path: root/prb_math.h

#define V2_ZERO		(v2){ 0.0f,  0.0f}
#define V2_ONE		(v2){ 1.0f,  1.0f}
#define V2_RIGHT	(v2){ 1.0f,  0.0f}
#define V2_UP		(v2){ 0.0f,  1.0f}
#define V2_LEFT		(v2){-1.0f,  0.0f}
#define V2_DOWN		(v2){ 0.0f,   -1.0f    }

#define V3_ZERO		(v3){ 0.0f,  0.0f,  0.0f}
#define V3_ONE		(v3){ 1.0f,  1.0f,  1.0f}
#define V3_RIGHT	(v3){ 1.0f,  0.0f,  0.0f}
#define V3_UP		(v3){ 0.0f,  1.0f,  0.0f}
#define V3_LEFT		(v3){-1.0f,  0.0f,  0.0f}
#define V3_DOWN		(v3){ 0.0f, -1.0f,  0.0f}
#define V3_FORWARD	(v3){ 0.0f,  0.0f,  1.0f}
#define V3_BACKWARD	(v3){ 0.0f,  0.0f, -1.0f}

#define V4_ZERO		(v4){0.0f, 0.0f, 0.0f, 0.0f}
#define V4_ONE		(v4){1.0f, 1.0f, 1.0f, 1.0f}

#define MAT4_IDENTITY	(mat4){ \
			{1.0f, 0.0f, 0.0f, 0.0f}, \
			{0.0f, 1.0f, 0.0f, 0.0f}, \
			{0.0f, 0.0f, 1.0f, 0.0f}, \
			{0.0f, 0.0f, 0.0f, 1.0f}}

#define F_PI 3.14159265359f

#define deg2rad(angle)	(F_PI/180.0f*(angle))

#define QUAT_IDENTITY	(v4){0.0f, 0.0f, 0.0f, 1.0f}

/* TODO(pryazha): Implement trigonometry functions */
f32 fsin(f32 a)
{
	f32 result = sinf(a);
	return result;
}

f32 fcos(f32 a)
{
	f32 result = cosf(a);
	return result;
}

f32 ftan(f32 a)
{
	f32 result = tanf(a);
	return result;
}

f32 fsqrt(f32 a)
{
	f32 result = sqrtf(a);
	return result;
}

// vectors
v2 v2_fill(f32 x)
{
	v2 v = {x, x};
	return v;
}

v2 v2_inv(v2 a)
{
	v2 v = {-a.x, -a.y};
	return v;
}

v2 v2_add(v2 a, v2 b)
{
	v2 v = {a.x+b.x, a.y+b.y};
	return v;
}

v2 v2_sub(v2 a, v2 b)
{
	v2 v = {a.x-b.x, a.y-b.y};
	return v;
}

v2 v2_scalef(v2 a, f32 s)
{
	v2 v = {a.x*s, a.y*s};
	return v;
}

v2 v2_scale(v2 a, v2 s)
{
	v2 v = {a.x*s.x, a.y*s.y};
	return v;
}

f32 v2_dot(v2 a, v2 b)
{
	f32 v = a.x*b.x+a.y*b.y;
	return v;
}

f32 v2_len2(v2 a)
{
	f32 v = v2_dot(a, a);
	return v;
}

f32 v2_len(v2 a)
{
	f32 v = fsqrt(v2_len2(a));
	return v;
}

v2 v2_norm(v2 a)
{
	v2 v = {0};
	f32 len = v2_len(a);
	if (len)
		v = (v2){a.x/len, a.y/len};
	return v;
}

v3 v3_fill(f32 x)
{
	v3 v = {x, x, x};
	return v;
}

v3 v3_from_v2(v2 a)
{
	v3 v = {a.x, a.y, 0.0f};
	return v;
}

v3 v3_from_v4(v4 a)
{
	v3 v = {a.x, a.y, a.z};
	return v;
}

v3 v3_inv(v3 a)
{
	v3 v = {-a.x, -a.y, -a.z};
	return v;
}

v3 v3_add(v3 a, v3 b)
{
	v3 v = {a.x+b.x, a.y+b.y, a.z+b.z};
	return v;
}

v3 v3_sub(v3 a, v3 b)
{
	v3 v = {a.x-b.x, a.y-b.y, a.z-b.z};
	return v;
}

v3 v3_scalef(v3 a, f32 s)
{
	v3 v = {a.x*s, a.y*s, a.z*s};
	return v;
}

v3 v3_scale(v3 a, v3 s)
{
	v3 v = {a.x*s.x, a.y*s.y, a.z*s.z};
	return v;
}

f32 v3_dot(v3 a, v3 b)
{
	f32 v = a.x*b.x+a.y*b.y+a.z*b.z;
	return v;
}

v3 v3_cross(v3 l, v3 r)
{
	v3 v = {(l.y*r.z - r.y*l.z), (r.x*l.z - l.x*r.z), (l.x*r.y - r.x*l.y)};
	return v;
}

f32 v3_len2(v3 a)
{
	f32 v = v3_dot(a, a);
	return v;
}

f32 v3_len(v3 a)
{
	f32 v = fsqrt(v3_len2(a));
	return v;
}

v3 v3_norm(v3 a)
{
	v3 v = V3_ZERO;
	f32 len = v3_len(a);
	if (len)
		v = (v3){a.x/len, a.y/len, a.z/len};
	return v;
}

v4 v4_fill(f32 x)
{
	v4 v = {x, x, x, x};
	return v;
}

v4 v4_from_v3(v3 a)
{
	v4 v = {a.x, a.y, a.z, 0.0f};
	return v;
}

v4 v4_inv(v4 a)
{
	v4 v = {-a.x, -a.y, -a.z, -a.w};
	return v;
}

v4 v4_add(v4 a, v4 b)
{
	v4 v = {a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w};
	return v;
}

v4 v4_sub(v4 a, v4 b)
{
	v4 v = {a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w};
	return v;
}

v4 v4_scalef(v4 a, f32 s)
{
	v4 v = {a.x*s, a.y*s, a.z*s, a.w*s};
	return v;
}

v4 v4_scale(v4 a, v4 s)
{
	v4 v = {a.x*s.x, a.y*s.y, a.z*s.z, a.w*s.w};
	return v;
}

f32 v4_dot(v4 a, v4 b)
{
	f32 v = a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w;
	return v;
}

f32 v4_len2(v4 a)
{
	f32 v = v4_dot(a, a);
	return v;
}

f32 v4_len(v4 a)
{
	f32 v = fsqrt(v4_len2(a));
	return v;
}

v4 v4_norm(v4 a)
{
	v4 v = V4_ZERO;
	f32 len = v4_len(a);
	if (len)
		v = (v4){a.x/len, a.y/len, a.z/len, a.w/len};
	return v;
}

// matrices
f32 mat4_det(mat4 m)
{
	f32 m00 = m.c0.x, m10 = m.c0.y, m20 = m.c0.z, m30 = m.c0.w;
	f32 m01 = m.c1.x, m11 = m.c1.y, m21 = m.c1.z, m31 = m.c1.w;
	f32 m02 = m.c2.x, m12 = m.c2.y, m22 = m.c2.z, m32 = m.c2.w;
	f32 m03 = m.c3.x, m13 = m.c3.y, m23 = m.c3.z, m33 = m.c3.w;

	f32 m00minor = ((m11*m22*m33)+(m12*m23*m31)+(m21*m32*m13)-
			  (m31*m22*m13)-(m21*m12*m33)-(m11*m32*m23));

	f32 m01minor = ((m10*m22*m33)+(m12*m23*m30)+(m20*m32*m13)-
			  (m13*m22*m30)-(m23*m32*m10)-(m12*m20*m33));

	f32 m02minor = ((m10*m21*m33)+(m20*m31*m13)+(m11*m23*m31)-
			  (m13*m21*m30)-(m23*m31*m10)-(m11*m20*m33));

	f32 m03minor = ((m10*m21*m32)+(m20*m31*m12)+(m11*m22*m30)-
			  (m12*m21*m30)-(m11*m20*m32)-(m22*m31*m10));

	f32 result = m00*m00minor+m01*m01minor-m02*m02minor+m03*m03minor;

	return result;
}

mat4 mat4_transp(mat4 m)
{
	swap(f32, m.c0.y, m.c1.x);
	swap(f32, m.c0.z, m.c2.x);
	swap(f32, m.c0.w, m.c3.x);

	swap(f32, m.c1.z, m.c2.y);
	swap(f32, m.c1.w, m.c3.y);

	swap(f32, m.c2.w, m.c3.z);

	return m;
}

mat4 mat4_mul(mat4 left, mat4 right)
{
	f32 l00 = left.c0.x, l01 = left.c0.y, l02 = left.c0.z, l03 = left.c0.w;
	f32 l10 = left.c1.x, l11 = left.c1.y, l12 = left.c1.z, l13 = left.c1.w;
	f32 l20 = left.c2.x, l21 = left.c2.y, l22 = left.c2.z, l23 = left.c2.w;
	f32 l30 = left.c3.x, l31 = left.c3.y, l32 = left.c3.z, l33 = left.c3.w;

	f32 r00 = right.c0.x, r01 = right.c0.y, r02 = right.c0.z, r03 = right.c0.w;
	f32 r10 = right.c1.x, r11 = right.c1.y, r12 = right.c1.z, r13 = right.c1.w;
	f32 r20 = right.c2.x, r21 = right.c2.y, r22 = right.c2.z, r23 = right.c2.w;
	f32 r30 = right.c3.x, r31 = right.c3.y, r32 = right.c3.z, r33 = right.c3.w;

	mat4 result = {
		{
			l00*r00+l10*r01+l20*r02+l30*r03,
			l01*r00+l11*r01+l21*r02+l31*r03,
			l02*r00+l12*r01+l22*r02+l32*r03,
			l03*r00+l13*r01+l23*r02+l33*r03
		},
		{
			l00*r10+l10*r11+l20*r12+l30*r13,
			l01*r10+l11*r11+l21*r12+l31*r13,
			l02*r10+l12*r11+l22*r12+l32*r13,
			l03*r10+l13*r11+l23*r12+l33*r13
		},
		{
			l00*r20+l10*r21+l20*r22+l30*r23,
			l01*r20+l11*r21+l21*r22+l31*r23,
			l02*r20+l12*r21+l22*r22+l32*r23,
			l03*r20+l13*r21+l23*r22+l33*r23
		},
		{
			l00*r30+l10*r31+l20*r32+l30*r33,
			l01*r30+l11*r31+l21*r32+l31*r33,
			l02*r30+l12*r31+l22*r32+l32*r33,
			l03*r30+l13*r31+l23*r32+l33*r33
		}
	};

	return result;
}

mat4 mat4_make_transl(v3 v)
{
	mat4 translate = {
		{1.0f, 0.0f, 0.0f, 0.0f},
		{0.0f, 1.0f, 0.0f, 0.0f},
		{0.0f, 0.0f, 1.0f, 0.0f},
		{v.x,  v.y,  v.z,  1.0f}
	};
	return translate;
}

mat4 mat4_make_scale(v3 v)
{
	mat4 scale = {
		{v.x,  0.0f, 0.0f, 0.0f},
		{0.0f, v.y,  0.0f, 0.0f},
		{0.0f, 0.0f, v.z,  0.0f},
		{0.0f, 0.0f, 0.0f, 1.0f}
	};
	return scale;
}

mat4 mat4_make_rotate(v3 x, v3 y, v3 z)
{
	mat4 rotate = {
		{x.x,  x.y,  x.z,  0.0f},
		{y.x,  y.y,  y.z,  0.0f},
		{z.x,  z.y,  z.z,  0.0f},
		{0.0f, 0.0f, 0.0f, 1.0f}
	};
	return rotate;
}

mat4 mat4_transl(mat4 m, v3 v)
{
	mat4 translate = mat4_make_transl(v);
	mat4 result = mat4_mul(translate, m);
	return result;
}

mat4 mat4_scale(mat4 m, v3 v)
{
	mat4 scale = mat4_make_scale(v);
	mat4 result = mat4_mul(scale, m);
	return result;
}

/*
 * NOTE(pryazha): Angles in degrees
 * | 1   0   0  | |  cy   0   sy | |  cz  -sz   0 | | cy*cz           -cy*sz            sy    |
 * | 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 mat4_rotate(mat4 mat, v3 angles)
{
	f32 angle = deg2rad(angles.x);
	f32 cx = fcos(angle);
	f32 sx = fsin(angle);
	angle = deg2rad(angles.y);
	f32 cy = fcos(angle);
	f32 sy = fsin(angle);
	angle = deg2rad(angles.z);
	f32 cz = fcos(angle);
	f32 sz = fsin(angle);

	v3 x = {cy*cz, sx*sy*cz+cx*sz, -cx*sy*cz+sx*sz};
	v3 y = {-cy*sz, -sx*sy*sz+cx*cz, cx*sy*sz+sx*cz};
	v3 z = {sy, -sx*cy, cx*cy};
	mat4 rotate = mat4_make_rotate(x, y, z);

	mat4 result = mat4_mul(rotate, mat);

	return result;
}

v4 mat4_v4_mul(mat4 m, v4 v)
{
	v4 result = {
		m.c0.x*v.x+m.c1.x*v.y+m.c2.x*v.z+m.c3.x*v.w,
		m.c0.y*v.x+m.c1.y*v.y+m.c2.y*v.z+m.c3.y*v.w,
		m.c0.z*v.x+m.c1.z*v.y+m.c2.z*v.z+m.c3.z*v.w,
		m.c0.w*v.x+m.c1.w*v.y+m.c2.w*v.z+m.c3.w*v.w
	};
	return result;
}

i32 in_rect(v2 pos, rect_t rect)
{
	i32 result = (pos.x > rect.start.x) && (pos.x < rect.end.x) &&
		(pos.y > rect.start.y) && (pos.y < rect.end.y);
	return result;
}