feat: add mat3 and several primitives to pl_math.h
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pl_math.h
189
pl_math.h
@ -14,8 +14,8 @@
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*/
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// library version (format XYYZZ)
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#define PL_MATH_VERSION "1.1.0"
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#define PL_MATH_VERSION_NUM 10100
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#define PL_MATH_VERSION "1.0.0"
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#define PL_MATH_VERSION_NUM 10000
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/*
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Index of this file:
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@ -30,6 +30,7 @@ Index of this file:
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// [SECTION] matrix ops
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// [SECTION] quaternion ops
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// [SECTION] rect ops
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// [SECTION] aabb ops
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// [SECTION] colors
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// [SECTION] implementations
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*/
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@ -40,19 +41,28 @@ Index of this file:
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#ifndef PL_MATH_INC
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#define PL_MATH_INC
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#define PL_MATH_DEFINED
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//-----------------------------------------------------------------------------
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// [SECTION] forward declarations & basic types
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//-----------------------------------------------------------------------------
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// forward declarations
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// general math
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typedef union _plVec2 plVec2;
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typedef union _plVec3 plVec3;
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typedef union _plVec4 plVec4;
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typedef union _plMat3 plMat3;
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typedef union _plMat4 plMat4;
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// geometric primitives
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typedef struct _plRect plRect;
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typedef struct _plAABB plAABB;
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typedef struct _plPlane plPlane;
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typedef struct _plSphere plSphere;
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typedef struct _plBox plBox;
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typedef struct _plCone plCone;
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typedef struct _plRay plRay;
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typedef struct _plCylinder plCylinder;
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typedef struct _plCapsule plCapsule;
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//-----------------------------------------------------------------------------
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// [SECTION] defines
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@ -141,6 +151,23 @@ typedef union _plVec4
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float d[4];
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} plVec4;
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typedef union _plMat3
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{
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plVec3 col[3];
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struct {
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float x11;
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float x21;
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float x31;
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float x12;
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float x22;
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float x32;
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float x13;
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float x23;
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float x33;
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};
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float d[9];
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} plMat3;
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typedef union _plMat4
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{
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plVec4 col[4];
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@ -177,6 +204,51 @@ typedef struct _plAABB
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plVec3 tMax;
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} plAABB;
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typedef struct _plPlane
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{
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float fOffset; // opposite of direction
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plVec3 tDirection; // normal
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} plPlane;
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typedef struct _plSphere
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{
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float fRadius;
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plVec3 tCenter;
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} plSphere;
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typedef struct _plBox
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{
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plMat4 tTransform;
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plVec3 tHalfSize;
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} plBox;
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typedef struct _plCone
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{
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plVec3 tBasePos;
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plVec3 tTipPos;
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float fRadius;
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} plCone;
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typedef struct _plCylinder
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{
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plVec3 tBasePos;
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plVec3 tTipPos;
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float fRadius;
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} plCylinder;
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typedef struct _plCapsule
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{
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plVec3 tBasePos;
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plVec3 tTipPos;
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float fRadius;
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} plCapsule;
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typedef struct _plRay
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{
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plVec3 tOrigin;
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plVec3 tDirection;
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} plRay;
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#endif // PL_MATH_INC
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#if defined(PL_MATH_INCLUDE_FUNCTIONS) && !defined(PL_MATH_INCLUDE_FUNCTIONS_H)
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@ -203,6 +275,8 @@ typedef struct _plAABB
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#define pl_create_vec2(XARG, YARG) {(XARG), (YARG)}
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#define pl_create_vec3(XARG, YARG, ZARG) {(XARG), (YARG), (ZARG)}
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#define pl_create_vec4(XARG, YARG, ZARG, WARG) {(XARG), (YARG), (ZARG), (WARG)}
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#define pl_create_mat3_diag(XARG, YARG, ZARG) {(XARG), 0.0, 0.0f, 0.0f, (YARG), 0.0f, 0.0f, 0.0f, (ZARG)}
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#define pl_create_mat3_cols(XARG, YARG, ZARG) {(XARG).x, (XARG).y, (XARG).z, (YARG).x, (YARG).y, (YARG).z, (ZARG).x, (ZARG).y, (ZARG).z}
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#define pl_create_mat4_diag(XARG, YARG, ZARG, WARG) {(XARG), 0.0, 0.0f, 0.0f, 0.0f, (YARG), 0.0f, 0.0f, 0.0f, 0.0f, (ZARG), 0.0f, 0.0f, 0.0f, 0.0f, (WARG)}
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#define pl_create_mat4_cols(XARG, YARG, ZARG, WARG) {(XARG).x, (XARG).y, (XARG).z, (XARG).w, (YARG).x, (YARG).y, (YARG).z, (YARG).w, (ZARG).x, (ZARG).y, (ZARG).z, (ZARG).w, (WARG).x, (WARG).y, (WARG).z, (WARG).w}
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#define pl_create_rect_vec2(XARG, YARG) {(XARG), (YARG)}
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@ -211,6 +285,8 @@ typedef struct _plAABB
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#define pl_create_vec2(XARG, YARG) (plVec2){(XARG), (YARG)}
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#define pl_create_vec3(XARG, YARG, ZARG) (plVec3){(XARG), (YARG), (ZARG)}
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#define pl_create_vec4(XARG, YARG, ZARG, WARG) (plVec4){(XARG), (YARG), (ZARG), (WARG)}
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#define pl_create_mat3_diag(XARG, YARG, ZARG) (plMat3){.x11 = (XARG), .x22 = (YARG), .x33 = (ZARG)}
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#define pl_create_mat3_cols(XARG, YARG, ZARG) (plMat3){.col[0] = (XARG), .col[1] = (YARG), .col[2] = (ZARG)}
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#define pl_create_mat4_diag(XARG, YARG, ZARG, WARG) (plMat4){.x11 = (XARG), .x22 = (YARG), .x33 = (ZARG), .x44 = (WARG)}
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#define pl_create_mat4_cols(XARG, YARG, ZARG, WARG) (plMat4){.col[0] = (XARG), .col[1] = (YARG), .col[2] = (ZARG), .col[3] = (WARG)}
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#define pl_create_rect_vec2(XARG, YARG) (plRect){.tMin = (XARG), .tMax = (YARG)}
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@ -319,7 +395,18 @@ static inline plVec4 pl_norm_vec4(plVec4 tVec) { float fLength = pl_length_vec4(
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// [SECTION] matrix ops
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//-----------------------------------------------------------------------------
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// general ops
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// general ops 3x3
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static inline float pl_mat3_get (const plMat3* ptMat, int iRow, int iCol) { return ptMat->col[iCol].d[iRow];}
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static inline void pl_mat3_set (plMat3* ptMat, int iRow, int iCol, float fValue) { ptMat->col[iCol].d[iRow] = fValue;}
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static inline plMat3 pl_identity_mat3 (void) { return pl_create_mat3_diag(1.0f, 1.0f, 1.0f);}
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static inline plMat3 pl_mat3_transpose (const plMat3* ptMat) { plMat3 tResult = {0}; for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) pl_mat3_set(&tResult, i, j, pl_mat3_get(ptMat, j, i)); return tResult;}
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static inline plMat3 pl_mat3_invert (const plMat3* ptMat);
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static inline plMat3 pl_mul_scalarf_mat3(float fLeft, const plMat3* ptRight) { plMat3 tResult = {0}; for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) pl_mat3_set(&tResult, i, j, fLeft * pl_mat3_get(ptRight, j, i)); return tResult;}
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static inline plVec3 pl_mul_mat3_vec3 (const plMat3* ptLeft, plVec3 tRight);
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static inline plMat3 pl_mul_mat3 (const plMat3* ptLeft, const plMat3* ptRight);
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static inline plMat3 pl_add_mat3 (const plMat3* ptLeft, const plMat3* ptRight);
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// general ops 4x4
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static inline float pl_mat4_get (const plMat4* ptMat, int iRow, int iCol) { return ptMat->col[iCol].d[iRow];}
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static inline void pl_mat4_set (plMat4* ptMat, int iRow, int iCol, float fValue) { ptMat->col[iCol].d[iRow] = fValue;}
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static inline plMat4 pl_identity_mat4 (void) { return pl_create_mat4_diag(1.0f, 1.0f, 1.0f, 1.0f);}
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@ -329,6 +416,8 @@ static inline plMat4 pl_mul_scalarf_mat4(float fLeft, const plMat4* ptRight)
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static inline plVec3 pl_mul_mat4_vec3 (const plMat4* ptLeft, plVec3 tRight);
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static inline plVec4 pl_mul_mat4_vec4 (const plMat4* ptLeft, plVec4 tRight);
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static inline plMat4 pl_mul_mat4 (const plMat4* ptLeft, const plMat4* ptRight);
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static inline plMat4 pl_add_mat4 (const plMat4* ptLeft, const plMat4* ptRight);
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static inline plMat4 pl_mul_mat4_3 (const plMat4* ptLeft, const plMat4* ptMiddle, const plMat4* ptRight);
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// translation, rotation, scaling
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static inline plMat4 pl_mat4_translate_xyz (float fX, float fY, float fZ) { plMat4 tResult = pl_create_mat4_diag(1.0f, 1.0f, 1.0f, 1.0f); tResult.x14 = fX; tResult.x24 = fY; tResult.x34 = fZ; return tResult;}
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@ -391,6 +480,14 @@ static inline plRect pl_rect_move_start (const plRect* ptRect, float fX, floa
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static inline plRect pl_rect_move_start_x (const plRect* ptRect, float fX) { const plRect tResult = { { fX, ptRect->tMin.y}, { fX + ptRect->tMax.x - ptRect->tMin.x, ptRect->tMax.y} }; return tResult;}
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static inline plRect pl_rect_move_start_y (const plRect* ptRect, float fY) { const plRect tResult = {{ ptRect->tMin.x, fY}, { ptRect->tMax.x, fY + ptRect->tMax.y - ptRect->tMin.y}}; return tResult;}
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//-----------------------------------------------------------------------------
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// [SECTION] aabb ops
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//-----------------------------------------------------------------------------
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static inline plAABB pl_aabb_merge (const plAABB* tA, const plAABB* tB) { plAABB tResult = {pl_min_vec3(tA->tMin, tB->tMin),pl_max_vec3(tA->tMax, tB->tMax)}; return tResult; }
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static inline plVec3 pl_aabb_half_width(const plAABB* tA) { return pl_create_vec3(0.5f * (tA->tMax.x - tA->tMin.x), 0.5f * (tA->tMax.y - tA->tMin.y), 0.5f * (tA->tMax.z - tA->tMin.z)); }
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static inline plVec3 pl_aabb_center (const plAABB* tA) { return pl_create_vec3(0.5f * (tA->tMax.x + tA->tMin.x), 0.5f * (tA->tMax.y + tA->tMin.y), 0.5f * (tA->tMax.z + tA->tMin.z)); }
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//-----------------------------------------------------------------------------
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// [SECTION] colors
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//-----------------------------------------------------------------------------
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@ -417,6 +514,15 @@ static inline plRect pl_rect_move_start_y (const plRect* ptRect, float fY)
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// [SECTION] implementations
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//-----------------------------------------------------------------------------
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static inline plVec3
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pl_mul_mat3_vec3(const plMat3* ptLeft, plVec3 tRight)
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{
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float fX = ptLeft->col[0].d[0] * tRight.x + ptLeft->col[1].d[0] * tRight.y + ptLeft->col[2].d[0] * tRight.z;
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float fY = ptLeft->col[0].d[1] * tRight.x + ptLeft->col[1].d[1] * tRight.y + ptLeft->col[2].d[1] * tRight.z;
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float fZ = ptLeft->col[0].d[2] * tRight.x + ptLeft->col[1].d[2] * tRight.y + ptLeft->col[2].d[2] * tRight.z;
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return pl_create_vec3(fX, fY, fZ);
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}
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static inline plVec3
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pl_mul_mat4_vec3(const plMat4* ptLeft, plVec3 tRight)
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{
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@ -450,6 +556,38 @@ pl_mul_mat4_vec4(const plMat4* ptLeft, plVec4 tRight)
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return pl_add_vec4(Add0, Add1);
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}
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static inline plMat3
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pl_mul_mat3(const plMat3* ptLeft, const plMat3* ptRight)
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{
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plMat3 tResult;
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// row 0
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tResult.x11 = ptLeft->col[0].d[0] * ptRight->col[0].d[0] + ptLeft->col[1].d[0] * ptRight->col[0].d[1] + ptLeft->col[2].d[0] * ptRight->col[0].d[2];
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tResult.x12 = ptLeft->col[0].d[0] * ptRight->col[1].d[0] + ptLeft->col[1].d[0] * ptRight->col[1].d[1] + ptLeft->col[2].d[0] * ptRight->col[1].d[2];
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tResult.x13 = ptLeft->col[0].d[0] * ptRight->col[2].d[0] + ptLeft->col[1].d[0] * ptRight->col[2].d[1] + ptLeft->col[2].d[0] * ptRight->col[2].d[2];
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// row 1
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tResult.x21 = ptLeft->col[0].d[1] * ptRight->col[0].d[0] + ptLeft->col[1].d[1] * ptRight->col[0].d[1] + ptLeft->col[2].d[1] * ptRight->col[0].d[2];
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tResult.x22 = ptLeft->col[0].d[1] * ptRight->col[1].d[0] + ptLeft->col[1].d[1] * ptRight->col[1].d[1] + ptLeft->col[2].d[1] * ptRight->col[1].d[2];
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tResult.x23 = ptLeft->col[0].d[1] * ptRight->col[2].d[0] + ptLeft->col[1].d[1] * ptRight->col[2].d[1] + ptLeft->col[2].d[1] * ptRight->col[2].d[2];
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// row 2
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tResult.x31 = ptLeft->col[0].d[2] * ptRight->col[0].d[0] + ptLeft->col[1].d[2] * ptRight->col[0].d[1] + ptLeft->col[2].d[2] * ptRight->col[0].d[2];
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tResult.x32 = ptLeft->col[0].d[2] * ptRight->col[1].d[0] + ptLeft->col[1].d[2] * ptRight->col[1].d[1] + ptLeft->col[2].d[2] * ptRight->col[1].d[2];
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tResult.x33 = ptLeft->col[0].d[2] * ptRight->col[2].d[0] + ptLeft->col[1].d[2] * ptRight->col[2].d[1] + ptLeft->col[2].d[2] * ptRight->col[2].d[2];
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return tResult;
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}
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static inline plMat3
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pl_add_mat3(const plMat3* ptLeft, const plMat3* ptRight)
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{
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plMat3 tResult;
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for(uint32_t i = 0; i < 9; i++)
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tResult.d[i] = ptLeft->d[i] + ptRight->d[i];
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return tResult;
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}
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static inline plMat4
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pl_mul_mat4(const plMat4* ptLeft, const plMat4* ptRight)
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{
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@ -482,6 +620,22 @@ pl_mul_mat4(const plMat4* ptLeft, const plMat4* ptRight)
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return tResult;
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}
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static inline plMat4
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pl_mul_mat4_3(const plMat4* ptLeft, const plMat4* ptMiddle, const plMat4* ptRight)
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{
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plMat4 tIntermediateMatrix = pl_mul_mat4(ptMiddle, ptRight);
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return pl_mul_mat4(ptLeft, &tIntermediateMatrix);
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}
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static inline plMat4
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pl_add_mat4(const plMat4* ptLeft, const plMat4* ptRight)
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{
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plMat4 tResult;
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for(uint32_t i = 0; i < 16; i++)
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tResult.d[i] = ptLeft->d[i] + ptRight->d[i];
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return tResult;
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}
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static inline plMat4
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pl_mat4_rotate_vec3(float fAngle, plVec3 tVec)
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{
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@ -514,6 +668,31 @@ pl_mat4_rotate_vec3(float fAngle, plVec3 tVec)
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tM.col[3]);
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}
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static inline plMat3
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pl_mat3_invert(const plMat3* ptMat)
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{
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const plVec3 tA = ptMat->col[0];
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const plVec3 tB = ptMat->col[1];
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const plVec3 tC = ptMat->col[2];
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plVec3 tR0 = pl_cross_vec3(tB, tC);
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plVec3 tR1 = pl_cross_vec3(tC, tA);
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plVec3 tR2 = pl_cross_vec3(tA, tB);
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float fInvDet = 1.0f / pl_dot_vec3(tR2, tC);
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plMat3 tResult;
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tResult.x11 = tR0.x * fInvDet;
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tResult.x21 = tR1.x * fInvDet;
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tResult.x31 = tR2.x * fInvDet;
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tResult.x12 = tR0.y * fInvDet;
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tResult.x22 = tR1.y * fInvDet;
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tResult.x32 = tR2.y * fInvDet;
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tResult.x13 = tR0.z * fInvDet;
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tResult.x23 = tR1.z * fInvDet;
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tResult.x33 = tR2.z * fInvDet;
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return tResult;
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}
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static inline plMat4
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pl_mat4_invert(const plMat4* ptMat)
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{
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