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];
p[2] = p[2] / l;
}
-static inline int plane_intersect( double a[4], double b[4],
- double c[4], double p[4] )
+static int plane_intersect3( v4f a, v4f b, v4f c, v3f p )
{
- double const epsilon = 1e-8f;
-
- double x[3];
- double d;
-
- x[0] = a[1] * b[2] - a[2] * b[1];
- x[1] = a[2] * b[0] - a[0] * b[2];
- x[2] = a[0] * b[1] - a[1] * b[0];
-
- d = x[0] * c[0] + x[1] * c[1] + x[2] * c[2];
-
- if( d < epsilon && d > -epsilon ) return 0;
+ float const epsilon = 1e-6f;
- p[0] = (b[1] * c[2] - b[2] * c[1]) * -a[3];
- p[1] = (b[2] * c[0] - b[0] * c[2]) * -a[3];
- p[2] = (b[0] * c[1] - b[1] * c[0]) * -a[3];
+ v3f x;
+ v3_cross( a, b, x );
+ float d = v3_dot( x, c );
- p[0] += (c[1] * a[2] - c[2] * a[1]) * -b[3];
- p[1] += (c[2] * a[0] - c[0] * a[2]) * -b[3];
- p[2] += (c[0] * a[1] - c[1] * a[0]) * -b[3];
-
- p[0] += (a[1] * b[2] - a[2] * b[1]) * -c[3];
- p[1] += (a[2] * b[0] - a[0] * b[2]) * -c[3];
- p[2] += (a[0] * b[1] - a[1] * b[0]) * -c[3];
-
- p[0] = -p[0] / d;
- p[1] = -p[1] / d;
- p[2] = -p[2] / d;
+ if( (d < epsilon) && (d > -epsilon) ) return 0;
+
+ v3f v0, v1, v2;
+ v3_cross( b, c, v0 );
+ v3_cross( c, a, v1 );
+ v3_cross( a, b, v2 );
+
+ v3_muls( v0, a[3], p );
+ v3_muladds( p, v1, b[3], p );
+ v3_muladds( p, v2, c[3], p );
+ v3_divs( p, d, p );
return 1;
}
+int plane_intersect2( v4f a, v4f b, v3f p, v3f n )
+{
+ float const epsilon = 1e-6f;
+
+ v4f c;
+ v3_cross( a, b, c );
+ float d = v3_length2( c );
+
+ if( (d < epsilon) && (d > -epsilon) )
+ return 0;
+
+ v3f v0, v1, vx;
+ v3_cross( c, b, v0 );
+ v3_cross( a, c, v1 );
+
+ v3_muls( v0, a[3], vx );
+ v3_muladds( vx, v1, b[3], vx );
+ v3_divs( vx, d, p );
+ v3_copy( c, n );
+
+ 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] )
{
return
}
}
+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);
}