ref: beab4cac815271a0f9afccabb4246c932a17e82e
dir: /src/types.c/
#include <math.h>
#include "types.h"
#include "utils.h"
vec3_t vec3_wrap_angle(vec3_t a) {
return vec3(wrap_angle(a.x), wrap_angle(a.y), wrap_angle(a.z));
}
float vec3_angle(vec3_t a, vec3_t b) {
float magnitude = sqrt(
(a.x * a.x + a.y * a.y + a.z * a.z) *
(b.x * b.x + b.y * b.y + b.z * b.z)
);
float cosine = (magnitude == 0)
? 1
: vec3_dot(a, b) / magnitude;
float _v = cosine;
float _min = -1;
float _max = 1;
return acos(_v > _max ? _max : _v < _min ? _min : _v);
}
vec3_t vec3_transform(vec3_t a, mat4_t *mat) {
float w = mat->m[3] * a.x + mat->m[7] * a.y + mat->m[11] * a.z + mat->m[15];
if (w == 0) {
w = 1;
}
return vec3(
(mat->m[0] * a.x + mat->m[4] * a.y + mat->m[ 8] * a.z + mat->m[12]) / w,
(mat->m[1] * a.x + mat->m[5] * a.y + mat->m[ 9] * a.z + mat->m[13]) / w,
(mat->m[2] * a.x + mat->m[6] * a.y + mat->m[10] * a.z + mat->m[14]) / w
);
}
vec3_t vec3_project_to_ray(vec3_t p, vec3_t r0, vec3_t r1) {
vec3_t ray = vec3_normalize(vec3_sub(r1, r0));
float dp = vec3_dot(vec3_sub(p, r0), ray);
return vec3_add(r0, vec3_mulf(ray, dp));
}
float vec3_distance_to_plane(vec3_t p, vec3_t plane_pos, vec3_t plane_normal) {
float dot_product = vec3_dot(vec3_sub(plane_pos, p), plane_normal);
float norm_dot_product = vec3_dot(vec3_mulf(plane_normal, -1), plane_normal);
return dot_product / norm_dot_product;
}
vec3_t vec3_reflect(vec3_t incidence, vec3_t normal, float f) {
return vec3_add(incidence, vec3_mulf(normal, vec3_dot(normal, vec3_mulf(incidence, -1)) * f));
}
void mat4_set_translation(mat4_t *mat, vec3_t pos) {
mat->cols[3][0] = pos.x;
mat->cols[3][1] = pos.y;
mat->cols[3][2] = pos.z;
}
void mat4_set_yaw_pitch_roll(mat4_t *mat, vec3_t rot) {
float sx = sin( rot.x);
float sy = sin(-rot.y);
float sz = sin(-rot.z);
float cx = cos( rot.x);
float cy = cos(-rot.y);
float cz = cos(-rot.z);
mat->cols[0][0] = cy * cz + sx * sy * sz;
mat->cols[1][0] = cz * sx * sy - cy * sz;
mat->cols[2][0] = cx * sy;
mat->cols[0][1] = cx * sz;
mat->cols[1][1] = cx * cz;
mat->cols[2][1] = -sx;
mat->cols[0][2] = -cz * sy + cy * sx * sz;
mat->cols[1][2] = cy * cz * sx + sy * sz;
mat->cols[2][2] = cx * cy;
}
void mat4_set_roll_pitch_yaw(mat4_t *mat, vec3_t rot) {
float sx = sin( rot.x);
float sy = sin(-rot.y);
float sz = sin(-rot.z);
float cx = cos( rot.x);
float cy = cos(-rot.y);
float cz = cos(-rot.z);
mat->cols[0][0] = cy * cz - sx * sy * sz;
mat->cols[1][0] = -cx * sz;
mat->cols[2][0] = cz * sy + cy * sx * sz;
mat->cols[0][1] = cz * sx * sy + cy * sz;
mat->cols[1][1] = cx *cz;
mat->cols[2][1] = -cy * cz * sx + sy * sz;
mat->cols[0][2] = -cx * sy;
mat->cols[1][2] = sx;
mat->cols[2][2] = cx * cy;
}
void mat4_translate(mat4_t *mat, vec3_t translation) {
mat->m[12] = mat->m[0] * translation.x + mat->m[4] * translation.y + mat->m[8] * translation.z + mat->m[12];
mat->m[13] = mat->m[1] * translation.x + mat->m[5] * translation.y + mat->m[9] * translation.z + mat->m[13];
mat->m[14] = mat->m[2] * translation.x + mat->m[6] * translation.y + mat->m[10] * translation.z + mat->m[14];
mat->m[15] = mat->m[3] * translation.x + mat->m[7] * translation.y + mat->m[11] * translation.z + mat->m[15];
}
void mat4_mul(mat4_t *res, mat4_t *a, mat4_t *b) {
res->m[ 0] = b->m[ 0] * a->m[0] + b->m[ 1] * a->m[4] + b->m[ 2] * a->m[ 8] + b->m[ 3] * a->m[12];
res->m[ 1] = b->m[ 0] * a->m[1] + b->m[ 1] * a->m[5] + b->m[ 2] * a->m[ 9] + b->m[ 3] * a->m[13];
res->m[ 2] = b->m[ 0] * a->m[2] + b->m[ 1] * a->m[6] + b->m[ 2] * a->m[10] + b->m[ 3] * a->m[14];
res->m[ 3] = b->m[ 0] * a->m[3] + b->m[ 1] * a->m[7] + b->m[ 2] * a->m[11] + b->m[ 3] * a->m[15];
res->m[ 4] = b->m[ 4] * a->m[0] + b->m[ 5] * a->m[4] + b->m[ 6] * a->m[ 8] + b->m[ 7] * a->m[12];
res->m[ 5] = b->m[ 4] * a->m[1] + b->m[ 5] * a->m[5] + b->m[ 6] * a->m[ 9] + b->m[ 7] * a->m[13];
res->m[ 6] = b->m[ 4] * a->m[2] + b->m[ 5] * a->m[6] + b->m[ 6] * a->m[10] + b->m[ 7] * a->m[14];
res->m[ 7] = b->m[ 4] * a->m[3] + b->m[ 5] * a->m[7] + b->m[ 6] * a->m[11] + b->m[ 7] * a->m[15];
res->m[ 8] = b->m[ 8] * a->m[0] + b->m[ 9] * a->m[4] + b->m[10] * a->m[ 8] + b->m[11] * a->m[12];
res->m[ 9] = b->m[ 8] * a->m[1] + b->m[ 9] * a->m[5] + b->m[10] * a->m[ 9] + b->m[11] * a->m[13];
res->m[10] = b->m[ 8] * a->m[2] + b->m[ 9] * a->m[6] + b->m[10] * a->m[10] + b->m[11] * a->m[14];
res->m[11] = b->m[ 8] * a->m[3] + b->m[ 9] * a->m[7] + b->m[10] * a->m[11] + b->m[11] * a->m[15];
res->m[12] = b->m[12] * a->m[0] + b->m[13] * a->m[4] + b->m[14] * a->m[ 8] + b->m[15] * a->m[12];
res->m[13] = b->m[12] * a->m[1] + b->m[13] * a->m[5] + b->m[14] * a->m[ 9] + b->m[15] * a->m[13];
res->m[14] = b->m[12] * a->m[2] + b->m[13] * a->m[6] + b->m[14] * a->m[10] + b->m[15] * a->m[14];
res->m[15] = b->m[12] * a->m[3] + b->m[13] * a->m[7] + b->m[14] * a->m[11] + b->m[15] * a->m[15];
}