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-rw-r--r--prb_math.c305
1 files changed, 215 insertions, 90 deletions
diff --git a/prb_math.c b/prb_math.c
index a2d58bc..bbc3161 100644
--- a/prb_math.c
+++ b/prb_math.c
@@ -1,242 +1,341 @@
F32 f32sin(F32 a)
{
- F32 r = sinf(a);
+ F32 r;
+ r = sinf(a);
return r;
}
F32 f32cos(F32 a)
{
- F32 r = cosf(a);
+ F32 r;
+ r = cosf(a);
+ return r;
+}
+
+F32 f32tan(F32 a)
+{
+ F32 r;
+ r = tanf(a);
return r;
}
F32 f32sqrt(F32 a)
{
- F32 r = sqrtf(a);
+ F32 r;
+ r = sqrtf(a);
return r;
}
/* NOTE(pryazha): Vectors */
V2 v2(F32 x, F32 y)
{
- V2 r = { x, y };
+ V2 r;
+ r.x = x;
+ r.y = y;
return r;
}
V2 v2a(F32 x)
{
- V2 r = { x, x };
+ V2 r;
+ r = v2(x, x);
return r;
}
-V2 v2neg(V2 a)
+V2 v2inv(V2 a)
{
- V2 r = { -a.x, -a.y };
+ V2 r;
+ r = v2(-a.x, -a.y);
return r;
}
V2 v2add(V2 a, V2 b)
{
- V2 r = { a.x+b.x, a.y+b.y };
+ V2 r;
+ r = v2(a.x+b.x, a.y+b.y);
return r;
}
V2 v2sub(V2 a, V2 b)
{
- V2 r = { a.x-b.x, a.y-b.y };
+ V2 r;
+ r = v2(a.x-b.x, a.y-b.y);
return r;
}
V2 v2scalef(V2 a, F32 s)
{
- V2 r = { a.x*s, a.y*s };
+ V2 r;
+ r = v2(a.x*s, a.y*s);
return r;
}
V2 v2scale(V2 a, V2 s)
{
- V2 r = { a.x*s.x, a.y*s.y };
+ V2 r;
+ r = v2(a.x*s.x, a.y*s.y);
return r;
}
F32 v2dot(V2 a, V2 b)
{
- F32 r = a.x*b.x+a.y*b.y;
+ F32 r;
+ r = a.x*b.x+a.y*b.y;
return r;
}
F32 v2len2(V2 a)
{
- F32 r = v2dot(a, a);
+ F32 r;
+ r = v2dot(a, a);
return r;
}
F32 v2len(V2 a)
{
- F32 r = f32sqrt(v2len2(a));
+ F32 r;
+ r = f32sqrt(v2len2(a));
+ return r;
+}
+
+V2 v2norm(V2 a)
+{
+ F32 len;
+ V2 r;
+
+ r = V2_ZERO;
+ len = v2len(a);
+ if (len)
+ r = v2(a.x/len, a.y/len);
+
return r;
}
void v2print(V2 a)
{
- fprintf(stdout, "{%f, %f}\n", a.x, a.y);
+ fprintf(stdout, "{%f, %f}T\n", a.x, a.y);
}
V3 v3(F32 x, F32 y, F32 z)
{
- V3 r = { x, y, z };
+ V3 r;
+ r.x = x;
+ r.y = y;
+ r.z = z;
return r;
}
V3 v3a(F32 x)
{
- V3 r = { x, x, x };
+ V3 r;
+ r = v3(x, x, x);
return r;
}
-V3 v3neg(V3 a)
+V3 v3fromv2(V2 a)
{
- V3 r = { -a.x, -a.y, -a.z };
+ V3 r;
+ r = v3(a.x, a.y, 0.0f);
+ return r;
+}
+
+V3 v3fromv4(V4 a)
+{
+ V3 r;
+ r = v3(a.x, a.y, a.z);
+ return r;
+}
+
+V3 v3inv(V3 a)
+{
+ V3 r;
+ r = v3(-a.x, -a.y, -a.z);
return r;
}
V3 v3add(V3 a, V3 b)
{
- V3 r = { a.x+b.x, a.y+b.y, a.z+b.z };
+ V3 r;
+ r = v3(a.x+b.x, a.y+b.y, a.z+b.z);
return r;
}
V3 v3sub(V3 a, V3 b)
{
- V3 r = { a.x-b.x, a.y-b.y, a.z-b.z };
+ V3 r;
+ r = v3(a.x-b.x, a.y-b.y, a.z-b.z);
return r;
}
V3 v3scalef(V3 a, F32 s)
{
- V3 r = { a.x*s, a.y*s, a.z*s };
+ V3 r;
+ r = v3(a.x*s, a.y*s, a.z*s);
return r;
}
V3 v3scale(V3 a, V3 s)
{
- V3 r = { a.x*s.x, a.y*s.y, a.z*s.z };
+ V3 r;
+ r = v3(a.x*s.x, a.y*s.y, a.z*s.z);
return r;
}
F32 v3dot(V3 a, V3 b)
{
- F32 r = a.x*b.x+a.y*b.y+a.z*b.z;
+ F32 r;
+ r = a.x*b.x + a.y*b.y + a.z*b.z;
return r;
}
V3 v3cross(V3 left, V3 right)
{
- V3 r = {
- (left.y*right.z-right.y*left.z),
- (right.x*left.z-left.x*right.z),
- (left.x*right.y-right.x*left.y)
- };
+ V3 r;
+ r = v3((left.y*right.z-right.y*left.z),
+ (right.x*left.z-left.x*right.z),
+ (left.x*right.y-right.x*left.y));
return r;
}
F32 v3len2(V3 a)
{
- F32 r = v3dot(a, a);
+ F32 r;
+ r = v3dot(a, a);
return r;
}
F32 v3len(V3 a)
{
- F32 r = f32sqrt(v3len2(a));
+ F32 r;
+ r = f32sqrt(v3len2(a));
+ return r;
+}
+
+V3 v3norm(V3 a)
+{
+ F32 len;
+ V3 r;
+
+ r = V3_ZERO;
+ len = v3len(a);
+ if (len)
+ r = v3(a.x/len, a.y/len, a.z/len);
+
return r;
}
void v3print(V3 a)
{
- fprintf(stdout, "{%f, %f, %f}\n", a.x, a.y, a.z);
+ fprintf(stdout, "{%f, %f, %f}T\n", a.x, a.y, a.z);
}
V4 v4(F32 x, F32 y, F32 z, F32 w)
{
- V4 r = { x, y, z, w };
+ V4 r;
+ r.x = x;
+ r.y = y;
+ r.z = z;
+ r.w = w;
return r;
}
V4 v4a(F32 x)
{
- V4 r = { x, x, x, x };
+ V4 r;
+ r = v4(x, x, x, x);
return r;
}
V4 v4fromv3(V3 a)
{
- V4 r = { a.x, a.y, a.z, 0.0f };
+ V4 r;
+ r = v4(a.x, a.y, a.z, 0.0f);
return r;
}
-V4 v4neg(V4 a)
+V4 v4inv(V4 a)
{
- V4 r = { -a.x, -a.y, -a.z, -a.w };
+ V4 r;
+ r = v4(-a.x, -a.y, -a.z, -a.w);
return r;
}
V4 v4add(V4 a, V4 b)
{
- V4 r = { a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w };
+ V4 r;
+ r = v4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
return r;
}
V4 v4sub(V4 a, V4 b)
{
- V4 r = { a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w };
+ V4 r;
+ r = v4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
return r;
}
V4 v4scalef(V4 a, F32 s)
{
- V4 r = { a.x*s, a.y*s, a.z*s, a.w*s };
+ V4 r;
+ r = v4(a.x*s, a.y*s, a.z*s, a.w*s);
return r;
}
V4 v4scale(V4 a, V4 s)
{
- V4 r = { a.x*s.x, a.y*s.y, a.z*s.z, a.w*s.w };
+ V4 r;
+ r = v4(a.x*s.x, a.y*s.y, a.z*s.z, a.w*s.w);
return r;
}
F32 v4dot(V4 a, V4 b)
{
- F32 r = a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w;
+ F32 r;
+ r = a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w;
return r;
}
F32 v4len2(V4 a)
{
- F32 r = v4dot(a, a);
+ F32 r;
+ r = v4dot(a, a);
return r;
}
F32 v4len(V4 a)
{
- F32 r = f32sqrt(v4len2(a));
+ F32 r;
+ r = f32sqrt(v4len2(a));
+ return r;
+}
+
+V4 v4norm(V4 a)
+{
+ F32 len;
+ V4 r;
+
+ r = V4_ZERO;
+ len = v4len(a);
+ if (len)
+ r = v4(a.x/len, a.y/len, a.z/len, a.w/len);
+
return r;
}
void v4print(V4 a)
{
- fprintf(stdout, "{%f, %f, %f, %f}\n", a.x, a.y, a.z, a.w);
+ fprintf(stdout, "{%f, %f, %f, %f}T\n", a.x, a.y, a.z, a.w);
}
/* NOTE(pryazha): Matrices */
-F32 mat4det(Mat4 m)
+F32 mat4det(MAT4 m)
{
- F32 r, m00minor, m01minor, m02minor, m03minor;
+ F32 r, m00minor, m01minor, m02minor, m03minor;
- F32 m00 = m.m0.x, m10 = m.m0.y, m20 = m.m0.z, m30 = m.m0.w;
- F32 m01 = m.m1.x, m11 = m.m1.y, m21 = m.m1.z, m31 = m.m1.w;
- F32 m02 = m.m2.x, m12 = m.m2.y, m22 = m.m2.z, m32 = m.m2.w;
- F32 m03 = m.m3.x, m13 = m.m3.y, m23 = m.m3.z, m33 = m.m3.w;
+ F32 m00 = m.m0.x, m10 = m.m0.y, m20 = m.m0.z, m30 = m.m0.w;
+ F32 m01 = m.m1.x, m11 = m.m1.y, m21 = m.m1.z, m31 = m.m1.w;
+ F32 m02 = m.m2.x, m12 = m.m2.y, m22 = m.m2.z, m32 = m.m2.w;
+ F32 m03 = m.m3.x, m13 = m.m3.y, m23 = m.m3.z, m33 = m.m3.w;
m00minor = ((m11*m22*m33)+(m12*m23*m31)+(m21*m32*m13)-
(m31*m22*m13)-(m21*m12*m33)-(m11*m32*m23));
@@ -250,14 +349,16 @@ F32 mat4det(Mat4 m)
m03minor = ((m10*m21*m32)+(m20*m31*m12)+(m11*m22*m30)-
(m12*m21*m30)-(m11*m20*m32)-(m22*m31*m10));
- r = m00*m00minor+m01*m01minor-m02*m02minor+m03*m03minor;
+ r = m00*m00minor + m01*m01minor - m02*m02minor + m03*m03minor;
return r;
}
-Mat4 mat4transpose(Mat4 m)
+MAT4 mat4transp(MAT4 m)
{
- Mat4 r = m;
+ MAT4 r;
+
+ r = m;
Swap(F32, r.m0.y, r.m1.x);
Swap(F32, r.m0.z, r.m2.x);
@@ -271,19 +372,29 @@ Mat4 mat4transpose(Mat4 m)
return r;
}
-Mat4 mat4mul(Mat4 left, Mat4 right)
+MAT4 mat4mul(MAT4 left, MAT4 right)
{
- F32 l00 = left.m0.x, l01 = left.m0.y, l02 = left.m0.z, l03 = left.m0.w;
- F32 l10 = left.m1.x, l11 = left.m1.y, l12 = left.m1.z, l13 = left.m1.w;
- F32 l20 = left.m2.x, l21 = left.m2.y, l22 = left.m2.z, l23 = left.m2.w;
- F32 l30 = left.m3.x, l31 = left.m3.y, l32 = left.m3.z, l33 = left.m3.w;
+ F32 l00, l01, l02, l03;
+ F32 l10, l11, l12, l13;
+ F32 l20, l21, l22, l23;
+ F32 l30, l31, l32, l33;
- F32 r00 = right.m0.x, r01 = right.m0.y, r02 = right.m0.z, r03 = right.m0.w;
- F32 r10 = right.m1.x, r11 = right.m1.y, r12 = right.m1.z, r13 = right.m1.w;
- F32 r20 = right.m2.x, r21 = right.m2.y, r22 = right.m2.z, r23 = right.m2.w;
- F32 r30 = right.m3.x, r31 = right.m3.y, r32 = right.m3.z, r33 = right.m3.w;
+ F32 r00, r01, r02, r03;
+ F32 r10, r11, r12, r13;
+ F32 r20, r21, r22, r23;
+ F32 r30, r31, r32, r33;
- Mat4 r;
+ MAT4 r;
+
+ l00 = left.m0.x; l01 = left.m0.y; l02 = left.m0.z; l03 = left.m0.w;
+ l10 = left.m1.x; l11 = left.m1.y; l12 = left.m1.z; l13 = left.m1.w;
+ l20 = left.m2.x; l21 = left.m2.y; l22 = left.m2.z; l23 = left.m2.w;
+ l30 = left.m3.x; l31 = left.m3.y; l32 = left.m3.z; l33 = left.m3.w;
+
+ r00 = right.m0.x; r01 = right.m0.y; r02 = right.m0.z; r03 = right.m0.w;
+ r10 = right.m1.x; r11 = right.m1.y; r12 = right.m1.z; r13 = right.m1.w;
+ r20 = right.m2.x; r21 = right.m2.y; r22 = right.m2.z; r23 = right.m2.w;
+ r30 = right.m3.x; r31 = right.m3.y; r32 = right.m3.z; r33 = right.m3.w;
r.m0.x = l00*r00+l10*r01+l20*r02+l30*r03;
r.m0.y = l01*r00+l11*r01+l21*r02+l31*r03;
@@ -308,28 +419,41 @@ Mat4 mat4mul(Mat4 left, Mat4 right)
return r;
}
-Mat4 mat4translate(Mat4 m, V3 v)
+MAT4 mat4transl(MAT4 m, V3 v)
{
- Mat4 t = MAT4_IDENTITY;
- t.m3 = v4fromv3(v);
- Mat4 r = mat4mul(t, m);
+ MAT4 t, r;
+
+ t = MAT4_IDENTITY;
+ t.m3.x = v.x;
+ t.m3.y = v.y;
+ t.m3.z = v.z;
+ r = mat4mul(t, m);
+
return r;
}
-Mat4 mat4scale(Mat4 m, V3 v)
+MAT4 mat4scale(MAT4 m, V3 v)
{
- Mat4 s = MAT4_IDENTITY;
- s.m0 = v4fromv3(v);
- Mat4 r = mat4mul(s, m);
+ MAT4 s, r;
+
+ s = MAT4_IDENTITY;
+ s.m0.x = v.x;
+ s.m1.y = v.y;
+ s.m2.z = v.z;
+ r = mat4mul(s, m);
+
return r;
}
-Mat4 mat4_change_basis(V3 x, V3 y, V3 z)
+MAT4 mat4_change_basis(V3 x, V3 y, V3 z)
{
- Mat4 r = MAT4_IDENTITY;
+ MAT4 r;
+
+ r = MAT4_IDENTITY;
r.m0 = v4(x.x, x.y, x.z, 0.0f);
r.m1 = v4(y.x, y.y, y.z, 0.0f);
r.m2 = v4(z.x, z.y, z.z, 0.0f);
+
return r;
}
@@ -339,11 +463,11 @@ Mat4 mat4_change_basis(V3 x, V3 y, V3 z)
* | 0 cx -sx |*| 0 1 0 |*| sz cz 0 |=| sx*sy*cz+cx*sz -sx*sy*sz+cx*cz -sx*cy |
* | 0 sx cx | | -sy 0 cy | | 0 0 1 | | -cx*sy*cz+sx*sz cx*sy*sz+sx*cz cx*cy |
*/
-Mat4 mat4rotate(Mat4 m, V3 angles)
+MAT4 mat4rotate(MAT4 m, V3 angles)
{
- F32 angle, cx, sx, cy, sy, cz, sz;
- Mat4 rotate, r;
- V3 newx, newy, newz;
+ F32 angle, cx, sx, cy, sy, cz, sz;
+ MAT4 rotate, r;
+ V3 newx, newy, newz;
angle = DEG2RAD*angles.x;
cx = f32cos(angle);
@@ -365,21 +489,22 @@ Mat4 mat4rotate(Mat4 m, V3 angles)
return r;
}
-V4 mat4v4mul(Mat4 m, V4 v)
+V4 mat4v4mul(MAT4 m, V4 v)
{
- V4 r = {
- m.m0.x*v.x+m.m1.x*v.y+m.m2.x*v.z+m.m3.x*v.w,
- m.m0.y*v.x+m.m1.y*v.y+m.m2.y*v.z+m.m3.y*v.w,
- m.m0.z*v.x+m.m1.z*v.y+m.m2.z*v.z+m.m3.z*v.w,
- m.m0.w*v.x+m.m1.w*v.y+m.m2.w*v.z+m.m3.w*v.w
- };
+ V4 r;
+
+ r = v4(m.m0.x*v.x+m.m1.x*v.y+m.m2.x*v.z+m.m3.x*v.w,
+ m.m0.y*v.x+m.m1.y*v.y+m.m2.y*v.z+m.m3.y*v.w,
+ m.m0.z*v.x+m.m1.z*v.y+m.m2.z*v.z+m.m3.z*v.w,
+ m.m0.w*v.x+m.m1.w*v.y+m.m2.w*v.z+m.m3.w*v.w);
+
return r;
}
-void mat4print(Mat4 m)
+void mat4print(MAT4 m)
{
- printf("| %.4f %.4f %.4f %.4f |\n", m.m0.x, m.m1.x, m.m2.x, m.m3.x);
- printf("| %.4f %.4f %.4f %.4f |\n", m.m0.y, m.m1.y, m.m2.y, m.m3.y);
- printf("| %.4f %.4f %.4f %.4f |\n", m.m0.z, m.m1.z, m.m2.z, m.m3.z);
- printf("| %.4f %.4f %.4f %.4f |\n\n", m.m0.w, m.m1.w, m.m2.w, m.m3.w);
+ fprintf(stdout, "| %.4f %.4f %.4f %.4f |\n", m.m0.x, m.m1.x, m.m2.x, m.m3.x);
+ fprintf(stdout, "| %.4f %.4f %.4f %.4f |\n", m.m0.y, m.m1.y, m.m2.y, m.m3.y);
+ fprintf(stdout, "| %.4f %.4f %.4f %.4f |\n", m.m0.z, m.m1.z, m.m2.z, m.m3.z);
+ fprintf(stdout, "| %.4f %.4f %.4f %.4f |\n\n", m.m0.w, m.m1.w, m.m2.w, m.m3.w);
}
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