = vg_signf( b-*a ),
+       c = *a + d*speed;
+   *a = vg_minf( b*d, c*d ) * d;
+}
+
+static inline f32 vg_smoothstepf( f32 x ){
+   return x*x*(3.0f - 2.0f*x);
+}
+
+
 /* correctly lerp around circular period -pi -> pi */
 static f32 vg_alerpf( f32 a, f32 b, f32 t )
 {
@@ -480,6 +497,24 @@ static inline void v3_rotate( v3f v, f32 angle, v3f axis, v3f d )
   v3_add( v1, v2, d );
 }
 
+static void v3_tangent_basis( v3f n, v3f tx, v3f ty ){
+   /* Compute tangent basis (box2d) */
+   if( fabsf( n[0] ) >= 0.57735027f ){
+      tx[0] =  n[1];
+      tx[1] = -n[0];
+      tx[2] =  0.0f;
+   }
+   else{
+      tx[0] =  0.0f;
+      tx[1] =  n[2];
+      tx[2] = -n[1];
+   }
+
+   v3_normalize( tx );
+   v3_cross( n, tx, ty );
+}
+
+
 /*
  * -----------------------------------------------------------------------------
  * Section 2.c                   4D Vectors
@@ -593,11 +628,11 @@ static inline void q_inv( v4f q, v4f d )
    d[3] =  q[3]*s;
 }
 
-static inline void q_nlerp( v4f a, v4f b, f32 t, v4f d )
-{
+static inline void q_nlerp( v4f a, v4f b, f32 t, v4f d ){
    if( v4_dot(a,b) < 0.0f ){
-      v4_muls( b, -1.0f, d );
-      v4_lerp( a, d, t, d );
+      v4f c;
+      v4_muls( b, -1.0f, c );
+      v4_lerp( a, c, t, d );
    }
    else
       v4_lerp( a, b, t, d );
@@ -675,6 +710,16 @@ static inline void m2x2_create_rotation( m2x2f a, f32 theta )
    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
@@ -1159,8 +1204,7 @@ static void m4x3_decompose( m4x3f m, v3f co, v4f q, v3f s )
    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 );
 
@@ -1168,26 +1212,19 @@ static void m4x3_expand_aabb_point( m4x3f m, boxf box, v3f point )
    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;
@@ -1422,8 +1459,7 @@ static int box_within( boxf greater, boxf lesser )
    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 );
 }
@@ -1510,7 +1546,7 @@ int plane_intersect2( v4f a, v4f b, v3f p, v3f n )
 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 )
    {
@@ -1532,6 +1568,17 @@ static inline f64 plane_polarity( f64 p[4], f64 a[3] )
    ;
 }
 
+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
@@ -1542,7 +1589,7 @@ static inline f64 plane_polarity( f64 p[4], f64 a[3] )
  * These closest point tests were learned from Real-Time Collision Detection by 
  * Christer Ericson 
  */
-VG_STATIC f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
+static f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
    f32 *s, f32 *t, v3f c1, v3f c2)
 {
    v3f d1,d2,r;
@@ -1619,7 +1666,7 @@ VG_STATIC f32 closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2,
    return v3_length2( v0 );
 }
 
-VG_STATIC int point_inside_aabb( boxf box, v3f point )
+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]) )
@@ -1628,13 +1675,13 @@ VG_STATIC int point_inside_aabb( boxf box, v3f point )
       return 0;
 }
 
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
+static void closest_point_aabb( v3f p, boxf box, v3f dest )
 {
    v3_maxv( p, box[0], dest );
    v3_minv( dest, box[1], dest );
 }
 
-VG_STATIC void closest_point_obb( v3f p, boxf box, 
+static void closest_point_obb( v3f p, boxf box, 
                                   m4x3f mtx, m4x3f inv_mtx, v3f dest )
 {
    v3f local;
@@ -1643,7 +1690,7 @@ VG_STATIC void closest_point_obb( v3f p, boxf box,
    m4x3_mulv( mtx, local, dest );
 }
 
-VG_STATIC f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
+static f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
 {
    v3f v0, v1;
    v3_sub( b, a, v0 );
@@ -1655,7 +1702,7 @@ VG_STATIC f32 closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
    return t;
 }
 
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
+static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
 {
    v3f ab, ac, ap;
    f32 d1, d2;
@@ -1751,7 +1798,7 @@ enum contact_type
    k_contact_type_edge
 };
 
-VG_STATIC enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
+static enum contact_type closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
 {
    v3f ab, ac, ap;
    f32 d1, d2;
@@ -2124,6 +2171,17 @@ static void eval_bezier3( v3f p0, v3f p1, v3f p2, f32 t, v3f p )
    v3_muladds( p, p2, t*t, p );
 }
 
+/*
+ * -----------------------------------------------------------------------------
+ * Section 5.f                      Volumes
+ * -----------------------------------------------------------------------------
+ */
+
+static float vg_sphere_volume( float radius ){
+   float r3 = radius*radius*radius;
+   return (4.0f/3.0f) * VG_PIf * r3;
+}
+
 /*
  * -----------------------------------------------------------------------------
  * Section 6.a            PSRNG and some distributions