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korenkonder
2022-10-03 15:54:28 +03:00
parent 64c1775f92
commit a15befd8fb
232 changed files with 19396 additions and 12396 deletions
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src/KKdLib/mat.cpp
+58 -74
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@@ -655,7 +655,7 @@ inline void mat3_from_quat(const quat* quat, mat3* mat) {
y = quat->y;
z = quat->z;
w = quat->w;
vec4_length_squared(*quat, len);
len = quat::length_squared(*quat);
len = len > 0.0f ? 2.0f / len : 0.0f;
xx = x * x * len;
xy = x * y * len;
@@ -719,9 +719,9 @@ inline void mat3_get_rotation(const mat3* x, vec3* z) {
}
inline void mat3_get_scale(const mat3* x, vec3* z) {
vec3_length(x->row0, z->x);
vec3_length(x->row1, z->y);
vec3_length(x->row2, z->z);
z->x = vec3::length(x->row0);
z->y = vec3::length(x->row1);
z->z = vec3::length(x->row2);
}
inline float_t mat3_get_max_scale(const mat3* x) {
@@ -730,13 +730,13 @@ inline float_t mat3_get_max_scale(const mat3* x) {
float_t length;
float_t max = 0.0f;
vec3_length(mat.row0, length);
length = vec3::length(mat.row0);
if (max < length)
max = length;
vec3_length(mat.row1, length);
length = vec3::length(mat.row1);
if (max < length)
max = length;
vec3_length(mat.row2, length);
length = vec3::length(mat.row2);
if (max < length)
max = length;
return max;
@@ -1030,12 +1030,12 @@ inline void mat4_inverse_normalized(const mat4* x, mat4* z) {
mat3 yt;
mat3_from_mat4(x, &yt);
vec3 row3;
vec3_dot(*(vec3*)&x->row0, *(vec3*)&x->row3, row3.x);
vec3_dot(*(vec3*)&x->row1, *(vec3*)&x->row3, row3.y);
vec3_dot(*(vec3*)&x->row2, *(vec3*)&x->row3, row3.z);
row3.x = vec3::dot(*(vec3*)&x->row0, *(vec3*)&x->row3);
row3.y = vec3::dot(*(vec3*)&x->row1, *(vec3*)&x->row3);
row3.z = vec3::dot(*(vec3*)&x->row2, *(vec3*)&x->row3);
mat3_transpose(&yt, &yt);
mat4_from_mat3(&yt, z);
vec3_negate(row3, *(vec3*)&z->row3);
*(vec3*)&z->row3 = -row3;
z->row0.w = 0.0f;
z->row1.w = 0.0f;
z->row2.w = 0.0f;
@@ -1686,7 +1686,7 @@ inline void mat4_from_quat(const quat* quat, mat4* mat) {
y = quat->y;
z = quat->z;
w = quat->w;
vec4_length_squared(*quat, len);
len = quat::length_squared(*quat);
len = len > 0.0f ? 2.0f / len : 0.0f;
xx = x * x * len;
xy = x * y * len;
@@ -1713,12 +1713,9 @@ inline void mat4_from_quat(const quat* quat, mat4* mat) {
}
float_t vec3_angle_between_two_vectors(const vec3* x, const vec3* y) {
vec3 z_t;
vec3_cross(*x, *y, z_t);
float_t v2;
vec3_length(z_t, v2);
float_t v3;
vec3_dot(*x, *y, v3);
vec3 z_t = vec3::cross(*x, *y);
float_t v2 = vec3::length(z_t);
float_t v3 = vec3::dot(*x, *y);
return fabsf(atan2f(v2, v3));
}
@@ -1727,19 +1724,15 @@ void mat4_from_two_vectors(const vec3* x, const vec3* y, mat4* mat) {
if (x->x == y->x && y->y == x->y && y->z == x->z)
return;
float_t v5;
vec3_dot(*x, *y, v5);
if (fabsf(1.0f - v5) <= 0.000001f)
if (fabsf(1.0f - vec3::dot(*x, *y)) <= 0.000001f)
return;
vec3 axis;
vec3_cross(*x, *y, axis);
float_t axis_length;
vec3_length(axis, axis_length);
vec3 axis = vec3::cross(*x, *y);
float_t axis_length = vec3::length(axis);
if (axis_length > 0.000001f) {
float_t angle = vec3_angle_between_two_vectors(x, y);
if (axis_length != 0.0)
vec3_mult_scalar(axis, 1.0f / axis_length, axis);
axis *= 1.0f / axis_length;
mat4_from_axis_angle(&axis, angle, mat);
}
}
@@ -1756,18 +1749,18 @@ inline void mat4_from_axis_angle(const vec3* axis, float_t angle, mat4* mat) {
angle_cos = cosf(angle);
angle_cos_1 = 1.0f - angle_cos;
vec3_normalize(*axis, _axis);
_axis = vec3::normalize(*axis);
vec3_mult_scalar(_axis, angle_sin, _axis_sin);
vec3_mult_scalar(_axis, _axis.x * angle_cos_1, temp);
_axis_sin = _axis * angle_sin;
temp = _axis * (_axis.x * angle_cos_1);
mat->row0.x = temp.x + angle_cos;
mat->row1.x = temp.y - _axis_sin.z;
mat->row2.x = temp.z + _axis_sin.y;
vec3_mult_scalar(_axis, _axis.y * angle_cos_1, temp);
temp = _axis * (_axis.y * angle_cos_1);
mat->row0.y = temp.x + _axis_sin.z;
mat->row1.y = temp.y + angle_cos;
mat->row2.y = temp.z - _axis_sin.x;
vec3_mult_scalar(_axis, _axis.z * angle_cos_1, temp);
temp = _axis * (_axis.z * angle_cos_1);
mat->row0.z = temp.x - _axis_sin.y;
mat->row1.z = temp.y + _axis_sin.x;
mat->row2.z = temp.z + angle_cos;
@@ -1837,9 +1830,9 @@ inline void mat4_get_rotation(const mat4* x, vec3* z) {
}
inline void mat4_get_scale(const mat4* x, vec3* z) {
vec4_length(x->row0, z->x);
vec4_length(x->row1, z->y);
vec4_length(x->row2, z->z);
z->x = vec4::length(x->row0);
z->y = vec4::length(x->row1);
z->z = vec4::length(x->row2);
}
inline void mat4_get_translation(const mat4* x, vec3* z) {
@@ -1851,12 +1844,12 @@ inline void mat4_set_translation(mat4* x, vec3* z) {
}
inline void mat4_blend(const mat4* x, const mat4* y, mat4* z, float_t blend) {
quat q0;
quat q1;
quat q2;
quat q3;
quat_from_mat3(x->row0.x, x->row1.x, x->row2.x, x->row0.y,
x->row1.y, x->row2.y, x->row0.z, x->row1.z, x->row2.z, &q1);
x->row1.y, x->row2.y, x->row0.z, x->row1.z, x->row2.z, &q0);
quat_from_mat3(y->row0.x, y->row1.x, y->row2.x, y->row0.y,
y->row1.y, y->row2.y, y->row0.z, y->row1.z, y->row2.z, &q1);
@@ -1866,10 +1859,10 @@ inline void mat4_blend(const mat4* x, const mat4* y, mat4* z, float_t blend) {
mat4_get_translation(x, &t1);
mat4_get_translation(y, &t2);
quat_slerp(&q3, &q1, &q2, blend);
vec3_lerp_scalar(t1, t2, t3, blend);
q2 = quat::slerp(q0, q1, blend);
t3 = vec3::lerp(t1, t2, blend);
mat4_from_quat(&q3, z);
mat4_from_quat(&q2, z);
mat4_set_translation(z, &t3);
}
@@ -1882,20 +1875,18 @@ inline void mat4_blend_rotation(const mat4* x, const mat4* y, mat4* z, float_t b
x->row1.y, x->row2.y, x->row0.z, x->row1.z, x->row2.z, &q1);
quat_from_mat3(y->row0.x, y->row1.x, y->row2.x, y->row0.y,
y->row1.y, y->row2.y, y->row0.z, y->row1.z, y->row2.z, &q1);
quat_slerp(&q0, &q1, &q2, blend);
q2 = quat::slerp(q0, q1, blend);
mat4_from_quat(&q2, z);
}
void mat4_lerp_rotation(mat4* dst, const mat4* src0, const mat4* src1, float_t blend) {
vec3 m0;
vec3 m1;
vec3_lerp_scalar(*(vec3*)&src0->row0, *(vec3*)&src1->row0, m0, blend);
vec3_lerp_scalar(*(vec3*)&src0->row1, *(vec3*)&src1->row1, m1, blend);
m0 = vec3::lerp(*(vec3*)&src0->row0, *(vec3*)&src1->row0, blend);
m1 = vec3::lerp(*(vec3*)&src0->row1, *(vec3*)&src1->row1, blend);
float_t m0_len_sq;
float_t m1_len_sq;
vec3_length_squared(m0, m0_len_sq);
vec3_length_squared(m1, m1_len_sq);
float_t m0_len_sq = vec3::length_squared(m0);
float_t m1_len_sq = vec3::length_squared(m1);
if (m0_len_sq <= 0.000001f || m1_len_sq <= 0.000001f) {
*dst = *src1;
@@ -1903,12 +1894,12 @@ void mat4_lerp_rotation(mat4* dst, const mat4* src0, const mat4* src1, float_t b
}
vec3 m2;
vec3_cross(m0, m1, m2);
vec3_cross(m2, m0, m1);
m2 = vec3::cross(m0, m1);
m1 = vec3::cross(m2, m0);
float_t m2_len_sq;
vec3_length_squared(m1, m1_len_sq);
vec3_length_squared(m2, m2_len_sq);
m1_len_sq = vec3::length_squared(m1);
m2_len_sq = vec3::length_squared(m2);
if (m2_len_sq <= 0.000001f || m1_len_sq <= 0.000001) {
*dst = *src1;
return;
@@ -1916,15 +1907,15 @@ void mat4_lerp_rotation(mat4* dst, const mat4* src0, const mat4* src1, float_t b
float_t m0_len = sqrtf(m0_len_sq);
if (m0_len != 0.0f)
vec3_div_scalar(m0, 1.0f / m0_len, m0);
m0 *= 1.0f / m0_len;
float_t m1_len = sqrtf(m1_len_sq);
if (m1_len != 0.0f)
vec3_div_scalar(m1, 1.0f / m1_len, m1);
m1 *= 1.0f / m1_len;
float_t m2_len = sqrtf(m2_len_sq);
if (m2_len != 0.0f)
vec3_div_scalar(m2, 1.0f / m2_len, m2);
m2 *= 1.0f / m2_len;
*dst = mat4_identity;
*(vec3*)&dst->row0 = m0;
@@ -1938,13 +1929,13 @@ inline float_t mat4_get_max_scale(const mat4* x) {
float_t length;
float_t max = 0.0f;
vec3_length(*(vec3*)&mat.row0, length);
length = vec3::length(*(vec3*)&mat.row0);
if (max < length)
max = length;
vec3_length(*(vec3*)&mat.row1, length);
length = vec3::length(*(vec3*)&mat.row1);
if (max < length)
max = length;
vec3_length(*(vec3*)&mat.row2, length);
length = vec3::length(*(vec3*)&mat.row2);
if (max < length)
max = length;
return max;
@@ -2010,39 +2001,32 @@ inline void mat4_persp(double_t fov_y, double_t aspect, double_t z_near, double_
inline void mat4_look_at(const vec3* eye, const vec3* target, const vec3* up, mat4* mat) {
vec3 x_axis, y_axis, z_axis;
float_t t;
vec3 xyz;
vec3_sub(*eye, *target, z_axis);
vec3_normalize(z_axis, z_axis);
z_axis = vec3::normalize(*eye - *target);
vec3_cross(*up, z_axis, x_axis);
vec3_normalize(x_axis, x_axis);
vec3_length(x_axis, t);
if (t == 0.0f)
x_axis = vec3::normalize(vec3::cross(*up, z_axis));
if (vec3::length(x_axis) == 0.0f)
x_axis = { 1.0f, 0.0f, 0.0f };
vec3_cross(z_axis, x_axis, y_axis);
vec3_normalize(y_axis, y_axis);
vec3_dot(x_axis, *eye, xyz.x);
vec3_dot(y_axis, *eye, xyz.y);
vec3_dot(z_axis, *eye, xyz.z);
y_axis = vec3::normalize(vec3::cross(z_axis, x_axis));
xyz.x = vec3::dot(x_axis, *eye);
xyz.y = vec3::dot(y_axis, *eye);
xyz.z = vec3::dot(z_axis, *eye);
mat->row0 = { x_axis.x, y_axis.x, z_axis.x, 0.0f };
mat->row1 = { x_axis.y, y_axis.y, z_axis.y, 0.0f };
mat->row2 = { x_axis.z, y_axis.z, z_axis.z, 0.0f };
vec3_negate(xyz, xyz);
*(vec3*)&mat->row3 = xyz;
*(vec3*)&mat->row3 = -xyz;
mat->row3.w = 1.0f;
}
inline void mat4_look_at(const vec3* eye, const vec3* target, mat4* mat) {
vec3 up = { 0.0f, 1.0f, 0.0f };
vec3 dir;
float_t length;
vec3_sub(*target, *eye, dir);
vec3_length_squared(dir, length);
if (length <= 0.000001f) {
dir = *target - *eye;
if (vec3::length_squared(dir) <= 0.000001f) {
up.x = 0.0f;
up.y = 0.0f;
if (dir.z < 0.0f)