aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--CMakeLists.txt17
-rw-r--r--src/Math.c2270
-rw-r--r--src/Math/Box2f.c75
-rw-r--r--src/Math/Box3f.c75
-rw-r--r--src/Math/Line.c41
-rw-r--r--src/Math/Mat3f.c215
-rw-r--r--src/Math/Mat4f.c446
-rw-r--r--src/Math/Misc.c33
-rw-r--r--src/Math/Plane.c43
-rw-r--r--src/Math/Quat4f.c207
-rw-r--r--src/Math/Ray2f.c236
-rw-r--r--src/Math/Ray3f.c232
-rw-r--r--src/Math/Vec2f.c153
-rw-r--r--src/Math/Vec2i.c73
-rw-r--r--src/Math/Vec3f.c168
-rw-r--r--src/Math/Vec3i.c81
-rw-r--r--src/Math/Vec4f.c162
-rw-r--r--src/Math/Vec4i.c89
18 files changed, 2345 insertions, 2271 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5e0a380..d6037e5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,7 +70,22 @@ set(BH_SOURCE
src/Args.c
src/Hashmap.c
src/IO.c
- src/Math.c
+ src/Math/Box2f.c
+ src/Math/Box3f.c
+ src/Math/Line.c
+ src/Math/Mat3f.c
+ src/Math/Mat4f.c
+ src/Math/Misc.c
+ src/Math/Plane.c
+ src/Math/Quat4f.c
+ src/Math/Ray2f.c
+ src/Math/Ray3f.c
+ src/Math/Vec2f.c
+ src/Math/Vec2i.c
+ src/Math/Vec3f.c
+ src/Math/Vec3i.c
+ src/Math/Vec4f.c
+ src/Math/Vec4i.c
src/Queue.c
)
diff --git a/src/Math.c b/src/Math.c
deleted file mode 100644
index 82f4ec3..0000000
--- a/src/Math.c
+++ /dev/null
@@ -1,2270 +0,0 @@
-#include <BH/Math.h>
-
-#include <math.h>
-#include <string.h>
-
-
-/*#define EPSILON 0.00001f*/
-#define EPSILON 0.00001f
-#define PI 3.14159265358979323846f
-
-
-void BH_Vec4fAdd(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
- out[2] = a[2] + b[2];
- out[3] = a[3] + b[3];
-}
-
-
-void BH_Vec4fSub(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
- out[2] = a[2] - b[2];
- out[3] = a[3] - b[3];
-}
-
-
-void BH_Vec4fMul(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
- out[2] = a[2] * b[2];
- out[3] = a[3] * b[3];
-}
-
-
-void BH_Vec4fScale(const float *a,
- const float b,
- float *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
- out[2] = a[2] * b;
- out[3] = a[3] * b;
-}
-
-
-void BH_Vec4fMulAdd(const float *a,
- const float *b,
- const float *c,
- float *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
- out[2] = a[2] * b[2] + c[2];
- out[3] = a[3] * b[3] + c[3];
-}
-
-
-void BH_Vec4fNegate(const float *in,
- float *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
- out[2] = -in[2];
- out[3] = -in[3];
-}
-
-
-float BH_Vec4fDot(const float *a,
- const float *b)
-{
- return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
-}
-
-
-float BH_Vec4fLength(const float *in)
-{
- return sqrtf(BH_Vec4fDot(in, in));
-}
-
-
-void BH_Vec4fNormal(const float *in,
- float *out)
-{
- BH_Vec4fScale(in, 1.0f / BH_Vec4fLength(in), out);
-}
-
-
-float BH_Vec4fNormalEx(const float *in,
- float *out)
-{
- float length;
-
- length = BH_Vec4fLength(in);
- BH_Vec4fScale(in, 1.0f / length, out);
- return length;
-}
-
-
-void BH_Vec4fMin(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
- if (a[3] < b[3]) out[3] = a[3]; else out[3] = b[3];
-}
-
-
-void BH_Vec4fMax(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
- if (a[3] > b[3]) out[3] = a[3]; else out[3] = b[3];
-}
-
-
-void BH_Vec4fLerp(const float *a,
- const float *b,
- float t,
- float *out)
-{
- float tmp[4];
-
- BH_Vec4fSub(b, a, tmp);
- BH_Vec4fScale(tmp, t, tmp);
- BH_Vec4fAdd(a, tmp, out);
-}
-
-
-void BH_Vec4fProject(const float *a,
- const float *b,
- float *out)
-{
- float amount;
-
- amount = BH_Vec4fDot(a, b) / BH_Vec4fDot(b, b);
- BH_Vec4fScale(b, amount, out);
-}
-
-
-void BH_Vec4fBarycentric(const float *a,
- const float *b,
- const float *c,
- float v,
- float w,
- float *out)
-{
- float tmp1[4], tmp2[4];
- float u;
-
- u = 1.0f - v - w;
- tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = u; BH_Vec4fMul(a, tmp1, tmp2);
- tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = v; BH_Vec4fMulAdd(b, tmp1, tmp2, tmp2);
- tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = w; BH_Vec4fMulAdd(c, tmp1, tmp2, out);
-}
-
-
-void BH_Vec3fAdd(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
- out[2] = a[2] + b[2];
-}
-
-
-void BH_Vec3fSub(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
- out[2] = a[2] - b[2];
-}
-
-
-void BH_Vec3fMul(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
- out[2] = a[2] * b[2];
-}
-
-
-void BH_Vec3fScale(const float *a,
- const float b,
- float *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
- out[2] = a[2] * b;
-}
-
-
-void BH_Vec3fMulAdd(const float *a,
- const float *b,
- const float *c,
- float *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
- out[2] = a[2] * b[2] + c[2];
-}
-
-
-void BH_Vec3fNegate(const float *in,
- float *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
- out[2] = -in[2];
-}
-
-
-float BH_Vec3fDot(const float *a,
- const float *b)
-{
- return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-}
-
-
-void BH_Vec3fCross(const float *a,
- const float *b,
- float *out)
-{
- float tmp[3];
-
- tmp[0] = a[1] * b[2] - a[2] * b[1];
- tmp[1] = a[2] * b[0] - a[0] * b[2];
- tmp[2] = a[0] * b[1] - a[1] * b[0];
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-float BH_Vec3fLength(const float *in)
-{
- return sqrtf(BH_Vec3fDot(in, in));
-}
-
-
-void BH_Vec3fNormal(const float *in,
- float *out)
-{
- BH_Vec3fScale(in, 1.0f / BH_Vec3fLength(in), out);
-}
-
-
-float BH_Vec3fNormalEx(const float *in,
- float *out)
-{
- float length;
-
- length = BH_Vec3fLength(in);
- BH_Vec3fScale(in, 1.0f / length, out);
- return length;
-}
-
-
-void BH_Vec3fMin(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
-}
-
-
-void BH_Vec3fMax(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
-}
-
-
-void BH_Vec3fLerp(const float *a,
- const float *b,
- float t,
- float *out)
-{
- float tmp[3];
-
- BH_Vec3fSub(b, a, tmp);
- BH_Vec3fScale(tmp, t, tmp);
- BH_Vec3fAdd(a, tmp, out);
-}
-
-
-void BH_Vec3fProject(const float *a,
- const float *b,
- float *out)
-{
- float amount;
-
- amount = BH_Vec3fDot(a, b) / BH_Vec3fDot(b, b);
- BH_Vec3fScale(b, amount, out);
-}
-
-
-void BH_Vec3fBarycentric(const float *a,
- const float *b,
- const float *c,
- float v,
- float w,
- float *out)
-{
- float tmp1[3], tmp2[3];
- float u;
-
- u = 1.0f - v - w;
- tmp1[0] = tmp1[1] = tmp1[2] = u; BH_Vec3fMul(a, tmp1, tmp2);
- tmp1[0] = tmp1[1] = tmp1[2] = v; BH_Vec3fMulAdd(b, tmp1, tmp2, tmp2);
- tmp1[0] = tmp1[1] = tmp1[2] = w; BH_Vec3fMulAdd(c, tmp1, tmp2, out);
-}
-
-
-void BH_Vec2fAdd(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
-}
-
-
-void BH_Vec2fSub(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
-}
-
-
-void BH_Vec2fMul(const float *a,
- const float *b,
- float *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
-}
-
-
-void BH_Vec2fScale(const float *a,
- const float b,
- float *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
-}
-
-
-void BH_Vec2fMulAdd(const float *a,
- const float *b,
- const float *c,
- float *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
-}
-
-
-void BH_Vec2fNegate(const float *in,
- float *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
-}
-
-
-float BH_Vec2fDot(const float *a,
- const float *b)
-{
- return a[0] * b[0] + a[1] * b[1];
-}
-
-
-float BH_Vec2fCross(const float *a,
- const float *b)
-{
- return a[0] * b[1] - a[1] * b[0];
-}
-
-
-float BH_Vec2fLength(const float *in)
-{
- return sqrtf(BH_Vec2fDot(in, in));
-}
-
-
-void BH_Vec2fNormal(const float *in,
- float *out)
-{
- BH_Vec2fScale(in, 1.0f / BH_Vec2fLength(in), out);
-}
-
-
-float BH_Vec2fNormalEx(const float *in,
- float *out)
-{
- float length;
-
- length = BH_Vec2fLength(in);
- BH_Vec2fScale(in, 1.0f / length, out);
- return length;
-}
-
-
-void BH_Vec2fMin(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
-}
-
-
-void BH_Vec2fMax(const float *a,
- const float *b,
- float *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
-}
-
-
-void BH_Vec2fLerp(const float *a,
- const float *b,
- float t,
- float *out)
-{
- float tmp[2];
-
- BH_Vec2fSub(b, a, tmp);
- BH_Vec2fScale(tmp, t, tmp);
- BH_Vec2fAdd(a, tmp, out);
-}
-
-
-void BH_Vec2fProject(const float *a,
- const float *b,
- float *out)
-{
- float amount;
-
- amount = BH_Vec2fDot(a, b) / BH_Vec2fDot(b, b);
- BH_Vec2fScale(b, amount, out);
-}
-
-
-void BH_Vec2fBarycentric(const float *a,
- const float *b,
- const float *c,
- float v,
- float w,
- float *out)
-{
- float tmp1[2], tmp2[2];
- float u;
-
- u = 1.0f - v - w;
- tmp1[0] = tmp1[1] = u; BH_Vec2fMul(a, tmp1, tmp2);
- tmp1[0] = tmp1[1] = v; BH_Vec2fMulAdd(b, tmp1, tmp2, tmp2);
- tmp1[0] = tmp1[1] = w; BH_Vec2fMulAdd(c, tmp1, tmp2, out);
-}
-
-
-float BH_Lerpf(float a, float b, float t)
-{
- return a + (b - a) * t;
-}
-
-
-void BH_Vec4iAdd(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
- out[2] = a[2] + b[2];
- out[3] = a[3] + b[3];
-}
-
-
-void BH_Vec4iSub(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
- out[2] = a[2] - b[2];
- out[3] = a[3] - b[3];
-}
-
-
-void BH_Vec4iMul(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
- out[2] = a[2] * b[2];
- out[3] = a[3] * b[3];
-}
-
-
-void BH_Vec4iScale(const int *a,
- int b,
- int *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
- out[2] = a[2] * b;
- out[3] = a[3] * b;
-}
-
-
-void BH_Vec4iMulAdd(const int *a,
- const int *b,
- const int *c,
- int *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
- out[2] = a[2] * b[2] + c[2];
- out[3] = a[3] * b[3] + c[3];
-}
-
-
-void BH_Vec4iNegate(const int *in,
- int *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
- out[2] = -in[2];
- out[3] = -in[3];
-}
-
-
-void BH_Vec4iMin(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
- if (a[3] < b[3]) out[3] = a[3]; else out[3] = b[3];
-}
-
-
-void BH_Vec4iMax(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
- if (a[3] > b[3]) out[3] = a[3]; else out[3] = b[3];
-}
-
-
-void BH_Vec3iAdd(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
- out[2] = a[2] + b[2];
-}
-
-
-void BH_Vec3iSub(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
- out[2] = a[2] - b[2];
-}
-
-
-void BH_Vec3iMul(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
- out[2] = a[2] * b[2];
-}
-
-
-void BH_Vec3iScale(const int *a,
- int b,
- int *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
- out[2] = a[2] * b;
-}
-
-
-void BH_Vec3iMulAdd(const int *a,
- const int *b,
- const int *c,
- int *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
- out[2] = a[2] * b[2] + c[2];
-}
-
-
-void BH_Vec3iNegate(const int *in,
- int *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
- out[2] = -in[2];
-}
-
-
-void BH_Vec3iMin(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
-}
-
-
-void BH_Vec3iMax(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
- if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
-}
-
-
-void BH_Vec2iAdd(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] + b[0];
- out[1] = a[1] + b[1];
-}
-
-
-void BH_Vec2iSub(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] - b[0];
- out[1] = a[1] - b[1];
-}
-
-
-void BH_Vec2iMul(const int *a,
- const int *b,
- int *out)
-{
- out[0] = a[0] * b[0];
- out[1] = a[1] * b[1];
-}
-
-
-void BH_Vec2iScale(const int *a,
- int b,
- int *out)
-{
- out[0] = a[0] * b;
- out[1] = a[1] * b;
-}
-
-
-void BH_Vec2iMulAdd(const int *a,
- const int *b,
- const int *c,
- int *out)
-{
- out[0] = a[0] * b[0] + c[0];
- out[1] = a[1] * b[1] + c[1];
-}
-
-
-void BH_Vec2iNegate(const int *in,
- int *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
-}
-
-
-void BH_Vec2iMin(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
-}
-
-
-void BH_Vec2iMax(const int *a,
- const int *b,
- int *out)
-{
- if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
- if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
-}
-
-
-void BH_Quat4fIdentity(float *out)
-{
- static const float ident[4] = {0.0f, 0.0f, 0.0f, 1.0f};
- memcpy(out, ident, sizeof(ident));
-}
-
-
-void BH_Quat4fConjugate(const float *in,
- float *out)
-{
- out[0] = -in[0];
- out[1] = -in[1];
- out[2] = -in[2];
- out[3] = in[3];
-}
-
-
-void BH_Quat4fInverse(const float *in,
- float *out)
-{
- float dot;
-
- dot = BH_Vec4fDot(in, in);
- BH_Quat4fConjugate(in, out);
- BH_Quat4fScale(out, 1.0f / dot, out);
-}
-
-
-void BH_Quat4fMul(const float *a,
- const float *b,
- float *out)
-{
- float tmp1[4], tmp2[4], tmp3[4];
- float w;
-
- w = a[3] * b[3] - BH_Vec3fDot(a, b);
- BH_Vec4fScale(a, b[3], tmp1);
- BH_Vec4fScale(b, a[3], tmp2);
- BH_Vec3fCross(a, b, tmp3);
- BH_Vec4fAdd(tmp1, tmp2, out);
- BH_Vec4fAdd(tmp3, out, out);
- out[3] = w;
-}
-
-
-void BH_Quat4fSlerp(const float *a,
- const float *b,
- float t,
- float *out)
-{
- float angle, denom;
- float from[4], to[4];
-
- angle = acosf(BH_Vec4fDot(a, b));
- if (fabsf(angle) < EPSILON)
- {
- BH_Vec4fLerp(a, b, t, out);
- return;
- }
-
- denom = 1.0f / sinf(angle);
- BH_Vec4fScale(a, sinf((1 - t) * angle) * denom, from);
- BH_Vec4fScale(b, sinf(t * angle) * denom, to);
- BH_Vec4fAdd(from, to, out);
-}
-
-
-void BH_Quat4fFromEuler(float roll,
- float pitch,
- float yaw,
- float *out)
-{
- float cr, cp, cy, sr, sp, sy;
-
- cr = cosf(roll / 2.0f);
- cp = cosf(pitch / 2.0f);
- cy = cosf(yaw / 2.0f);
- sr = sinf(roll / 2.0f);
- sp = sinf(pitch / 2.0f);
- sy = sinf(yaw / 2.0f);
-
- out[0] = sr * cp * cy - cr * sp * sy;
- out[1] = cr * sp * cy + sr * cp * sy;
- out[2] = cr * cp * sy - sr * sp * cy;
- out[3] = cr * cp * cy + sr * sp * sy;
-}
-
-
-void BH_Quat4fFromAxis(const float *axis,
- float angle,
- float *out)
-{
- float c, s;
-
- c = cosf(angle / 2.0f);
- s = sinf(angle / 2.0f);
-
- out[0] = axis[0] * s;
- out[1] = axis[1] * s;
- out[2] = axis[2] * s;
- out[3] = c;
-}
-
-
-void BH_Quat4fToEuler(const float *in,
- float *roll,
- float *pitch,
- float *yaw)
-{
- float ww, xw, yw, zw, xx, xy, xz, yy, yz, zz, angle;
-
- xx = in[0] * in[0];
- xy = in[0] * in[1];
- xz = in[0] * in[2];
- xw = in[0] * in[3];
- yy = in[1] * in[1];
- yz = in[1] * in[2];
- yw = in[1] * in[3];
- zz = in[2] * in[2];
- zw = in[2] * in[3];
- ww = in[3] * in[3];
-
- angle = 2.0f * (yw - xz);
- if (angle > 1.0f)
- angle = 1.0f;
- if (angle < -1.0f)
- angle = -1.0f;
-
- *pitch = asinf(angle);
-
- if (fabsf(*pitch - (PI / 2.0f)) < EPSILON)
- {
- *roll = 0.0f;
- *yaw = -2.0f * atan2f(in[0], in[3]);
- }
- else if (fabsf(*pitch - (PI / -2.0f)) < EPSILON)
- {
- *roll = 0.0f;
- *yaw = 2.0f * atan2f(in[0], in[3]);
- }
- else
- {
- *roll = atan2f(2.0f * (xw + yz), ww - xx - yy + zz);
- *yaw = atan2f(2.0f * (zw + xy), ww + xx - yy - zz);
- }
-}
-
-
-void BH_Quat4fToAxis(const float *in,
- float *axis,
- float *angle)
-{
- *angle = 2.0f * acosf(in[3]);
-
- if (fabsf(*angle) < EPSILON)
- {
- axis[0] = 1.0f;
- axis[1] = 0.0f;
- axis[2] = 0.0f;
- }
- else
- {
- float tmp;
-
- tmp = sqrtf(1.0f - in[3] * in[3]);
- axis[0] = in[0] / tmp;
- axis[1] = in[1] / tmp;
- axis[2] = in[2] / tmp;
- }
-}
-
-
-void BH_Quat4fToMat4f(const float *in,
- float *out)
-{
- float xx, xy, xz, xw, yy, yz, yw, zz, zw;
-
- xx = in[0] * in[0];
- xy = in[0] * in[1];
- xz = in[0] * in[2];
- xw = in[0] * in[3];
- yy = in[1] * in[1];
- yz = in[1] * in[2];
- yw = in[1] * in[3];
- zz = in[2] * in[2];
- zw = in[2] * in[3];
-
- BH_Mat4fIdentity(out);
- out[0] = 1.0f - 2.0f * (yy + zz);
- out[1] = 2.0f * (xy + zw);
- out[2] = 2.0f * (xz - yw);
- out[4] = 2.0f * (xy - zw);
- out[5] = 1.0f - 2.0f * (xx + zz);
- out[6] = 2.0f * (yz + xw);
- out[8] = 2.0f * (xz + yw);
- out[9] = 2.0f * (yz - xw);
- out[10] = 1.0f - 2.0f * (xx + yy);
-}
-
-
-void BH_Mat4fIdentity(float *out)
-{
- const float ident[16] =
- {
- 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
- };
-
- memcpy(out, ident, sizeof(ident));
-}
-
-
-void BH_Mat4fAdd(const float *a,
- const float *b,
- float *out)
-{
- BH_Vec4fAdd(&a[0], &b[0], &out[0]);
- BH_Vec4fAdd(&a[4], &b[4], &out[4]);
- BH_Vec4fAdd(&a[8], &b[8], &out[8]);
- BH_Vec4fAdd(&a[12], &b[12], &out[12]);
-}
-
-
-void BH_Mat4fSub(const float *a,
- const float *b,
- float *out)
-{
- BH_Vec4fSub(&a[0], &b[0], &out[0]);
- BH_Vec4fSub(&a[4], &b[4], &out[4]);
- BH_Vec4fSub(&a[8], &b[8], &out[8]);
- BH_Vec4fSub(&a[12], &b[12], &out[12]);
-}
-
-
-void BH_Mat4fMul(const float *a,
- const float *b,
- float *out)
-{
- float tmp[16], row[4];
-
- row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, &tmp[0]);
- row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, &tmp[0], &tmp[0]);
- row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, &tmp[0], &tmp[0]);
- row[0] = row[1] = row[2] = row[3] = b[3]; BH_Vec4fMulAdd(&a[12], row, &tmp[0], &tmp[0]);
-
- row[0] = row[1] = row[2] = row[3] = b[4]; BH_Vec4fMul(&a[0], row, &tmp[4]);
- row[0] = row[1] = row[2] = row[3] = b[5]; BH_Vec4fMulAdd(&a[4], row, &tmp[4], &tmp[4]);
- row[0] = row[1] = row[2] = row[3] = b[6]; BH_Vec4fMulAdd(&a[8], row, &tmp[4], &tmp[4]);
- row[0] = row[1] = row[2] = row[3] = b[7]; BH_Vec4fMulAdd(&a[12], row, &tmp[4], &tmp[4]);
-
- row[0] = row[1] = row[2] = row[3] = b[8]; BH_Vec4fMul(&a[0], row, &tmp[8]);
- row[0] = row[1] = row[2] = row[3] = b[9]; BH_Vec4fMulAdd(&a[4], row, &tmp[8], &tmp[8]);
- row[0] = row[1] = row[2] = row[3] = b[10]; BH_Vec4fMulAdd(&a[8], row, &tmp[8], &tmp[8]);
- row[0] = row[1] = row[2] = row[3] = b[11]; BH_Vec4fMulAdd(&a[12], row, &tmp[8], &tmp[8]);
-
- row[0] = row[1] = row[2] = row[3] = b[12]; BH_Vec4fMul(&a[0], row, &tmp[12]);
- row[0] = row[1] = row[2] = row[3] = b[13]; BH_Vec4fMulAdd(&a[4], row, &tmp[12], &tmp[12]);
- row[0] = row[1] = row[2] = row[3] = b[14]; BH_Vec4fMulAdd(&a[8], row, &tmp[12], &tmp[12]);
- row[0] = row[1] = row[2] = row[3] = b[15]; BH_Vec4fMulAdd(&a[12], row, &tmp[12], &tmp[12]);
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-void BH_Mat4fScale(const float *a,
- float b,
- float *out)
-{
- BH_Vec4fScale(&a[0], b, &out[0]);
- BH_Vec4fScale(&a[4], b, &out[4]);
- BH_Vec4fScale(&a[8], b, &out[8]);
- BH_Vec4fScale(&a[12], b, &out[12]);
-}
-
-
-void BH_Mat4fTranspose(const float *in,
- float *out)
-{
- float tmp[16];
-
- tmp[0] = in[0]; tmp[4] = in[1]; tmp[8] = in[2]; tmp[12] = in[3];
- tmp[1] = in[4]; tmp[5] = in[5]; tmp[9] = in[6]; tmp[13] = in[7];
- tmp[2] = in[8]; tmp[6] = in[9]; tmp[10] = in[10]; tmp[14] = in[11];
- tmp[3] = in[12]; tmp[7] = in[13]; tmp[11] = in[14]; tmp[15] = in[15];
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-float BH_Mat4fTrace(const float *in)
-{
- return in[0] + in[5] + in[10] + in[15];
-}
-
-
-float BH_Mat4fDet(const float *in)
-{
- float a, b, c, d, e, f, result;
-
- a = in[2] * in[7] - in[3] * in[6];
- b = in[2] * in[11] - in[3] * in[10];
- c = in[2] * in[15] - in[3] * in[14];
- d = in[6] * in[11] - in[7] * in[10];
- e = in[6] * in[15] - in[7] * in[14];
- f = in[10] * in[15] - in[11] * in[14];
-
- result = 0.0f;
- result += in[0] * (in[5] * f - in[9] * e + in[13] * d);
- result -= in[4] * (in[1] * f - in[9] * c + in[13] * b);
- result += in[8] * (in[1] * e - in[5] * c + in[13] * a);
- result -= in[12] * (in[1] * d - in[5] * b + in[9] * a);
-
- return result;
-}
-
-
-int BH_Mat4fInverse(const float *in,
- float *out)
-{
- float a, b, c, d, e, f, det;
- float tmp[16];
-
- a = in[2] * in[7] - in[3] * in[6];
- b = in[2] * in[11] - in[3] * in[10];
- c = in[2] * in[15] - in[3] * in[14];
- d = in[6] * in[11] - in[7] * in[10];
- e = in[6] * in[15] - in[7] * in[14];
- f = in[10] * in[15] - in[11] * in[14];
-
- tmp[0] = (in[5] * f - in[9] * e + in[13] * d);
- tmp[1] = -(in[1] * f - in[9] * c + in[13] * b);
- tmp[2] = (in[1] * e - in[5] * c + in[13] * a);
- tmp[3] = -(in[1] * d - in[5] * b + in[9] * a);
-
- det = 0.0f;
- det += in[0] * tmp[0];
- det += in[4] * tmp[1];
- det += in[8] * tmp[2];
- det += in[12] * tmp[3];
-
- if (fabsf(det) < EPSILON)
- return BH_ERROR;
-
- tmp[4] = -(in[4] * f - in[8] * e + in[12] * d);
- tmp[5] = (in[0] * f - in[8] * c + in[12] * b);
- tmp[6] = -(in[0] * e - in[4] * c + in[12] * a);
- tmp[7] = (in[0] * d - in[4] * b + in[8] * a);
-
- a = in[1] * in[7] - in[3] * in[5];
- b = in[1] * in[11] - in[3] * in[9];
- c = in[1] * in[15] - in[3] * in[13];
- d = in[5] * in[11] - in[7] * in[9];
- e = in[5] * in[15] - in[7] * in[13];
- f = in[9] * in[15] - in[11] * in[13];
-
- tmp[8] = (in[4] * f - in[8] * e + in[12] * d);
- tmp[9] = -(in[0] * f - in[8] * c + in[12] * b);
- tmp[10] = (in[0] * e - in[4] * c + in[12] * a);
- tmp[11] = -(in[0] * d - in[4] * b + in[8] * a);
-
- a = in[1] * in[6] - in[2] * in[5];
- b = in[1] * in[10] - in[2] * in[9];
- c = in[1] * in[14] - in[2] * in[13];
- d = in[5] * in[10] - in[6] * in[9];
- e = in[5] * in[14] - in[6] * in[13];
- f = in[9] * in[14] - in[10] * in[13];
-
- tmp[12] = -(in[4] * f - in[8] * e + in[12] * d);
- tmp[13] = (in[0] * f - in[8] * c + in[12] * b);
- tmp[14] = -(in[0] * e - in[4] * c + in[12] * a);
- tmp[15] = (in[0] * d - in[4] * b + in[8] * a);
-
- BH_Mat4fScale(tmp, 1.0f / det, out);
- return BH_OK;
-}
-
-
-void BH_Mat4fFromScale(float x,
- float y,
- float z,
- float *out)
-{
- BH_Mat4fIdentity(out);
- out[0] = x;
- out[5] = y;
- out[10] = z;
-}
-
-
-void BH_Mat4fFromTranslation(float x,
- float y,
- float z,
- float *out)
-{
- BH_Mat4fIdentity(out);
- out[12] = x;
- out[13] = y;
- out[14] = z;
-}
-
-
-void BH_Mat4fFromRotationX(float angle,
- float *out)
-{
- float c, s;
-
- c = cosf(angle);
- s = sinf(angle);
-
- BH_Mat4fIdentity(out);
- out[5] = c;
- out[6] = s;
- out[9] = -s;
- out[10] = c;
-}
-
-
-void BH_Mat4fFromRotationY(float angle,
- float *out)
-{
- float c, s;
-
- c = cosf(angle);
- s = sinf(angle);
-
- BH_Mat4fIdentity(out);
- out[0] = c;
- out[2] = -s;
- out[8] = s;
- out[10] = c;
-}
-
-
-void BH_Mat4fFromRotationZ(float angle,
- float *out)
-{
- float c, s;
-
- c = cosf(angle);
- s = sinf(angle);
-
- BH_Mat4fIdentity(out);
- out[0] = c;
- out[1] = s;
- out[4] = -s;
- out[5] = c;
-}
-
-
-void BH_Mat4fFromAxis(const float *axis,
- float angle,
- float *out)
-{
- float x, y, z, length;
- float c, s, moc, xx, xy, xz, yy, yz, zz;
-
- length = BH_Vec3fLength(axis);
- BH_Mat4fIdentity(out);
-
- if (fabsf(length) < EPSILON)
- return;
-
- x = axis[0] / length;
- y = axis[1] / length;
- z = axis[2] / length;
-
- c = cosf(angle);
- s = sinf(angle);
- moc = 1.0f - c;
-
- xx = x * x;
- xy = x * y;
- xz = x * z;
- yy = y * y;
- yz = y * z;
- zz = z * z;
-
- out[0] = c + xx * moc;
- out[1] = xy * moc + z * s;
- out[2] = xz * moc - y * s;
-
- out[4] = xy * moc - z * s;
- out[5] = c + yy * moc;
- out[6] = yz * moc + x * s;
-
- out[8] = xz * moc + y * s;
- out[9] = yz * moc - x * s;
- out[10] = c + zz * moc;
-}
-
-
-void BH_Mat4fFromEuler(float roll,
- float pitch,
- float yaw,
- float *out)
-{
- float rs, rc, ys, yc, ps, pc;
-
- rs = sinf(roll);
- rc = cosf(roll);
- ps = sinf(pitch);
- pc = cosf(pitch);
- ys = sinf(yaw);
- yc = cosf(yaw);
-
- BH_Mat4fIdentity(out);
- out[0] = pc * yc;
- out[1] = pc * ys;
- out[2] = -ps;
- out[4] = ps * rs * yc - rc * ys;
- out[5] = ps * rs * ys + rc * yc;
- out[6] = pc * rs;
- out[8] = rs * ys + ps * rc * yc;
- out[9] = ps * rc * ys - rs * yc;
- out[10] = pc * rc;
-}
-
-
-void BH_Mat4fFromQuat4f(const float *in,
- float *out)
-{
- BH_Quat4fToMat4f(in, out);
-}
-
-
-void BH_Mat4fFromOrtho(float xMin,
- float xMax,
- float yMin,
- float yMax,
- float zMin,
- float zMax,
- float *out)
-{
- float dx, dy, dz;
-
- dx = xMax - xMin;
- dy = yMax - yMin;
- dz = zMax - zMin;
-
- BH_Mat4fIdentity(out);
-
- out[0] = 2.0f / dx;
- out[5] = 2.0f / dy;
- out[10] = -2.0f / dz;
- out[12] = -(xMax + xMin) / dx;
- out[13] = -(yMax + yMin) / dy;
- out[14] = -(zMax + zMin) / dz;
-}
-
-
-void BH_Mat4fFromFrustum(float fov,
- float aspect,
- float zMin,
- float zMax,
- float *out)
-{
- float t, dz;
-
- dz = zMax - zMin;
- t = tanf(fov / 2.0f);
-
- BH_Mat4fIdentity(out);
-
- out[0] = 1.0f / (aspect * t);
- out[5] = 1.0f / t;
- out[10] = -(zMax + zMin) / dz;
- out[11] = -1.0f;
- out[14] = -(2.0f * zMax * zMin) / dz;
- out[15] = 0.0f;
-}
-
-
-void BH_Mat4fFromLookAt(const float *position,
- const float *at,
- const float *up,
- float *out)
-{
- float cameraDir[3], cameraRight[3], cameraUp[3];
-
- BH_Vec3fSub(position, at, cameraDir);
- BH_Vec3fNormal(cameraDir, cameraDir);
- BH_Vec3fCross(up, cameraDir, cameraRight);
- BH_Vec3fNormal(cameraRight, cameraRight);
- BH_Vec3fCross(cameraDir, cameraRight, cameraUp);
-
- out[0] = cameraRight[0];
- out[1] = cameraUp[0];
- out[2] = cameraDir[0];
- out[3] = 0.0f;
-
- out[4] = cameraRight[1];
- out[5] = cameraUp[1];
- out[6] = cameraDir[1];
- out[7] = 0.0f;
-
- out[8] = cameraRight[2];
- out[9] = cameraUp[2];
- out[10] = cameraDir[2];
- out[11] = 0.0f;
-
- out[12] = -BH_Vec3fDot(cameraRight, position);
- out[13] = -BH_Vec3fDot(cameraUp, position);
- out[14] = -BH_Vec3fDot(cameraDir, position);
- out[15] = 1.0f;
-}
-
-
-void BH_Mat4fApplyVec4f(const float *a,
- const float *b,
- float *out)
-{
- float tmp[4], row[4];
-
- row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, tmp);
- row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, tmp, tmp);
- row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, tmp, tmp);
- row[0] = row[1] = row[2] = row[3] = b[3]; BH_Vec4fMulAdd(&a[12], row, tmp, tmp);
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-void BH_Mat4fApplyVec3f(const float *a,
- const float *b,
- float *out)
-{
- float tmp[4], row[4];
-
- row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, tmp);
- row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, tmp, tmp);
- row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, tmp, tmp);
- row[0] = row[1] = row[2] = row[3] = 1.0f; BH_Vec4fMulAdd(&a[12], row, tmp, tmp);
-
- memcpy(out, tmp, sizeof(float) * 3);
-}
-
-
-void BH_Mat3fIdentity(float *out)
-{
- static const float ident[9] =
- {
- 1.0f, 0.0f, 0.0f,
- 0.0f, 1.0f, 0.0f,
- 0.0f, 0.0f, 1.0f
- };
-
- memcpy(out, ident, sizeof(ident));
-}
-
-
-void BH_Mat3fAdd(const float *a,
- const float *b,
- float *out)
-{
- BH_Vec3fAdd(&a[0], &b[0], &out[0]);
- BH_Vec3fAdd(&a[3], &b[3], &out[3]);
- BH_Vec3fAdd(&a[6], &b[6], &out[6]);
-}
-
-
-void BH_Mat3fSub(const float *a,
- const float *b,
- float *out)
-{
- BH_Vec3fSub(&a[0], &b[0], &out[0]);
- BH_Vec3fSub(&a[3], &b[3], &out[3]);
- BH_Vec3fSub(&a[6], &b[6], &out[6]);
-}
-
-
-void BH_Mat3fMul(const float *a,
- const float *b,
- float *out)
-{
- float tmp[9], row[3];
-
- row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, &tmp[0]);
- row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, &tmp[0], &tmp[0]);
- row[0] = row[1] = row[2] = b[2]; BH_Vec3fMulAdd(&a[6], row, &tmp[0], &tmp[0]);
-
- row[0] = row[1] = row[2] = b[3]; BH_Vec3fMul(&a[0], row, &tmp[3]);
- row[0] = row[1] = row[2] = b[4]; BH_Vec3fMulAdd(&a[3], row, &tmp[3], &tmp[3]);
- row[0] = row[1] = row[2] = b[5]; BH_Vec3fMulAdd(&a[6], row, &tmp[3], &tmp[3]);
-
- row[0] = row[1] = row[2] = b[6]; BH_Vec3fMul(&a[0], row, &tmp[6]);
- row[0] = row[1] = row[2] = b[7]; BH_Vec3fMulAdd(&a[3], row, &tmp[6], &tmp[6]);
- row[0] = row[1] = row[2] = b[8]; BH_Vec3fMulAdd(&a[6], row, &tmp[6], &tmp[6]);
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-void BH_Mat3fScale(const float *a,
- float b,
- float *out)
-{
- BH_Vec3fScale(&a[0], b, &out[0]);
- BH_Vec3fScale(&a[3], b, &out[3]);
- BH_Vec3fScale(&a[6], b, &out[6]);
-}
-
-
-void BH_Mat3fTranspose(const float *in,
- float *out)
-{
- float tmp[9];
-
- tmp[0] = in[0]; tmp[3] = in[1]; tmp[6] = in[2];
- tmp[1] = in[3]; tmp[4] = in[4]; tmp[7] = in[5];
- tmp[2] = in[6]; tmp[5] = in[7]; tmp[8] = in[8];
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-float BH_Mat3fTrace(const float *in)
-{
- return in[0] + in[4] + in[8];
-}
-
-
-float BH_Mat3fDet(const float *in)
-{
- float a, b, c, result;
-
- a = in[4] * in[8] - in[7] * in[5];
- b = in[1] * in[8] - in[7] * in[2];
- c = in[1] * in[5] - in[4] * in[2];
-
- result = 0.0f;
- result += in[0] * a;
- result -= in[3] * b;
- result += in[6] * c;
-
- return result;
-}
-
-
-int BH_Mat3fInverse(const float *in,
- float *out)
-{
- float a, b, c, det;
- float tmp[16];
-
- a = in[4] * in[8] - in[7] * in[5];
- b = in[1] * in[8] - in[7] * in[2];
- c = in[1] * in[5] - in[4] * in[2];
-
- tmp[0] = a;
- tmp[1] = -b;
- tmp[2] = c;
-
- det = 0.0f;
- det += in[0] * tmp[0];
- det += in[3] * tmp[1];
- det += in[6] * tmp[2];
-
- if (fabsf(det) < EPSILON)
- return BH_ERROR;
-
- a = in[3] * in[8] - in[6] * in[5];
- b = in[0] * in[8] - in[6] * in[2];
- c = in[0] * in[5] - in[3] * in[2];
-
- tmp[3] = -a;
- tmp[4] = b;
- tmp[5] = -c;
-
- a = in[3] * in[7] - in[6] * in[4];
- b = in[0] * in[7] - in[6] * in[1];
- c = in[0] * in[4] - in[3] * in[1];
-
- tmp[6] = a;
- tmp[7] = -b;
- tmp[8] = c;
-
- BH_Mat3fScale(tmp, 1.0f / det, out);
- return BH_OK;
-}
-
-
-void BH_Mat3fFromScale(float x,
- float y,
- float *out)
-{
- BH_Mat3fIdentity(out);
- out[0] = x;
- out[4] = y;
-}
-
-
-void BH_Mat3fFromTranslation(float x,
- float y,
- float *out)
-{
- BH_Mat3fIdentity(out);
- out[6] = x;
- out[7] = y;
-}
-
-
-void BH_Mat3fFromRotation(float angle,
- float *out)
-{
- float c, s;
-
- c = cosf(angle);
- s = sinf(angle);
-
- BH_Mat3fIdentity(out);
- out[0] = c;
- out[1] = s;
- out[3] = -s;
- out[4] = c;
-}
-
-
-void BH_Mat3fApplyVec3f(float *a,
- float *b,
- float *out)
-{
- float tmp[3], row[3];
-
- row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, tmp);
- row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
- row[0] = row[1] = row[2] = b[2]; BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
-
- memcpy(out, tmp, sizeof(tmp));
-}
-
-
-void BH_Mat3fApplyVec2f(float *a,
- float *b,
- float *out)
-{
- float tmp[3], row[3];
-
- row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, tmp);
- row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
- row[0] = row[1] = row[2] = 1.0f; BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
-
- memcpy(out, tmp, sizeof(float) * 2);
-}
-
-
-int BH_PlaneFromPoints(const float *a,
- const float *b,
- const float *c,
- float *out)
-{
- float tmp1[3], tmp2[3];
-
- BH_Vec3fSub(b, a, tmp1);
- BH_Vec3fSub(c, a, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fNormalEx(tmp1, tmp1) < EPSILON)
- return BH_ERROR;
-
- out[3] = BH_Vec3fDot(a, tmp1);
- memcpy(out, tmp1, sizeof(tmp1));
- return BH_OK;
-}
-
-
-float BH_PlaneDistance(const float *plane,
- const float *point)
-{
- return BH_Vec3fDot(plane, point) - plane[3];
-}
-
-
-void BH_PlaneClosestPoint(const float *plane,
- const float *point,
- float *out)
-{
- float tmp[3];
-
- BH_Vec3fScale(plane, BH_PlaneDistance(plane, point), tmp);
- BH_Vec3fSub(point, tmp, out);
-}
-
-
-int BH_Ray3fIntersectPlane(const float *start,
- const float *direction,
- const float *plane,
- float *t,
- float *out)
-{
- float tmp1[3];
- float denom, time;
-
- /* Calculate intersection time */
- denom = BH_Vec3fDot(direction, plane);
- time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
-
- /* Check for ray/plane parallel to each other or point is behing the ray. */
- if (fabsf(denom) < EPSILON || time < 0.0f)
- return BH_ERROR;
-
- /* Compute intersection point */
- BH_Vec3fScale(direction, time, tmp1);
- BH_Vec3fAdd(start, tmp1, out);
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Ray3fIntersectTriangle(const float *start,
- const float *direction,
- const float *a,
- const float *b,
- const float *c,
- float *t,
- float *out)
-{
- float plane[4];
- float tmp1[3], tmp2[3], tmp3[3];
- float time;
-
- /* Compute plane */
- if (BH_PlaneFromPoints(a, b, c, plane))
- return BH_ERROR;
-
- /* Compute intersection point in ray against plane */
- if (BH_Ray3fIntersectPlane(start, direction, plane, &time, tmp3))
- return BH_ERROR;
-
- /* Check if point inside rectangle */
- BH_Vec3fSub(b, a, tmp1);
- BH_Vec3fSub(tmp3, a, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- BH_Vec3fSub(c, b, tmp1);
- BH_Vec3fSub(tmp3, b, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- BH_Vec3fSub(a, c, tmp1);
- BH_Vec3fSub(tmp3, c, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- /* Copy intersection point */
- memcpy(out, tmp3, sizeof(tmp3));
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Segment3fIntersectPlane(const float *start,
- const float *end,
- const float *plane,
- float *t,
- float *out)
-{
- float tmp[3];
- float denom, time;
-
- /* Calculate intersection time */
- BH_Vec3fSub(end, start, tmp);
- denom = BH_Vec3fDot(tmp, plane);
- time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
-
- /* Check for ray/plane parallel to each other or point is behing the ray. */
- if (fabsf(denom) < EPSILON || time < 0.0f || time > 1.0f)
- return BH_ERROR;
-
- /* Compute intersection point */
- BH_Vec3fScale(tmp, time, tmp);
- BH_Vec3fAdd(start, tmp, out);
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Segment3fIntersectTriangle(const float *start,
- const float *end,
- const float *a,
- const float *b,
- const float *c,
- float *t,
- float *out)
-{
- float plane[4];
- float tmp1[3], tmp2[3], tmp3[3];
- float time;
-
- /* Compute plane */
- if (BH_PlaneFromPoints(a, b, c, plane))
- return BH_ERROR;
-
- /* Compute intersection point in ray against plane */
- if (BH_Segment3fIntersectPlane(start, end, plane, &time, tmp3))
- return BH_ERROR;
-
- /* Check if point inside rectangle */
- BH_Vec3fSub(b, a, tmp1);
- BH_Vec3fSub(tmp3, a, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- BH_Vec3fSub(c, b, tmp1);
- BH_Vec3fSub(tmp3, b, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- BH_Vec3fSub(a, c, tmp1);
- BH_Vec3fSub(tmp3, c, tmp2);
- BH_Vec3fCross(tmp2, tmp1, tmp1);
- if (BH_Vec3fDot(tmp1, plane) < 0.0f)
- return BH_ERROR;
-
- /* Copy intersection point */
- memcpy(out, tmp3, sizeof(tmp3));
- *t = time;
- return BH_OK;
-}
-
-
-void BH_Triangle3fBarycentric(const float *a,
- const float *b,
- const float *c,
- const float *point,
- float *out)
-{
- float tmp1[3], tmp2[3], tmp3[3];
- float t11, t12, t22, t31, t32, denom;
-
- BH_Vec3fSub(b, a, tmp1);
- BH_Vec3fSub(c, a, tmp2);
- BH_Vec3fSub(point, a, tmp3);
-
- t11 = BH_Vec3fDot(tmp1, tmp1);
- t12 = BH_Vec3fDot(tmp1, tmp2);
- t22 = BH_Vec3fDot(tmp2, tmp2);
- t31 = BH_Vec3fDot(tmp3, tmp1);
- t32 = BH_Vec3fDot(tmp3, tmp2);
- denom = 1.0f / (t11 * t22 - t12 * t12);
-
- out[1] = (t22 * t31 - t12 * t32) * denom;
- out[2] = (t11 * t32 - t12 * t31) * denom;
- out[0] = 1.0f - out[1] - out[2];
-}
-
-
-int BH_LineFromPoints(const float *a,
- const float *b,
- float *out)
-{
- float tmp[2];
-
- tmp[0] = a[1] - b[1];
- tmp[1] = b[0] - a[0];
- if (BH_Vec2fNormalEx(tmp, tmp) < EPSILON)
- return BH_ERROR;
-
- out[2] = BH_Vec2fDot(tmp, a);
- memcpy(out, tmp, sizeof(tmp));
- return BH_OK;
-}
-
-
-float BH_LineDistance(const float *line,
- const float *point)
-{
- return BH_Vec2fDot(line, point) - line[2];
-}
-
-
-void BH_LineClosestPoint(const float *line,
- const float *point,
- float *out)
-{
- float tmp[2];
-
- BH_Vec2fScale(line, BH_LineDistance(line, point), tmp);
- BH_Vec2fSub(point, tmp, out);
-}
-
-
-int BH_Ray2fIntersectLine(const float *start,
- const float *direction,
- const float *line,
- float *t,
- float *out)
-{
- float tmp1[2];
- float denom, time;
-
- /* Calculate intersection time */
- denom = BH_Vec2fDot(direction, line);
- time = (line[2] - BH_Vec2fDot(line, start)) / denom;
-
- /* Check for ray/plane parallel to each other or point is behing the ray. */
- if (fabsf(denom) < EPSILON || time < 0.0f)
- return BH_ERROR;
-
- /* Compute intersection point */
- BH_Vec2fScale(direction, time, tmp1);
- BH_Vec2fAdd(start, tmp1, out);
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Ray2fIntersectTime(const float *aStart,
- const float *aDirection,
- const float *bStart,
- const float *bDirection,
- float *time1,
- float *time2)
-{
- float tmp1[2], tmp2[2], tmp3[2];
- float denom;
-
- /* Rotate directions by 90 degrees and caluclate denom */
- tmp1[0] = -aDirection[1]; tmp1[1] = aDirection[0];
- tmp2[0] = -bDirection[1]; tmp2[1] = bDirection[0];
- denom = BH_Vec2fDot(tmp1, bDirection);
-
- if (fabsf(denom) < EPSILON)
- return BH_ERROR;
-
- /* Calculate segments offset and intersection times */
- BH_Vec2fSub(aStart, bStart, tmp3);
- *time1 = BH_Vec2fDot(tmp3, tmp2) / denom;
- *time2 = BH_Vec2fDot(tmp3, tmp1) / denom;
-
- return BH_OK;
-}
-
-
-int BH_Ray2fIntersectRay(const float *aStart,
- const float *aDirection,
- const float *bStart,
- const float *bDirection,
- float *t,
- float *out)
-{
- float tmp[2];
- float time1, time2;
-
- if (BH_Ray2fIntersectTime(aStart, aDirection, bStart, bDirection, &time1, &time2))
- return BH_ERROR;
-
- if (time1 < 0.0f || time2 < 0.0f)
- return BH_ERROR;
-
- BH_Vec2fScale(aDirection, time1, tmp);
- BH_Vec2fAdd(aStart, tmp, out);
- *t = time1;
- return BH_OK;
-}
-
-
-int BH_Ray2fIntersectSegment(const float *aStart,
- const float *aDirection,
- const float *bStart,
- const float *bEnd,
- float *t,
- float *out)
-{
- float tmp[2];
- float time1, time2;
-
- BH_Vec2fSub(bEnd, bStart, tmp);
- if (BH_Ray2fIntersectTime(aStart, aDirection, bStart, tmp, &time1, &time2))
- return BH_ERROR;
-
- if (time1 < 0.0f || time2 < 0.0f || time2 > 1.0f)
- return BH_ERROR;
-
- BH_Vec2fScale(aDirection, time1, tmp);
- BH_Vec2fAdd(aStart, tmp, out);
- *t = time1;
- return BH_OK;
-}
-
-
-int BH_Segment2fIntersectLine(const float *start,
- const float *end,
- const float *line,
- float *t,
- float *out)
-{
- float tmp[2];
- float denom, time;
-
- /* Calculate intersection time */
- BH_Vec2fSub(end, start, tmp);
- denom = BH_Vec2fDot(tmp, line);
- time = (line[2] - BH_Vec2fDot(line, start)) / denom;
-
- /* Check for ray/plane parallel to each other or point is behing the ray. */
- if (fabsf(denom) < EPSILON || time < 0.0f || time > 1.0f)
- return BH_ERROR;
-
- /* Compute intersection point */
- BH_Vec2fScale(tmp, time, tmp);
- BH_Vec2fAdd(start, tmp, out);
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Segment2fIntersectSegment(const float *aStart,
- const float *aEnd,
- const float *bStart,
- const float *bEnd,
- float *t,
- float *out)
-{
- float tmp1[2], tmp2[2];
- float time1, time2;
-
- BH_Vec2fSub(aEnd, aStart, tmp1);
- BH_Vec2fSub(bEnd, bStart, tmp2);
- if (BH_Ray2fIntersectTime(aStart, tmp1, bStart, tmp2, &time1, &time2))
- return BH_ERROR;
-
- if (time1 < 0.0f || time1 > 1.0f || time2 < 0.0f || time2 > 1.0f)
- return BH_ERROR;
-
- BH_Vec2fLerp(aStart, aEnd, time1, out);
- *t = time1;
-
- return BH_OK;
-}
-
-
-void BH_Box3fUnion(const float *aMin,
- const float *aMax,
- const float *bMin,
- const float *bMax,
- float *outMin,
- float *outMax)
-{
- BH_Vec3fMin(aMin, bMin, outMin);
- BH_Vec3fMax(aMax, bMax, outMax);
-}
-
-
-int BH_Box3fIntersect(const float *aMin,
- const float *aMax,
- const float *bMin,
- const float *bMax,
- float *outMin,
- float *outMax)
-{
- BH_Vec3fMax(aMin, bMin, outMin);
- BH_Vec3fMin(aMax, bMax, outMax);
-
- if (outMin[0] >= outMax[0] || outMin[1] >= outMax[1] || outMin[2] >= outMax[2])
- return BH_ERROR;
-
- return BH_OK;
-}
-
-
-int BH_Box3fContains(const float *aMin,
- const float *aMax,
- const float *point)
-{
- if (point[0] < aMin[0] || point[1] < aMin[1] || point[2] < aMin[2])
- return BH_ERROR;
-
- if (point[0] > aMax[0] || point[1] > aMax[1] || point[2] > aMax[2])
- return BH_ERROR;
-
- return BH_OK;
-}
-
-
-int BH_Box3fEnclose(const float *points,
- size_t size,
- float *outMin,
- float *outMax)
-{
- float tmp1[3], tmp2[3];
- size_t i;
-
- if (!size)
- return BH_ERROR;
-
- memcpy(tmp1, points, sizeof(tmp1));
- memcpy(tmp2, points, sizeof(tmp2));
-
- for (i = 1; i < size; i++)
- {
- BH_Vec3fMin(tmp1, points + i * 3, tmp1);
- BH_Vec3fMax(tmp2, points + i * 3, tmp2);
- }
-
- memcpy(outMin, tmp1, sizeof(tmp1));
- memcpy(outMax, tmp2, sizeof(tmp2));
- return BH_OK;
-}
-
-
-void BH_Box2fUnion(const float *aMin,
- const float *aMax,
- const float *bMin,
- const float *bMax,
- float *outMin,
- float *outMax)
-{
- BH_Vec2fMin(aMin, bMin, outMin);
- BH_Vec2fMax(aMax, bMax, outMax);
-}
-
-
-int BH_Box2fIntersect(const float *aMin,
- const float *aMax,
- const float *bMin,
- const float *bMax,
- float *outMin,
- float *outMax)
-{
- BH_Vec2fMax(aMin, bMin, outMin);
- BH_Vec2fMin(aMax, bMax, outMax);
-
- if (outMin[0] >= outMax[0] || outMin[1] >= outMax[1])
- return BH_ERROR;
-
- return BH_OK;
-}
-
-
-int BH_Box2fContains(const float *aMin,
- const float *aMax,
- const float *point)
-{
- if (point[0] < aMin[0] || point[1] < aMin[1])
- return BH_ERROR;
-
- if (point[0] > aMax[0] || point[1] > aMax[1])
- return BH_ERROR;
-
- return BH_OK;
-}
-
-
-int BH_Box2fEnclose(const float *points,
- size_t size,
- float *outMin,
- float *outMax)
-{
- float tmp1[2], tmp2[2];
- size_t i;
-
- if (!size)
- return BH_ERROR;
-
- memcpy(tmp1, points, sizeof(tmp1));
- memcpy(tmp2, points, sizeof(tmp2));
-
- for (i = 1; i < size; i++)
- {
- BH_Vec2fMin(tmp1, points + i * 2, tmp1);
- BH_Vec2fMax(tmp2, points + i * 2, tmp2);
- }
-
- memcpy(outMin, tmp1, sizeof(tmp1));
- memcpy(outMax, tmp2, sizeof(tmp2));
- return BH_OK;
-}
-
-
-int BH_Ray3fIntersectBox3f(const float *aStart,
- const float *aDirection,
- const float *bMin,
- const float *bMax,
- float *t,
- float *out)
-{
- float timeNear, timeFar, hitNear, hitFar, denom, tmp;
- int i;
-
- timeNear = -1.0f / 0.0f;
- timeFar = 1.0f / 0.0f;
-
- /* Check if origin inside box */
- if (!BH_Box3fContains(bMin, bMax, aStart))
- {
- memcpy(out, aStart, sizeof(float) * 3);
- *t = 0.0f;
- return BH_OK;
- }
-
- /* Check each axis for the minimal and maximum intersection time */
- for (i = 0; i < 3; i++)
- {
- if (fabsf(aDirection[i]) < EPSILON)
- {
- if (aStart[i] < bMin[i] || aStart[i] > bMax[i])
- return BH_ERROR;
- continue;
- }
-
- denom = 1.0f / aDirection[i];
- hitNear = (bMin[i] - aStart[i]) * denom;
- hitFar = (bMax[i] - aStart[i]) * denom;
-
- if (hitNear > hitFar)
- {
- tmp = hitNear;
- hitNear = hitFar;
- hitFar = tmp;
- }
-
- if (hitNear > timeNear)
- timeNear = hitNear;
- if (hitFar < timeFar)
- timeFar = hitFar;
-
- if (timeNear > timeFar || timeFar < 0.0f)
- return BH_ERROR;
- }
-
- out[0] = aStart[0] + aDirection[0] * timeNear;
- out[1] = aStart[1] + aDirection[1] * timeNear;
- out[2] = aStart[2] + aDirection[2] * timeNear;
- *t = timeNear;
-
- return BH_OK;
-}
-
-
-int BH_Segment3fIntersectBox3f(const float *aStart,
- const float *aEnd,
- const float *bMin,
- const float *bMax,
- float *t,
- float *out)
-{
- float tmp[3];
- float time;
-
- BH_Vec3fSub(aEnd, aStart, tmp);
- if (BH_Ray3fIntersectBox3f(aStart, tmp, bMin, bMax, &time, out))
- return BH_ERROR;
-
- if (time > 1.0f)
- return BH_ERROR;
-
- *t = time;
- return BH_OK;
-}
-
-
-int BH_Ray2fIntersectBox2f(const float *aStart,
- const float *aDirection,
- const float *bMin,
- const float *bMax,
- float *t,
- float *out)
-{
- float timeNear, timeFar, hitNear, hitFar, denom, tmp;
- int i;
-
- timeNear = -1.0f / 0.0f;
- timeFar = 1.0f / 0.0f;
-
- /* Check if origin inside box */
- if (!BH_Box2fContains(bMin, bMax, aStart))
- {
- memcpy(out, aStart, sizeof(float) * 2);
- *t = 0.0f;
- return BH_OK;
- }
-
- /* Check each axis for the minimal and maximum intersection time */
- for (i = 0; i < 2; i++)
- {
- if (fabsf(aDirection[i]) < EPSILON)
- {
- if (aStart[i] < bMin[i] || aStart[i] > bMax[i])
- return BH_ERROR;
- continue;
- }
-
- denom = 1.0f / aDirection[i];
- hitNear = (bMin[i] - aStart[i]) * denom;
- hitFar = (bMax[i] - aStart[i]) * denom;
-
- if (hitNear > hitFar)
- {
- tmp = hitNear;
- hitNear = hitFar;
- hitFar = tmp;
- }
-
- if (hitNear > timeNear)
- timeNear = hitNear;
- if (hitFar < timeFar)
- timeFar = hitFar;
-
- if (timeNear > timeFar || timeFar < 0.0f)
- return BH_ERROR;
- }
-
- out[0] = aStart[0] + aDirection[0] * timeNear;
- out[1] = aStart[1] + aDirection[1] * timeNear;
- *t = timeNear;
-
- return BH_OK;
-}
-
-
-int BH_Segment2fIntersectBox2f(const float *aStart,
- const float *aEnd,
- const float *bMin,
- const float *bMax,
- float *t,
- float *out)
-{
- float tmp[3];
- float time;
-
- BH_Vec2fSub(aEnd, aStart, tmp);
- if (BH_Ray2fIntersectBox2f(aStart, tmp, bMin, bMax, &time, out))
- return BH_ERROR;
-
- if (time > 1.0f)
- return BH_ERROR;
-
- *t = time;
- return BH_OK;
-}
diff --git a/src/Math/Box2f.c b/src/Math/Box2f.c
new file mode 100644
index 0000000..bd6eb73
--- /dev/null
+++ b/src/Math/Box2f.c
@@ -0,0 +1,75 @@
+#include <BH/Math.h>
+#include <string.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+void BH_Box2fUnion(const float *aMin,
+ const float *aMax,
+ const float *bMin,
+ const float *bMax,
+ float *outMin,
+ float *outMax)
+{
+ BH_Vec2fMin(aMin, bMin, outMin);
+ BH_Vec2fMax(aMax, bMax, outMax);
+}
+
+
+int BH_Box2fIntersect(const float *aMin,
+ const float *aMax,
+ const float *bMin,
+ const float *bMax,
+ float *outMin,
+ float *outMax)
+{
+ BH_Vec2fMax(aMin, bMin, outMin);
+ BH_Vec2fMin(aMax, bMax, outMax);
+
+ if (outMin[0] >= outMax[0] || outMin[1] >= outMax[1])
+ return BH_ERROR;
+
+ return BH_OK;
+}
+
+
+int BH_Box2fContains(const float *aMin,
+ const float *aMax,
+ const float *point)
+{
+ if (point[0] < aMin[0] || point[1] < aMin[1])
+ return BH_ERROR;
+
+ if (point[0] > aMax[0] || point[1] > aMax[1])
+ return BH_ERROR;
+
+ return BH_OK;
+}
+
+
+int BH_Box2fEnclose(const float *points,
+ size_t size,
+ float *outMin,
+ float *outMax)
+{
+ float tmp1[2], tmp2[2];
+ size_t i;
+
+ if (!size)
+ return BH_ERROR;
+
+ memcpy(tmp1, points, sizeof(tmp1));
+ memcpy(tmp2, points, sizeof(tmp2));
+
+ for (i = 1; i < size; i++)
+ {
+ BH_Vec2fMin(tmp1, points + i * 2, tmp1);
+ BH_Vec2fMax(tmp2, points + i * 2, tmp2);
+ }
+
+ memcpy(outMin, tmp1, sizeof(tmp1));
+ memcpy(outMax, tmp2, sizeof(tmp2));
+ return BH_OK;
+}
diff --git a/src/Math/Box3f.c b/src/Math/Box3f.c
new file mode 100644
index 0000000..ee09dad
--- /dev/null
+++ b/src/Math/Box3f.c
@@ -0,0 +1,75 @@
+#include <BH/Math.h>
+#include <string.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+void BH_Box3fUnion(const float *aMin,
+ const float *aMax,
+ const float *bMin,
+ const float *bMax,
+ float *outMin,
+ float *outMax)
+{
+ BH_Vec3fMin(aMin, bMin, outMin);
+ BH_Vec3fMax(aMax, bMax, outMax);
+}
+
+
+int BH_Box3fIntersect(const float *aMin,
+ const float *aMax,
+ const float *bMin,
+ const float *bMax,
+ float *outMin,
+ float *outMax)
+{
+ BH_Vec3fMax(aMin, bMin, outMin);
+ BH_Vec3fMin(aMax, bMax, outMax);
+
+ if (outMin[0] >= outMax[0] || outMin[1] >= outMax[1] || outMin[2] >= outMax[2])
+ return BH_ERROR;
+
+ return BH_OK;
+}
+
+
+int BH_Box3fContains(const float *aMin,
+ const float *aMax,
+ const float *point)
+{
+ if (point[0] < aMin[0] || point[1] < aMin[1] || point[2] < aMin[2])
+ return BH_ERROR;
+
+ if (point[0] > aMax[0] || point[1] > aMax[1] || point[2] > aMax[2])
+ return BH_ERROR;
+
+ return BH_OK;
+}
+
+
+int BH_Box3fEnclose(const float *points,
+ size_t size,
+ float *outMin,
+ float *outMax)
+{
+ float tmp1[3], tmp2[3];
+ size_t i;
+
+ if (!size)
+ return BH_ERROR;
+
+ memcpy(tmp1, points, sizeof(tmp1));
+ memcpy(tmp2, points, sizeof(tmp2));
+
+ for (i = 1; i < size; i++)
+ {
+ BH_Vec3fMin(tmp1, points + i * 3, tmp1);
+ BH_Vec3fMax(tmp2, points + i * 3, tmp2);
+ }
+
+ memcpy(outMin, tmp1, sizeof(tmp1));
+ memcpy(outMax, tmp2, sizeof(tmp2));
+ return BH_OK;
+}
diff --git a/src/Math/Line.c b/src/Math/Line.c
new file mode 100644
index 0000000..938775f
--- /dev/null
+++ b/src/Math/Line.c
@@ -0,0 +1,41 @@
+#include <BH/Math.h>
+#include <string.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+int BH_LineFromPoints(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[2];
+
+ tmp[0] = a[1] - b[1];
+ tmp[1] = b[0] - a[0];
+ if (BH_Vec2fNormalEx(tmp, tmp) < EPSILON)
+ return BH_ERROR;
+
+ out[2] = BH_Vec2fDot(tmp, a);
+ memcpy(out, tmp, sizeof(tmp));
+ return BH_OK;
+}
+
+
+float BH_LineDistance(const float *line,
+ const float *point)
+{
+ return BH_Vec2fDot(line, point) - line[2];
+}
+
+
+void BH_LineClosestPoint(const float *line,
+ const float *point,
+ float *out)
+{
+ float tmp[2];
+
+ BH_Vec2fScale(line, BH_LineDistance(line, point), tmp);
+ BH_Vec2fSub(point, tmp, out);
+}
diff --git a/src/Math/Mat3f.c b/src/Math/Mat3f.c
new file mode 100644
index 0000000..e78b646
--- /dev/null
+++ b/src/Math/Mat3f.c
@@ -0,0 +1,215 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+void BH_Mat3fIdentity(float *out)
+{
+ static const float ident[9] =
+ {
+ 1.0f, 0.0f, 0.0f,
+ 0.0f, 1.0f, 0.0f,
+ 0.0f, 0.0f, 1.0f
+ };
+
+ memcpy(out, ident, sizeof(ident));
+}
+
+
+void BH_Mat3fAdd(const float *a,
+ const float *b,
+ float *out)
+{
+ BH_Vec3fAdd(&a[0], &b[0], &out[0]);
+ BH_Vec3fAdd(&a[3], &b[3], &out[3]);
+ BH_Vec3fAdd(&a[6], &b[6], &out[6]);
+}
+
+
+void BH_Mat3fSub(const float *a,
+ const float *b,
+ float *out)
+{
+ BH_Vec3fSub(&a[0], &b[0], &out[0]);
+ BH_Vec3fSub(&a[3], &b[3], &out[3]);
+ BH_Vec3fSub(&a[6], &b[6], &out[6]);
+}
+
+
+void BH_Mat3fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[9], row[3];
+
+ row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, &tmp[0]);
+ row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, &tmp[0], &tmp[0]);
+ row[0] = row[1] = row[2] = b[2]; BH_Vec3fMulAdd(&a[6], row, &tmp[0], &tmp[0]);
+
+ row[0] = row[1] = row[2] = b[3]; BH_Vec3fMul(&a[0], row, &tmp[3]);
+ row[0] = row[1] = row[2] = b[4]; BH_Vec3fMulAdd(&a[3], row, &tmp[3], &tmp[3]);
+ row[0] = row[1] = row[2] = b[5]; BH_Vec3fMulAdd(&a[6], row, &tmp[3], &tmp[3]);
+
+ row[0] = row[1] = row[2] = b[6]; BH_Vec3fMul(&a[0], row, &tmp[6]);
+ row[0] = row[1] = row[2] = b[7]; BH_Vec3fMulAdd(&a[3], row, &tmp[6], &tmp[6]);
+ row[0] = row[1] = row[2] = b[8]; BH_Vec3fMulAdd(&a[6], row, &tmp[6], &tmp[6]);
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+void BH_Mat3fScale(const float *a,
+ float b,
+ float *out)
+{
+ BH_Vec3fScale(&a[0], b, &out[0]);
+ BH_Vec3fScale(&a[3], b, &out[3]);
+ BH_Vec3fScale(&a[6], b, &out[6]);
+}
+
+
+void BH_Mat3fTranspose(const float *in,
+ float *out)
+{
+ float tmp[9];
+
+ tmp[0] = in[0]; tmp[3] = in[1]; tmp[6] = in[2];
+ tmp[1] = in[3]; tmp[4] = in[4]; tmp[7] = in[5];
+ tmp[2] = in[6]; tmp[5] = in[7]; tmp[8] = in[8];
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+float BH_Mat3fTrace(const float *in)
+{
+ return in[0] + in[4] + in[8];
+}
+
+
+float BH_Mat3fDet(const float *in)
+{
+ float a, b, c, result;
+
+ a = in[4] * in[8] - in[7] * in[5];
+ b = in[1] * in[8] - in[7] * in[2];
+ c = in[1] * in[5] - in[4] * in[2];
+
+ result = 0.0f;
+ result += in[0] * a;
+ result -= in[3] * b;
+ result += in[6] * c;
+
+ return result;
+}
+
+
+int BH_Mat3fInverse(const float *in,
+ float *out)
+{
+ float a, b, c, det;
+ float tmp[16];
+
+ a = in[4] * in[8] - in[7] * in[5];
+ b = in[1] * in[8] - in[7] * in[2];
+ c = in[1] * in[5] - in[4] * in[2];
+
+ tmp[0] = a;
+ tmp[1] = -b;
+ tmp[2] = c;
+
+ det = 0.0f;
+ det += in[0] * tmp[0];
+ det += in[3] * tmp[1];
+ det += in[6] * tmp[2];
+
+ if (fabsf(det) < EPSILON)
+ return BH_ERROR;
+
+ a = in[3] * in[8] - in[6] * in[5];
+ b = in[0] * in[8] - in[6] * in[2];
+ c = in[0] * in[5] - in[3] * in[2];
+
+ tmp[3] = -a;
+ tmp[4] = b;
+ tmp[5] = -c;
+
+ a = in[3] * in[7] - in[6] * in[4];
+ b = in[0] * in[7] - in[6] * in[1];
+ c = in[0] * in[4] - in[3] * in[1];
+
+ tmp[6] = a;
+ tmp[7] = -b;
+ tmp[8] = c;
+
+ BH_Mat3fScale(tmp, 1.0f / det, out);
+ return BH_OK;
+}
+
+
+void BH_Mat3fFromScale(float x,
+ float y,
+ float *out)
+{
+ BH_Mat3fIdentity(out);
+ out[0] = x;
+ out[4] = y;
+}
+
+
+void BH_Mat3fFromTranslation(float x,
+ float y,
+ float *out)
+{
+ BH_Mat3fIdentity(out);
+ out[6] = x;
+ out[7] = y;
+}
+
+
+void BH_Mat3fFromRotation(float angle,
+ float *out)
+{
+ float c, s;
+
+ c = cosf(angle);
+ s = sinf(angle);
+
+ BH_Mat3fIdentity(out);
+ out[0] = c;
+ out[1] = s;
+ out[3] = -s;
+ out[4] = c;
+}
+
+
+void BH_Mat3fApplyVec3f(float *a,
+ float *b,
+ float *out)
+{
+ float tmp[3], row[3];
+
+ row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, tmp);
+ row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
+ row[0] = row[1] = row[2] = b[2]; BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+void BH_Mat3fApplyVec2f(float *a,
+ float *b,
+ float *out)
+{
+ float tmp[3], row[3];
+
+ row[0] = row[1] = row[2] = b[0]; BH_Vec3fMul(&a[0], row, tmp);
+ row[0] = row[1] = row[2] = b[1]; BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
+ row[0] = row[1] = row[2] = 1.0f; BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
+
+ memcpy(out, tmp, sizeof(float) * 2);
+}
diff --git a/src/Math/Mat4f.c b/src/Math/Mat4f.c
new file mode 100644
index 0000000..c7f6d14
--- /dev/null
+++ b/src/Math/Mat4f.c
@@ -0,0 +1,446 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+void BH_Mat4fIdentity(float *out)
+{
+ const float ident[16] =
+ {
+ 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
+ };
+
+ memcpy(out, ident, sizeof(ident));
+}
+
+
+void BH_Mat4fAdd(const float *a,
+ const float *b,
+ float *out)
+{
+ BH_Vec4fAdd(&a[0], &b[0], &out[0]);
+ BH_Vec4fAdd(&a[4], &b[4], &out[4]);
+ BH_Vec4fAdd(&a[8], &b[8], &out[8]);
+ BH_Vec4fAdd(&a[12], &b[12], &out[12]);
+}
+
+
+void BH_Mat4fSub(const float *a,
+ const float *b,
+ float *out)
+{
+ BH_Vec4fSub(&a[0], &b[0], &out[0]);
+ BH_Vec4fSub(&a[4], &b[4], &out[4]);
+ BH_Vec4fSub(&a[8], &b[8], &out[8]);
+ BH_Vec4fSub(&a[12], &b[12], &out[12]);
+}
+
+
+void BH_Mat4fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[16], row[4];
+
+ row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, &tmp[0]);
+ row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, &tmp[0], &tmp[0]);
+ row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, &tmp[0], &tmp[0]);
+ row[0] = row[1] = row[2] = row[3] = b[3]; BH_Vec4fMulAdd(&a[12], row, &tmp[0], &tmp[0]);
+
+ row[0] = row[1] = row[2] = row[3] = b[4]; BH_Vec4fMul(&a[0], row, &tmp[4]);
+ row[0] = row[1] = row[2] = row[3] = b[5]; BH_Vec4fMulAdd(&a[4], row, &tmp[4], &tmp[4]);
+ row[0] = row[1] = row[2] = row[3] = b[6]; BH_Vec4fMulAdd(&a[8], row, &tmp[4], &tmp[4]);
+ row[0] = row[1] = row[2] = row[3] = b[7]; BH_Vec4fMulAdd(&a[12], row, &tmp[4], &tmp[4]);
+
+ row[0] = row[1] = row[2] = row[3] = b[8]; BH_Vec4fMul(&a[0], row, &tmp[8]);
+ row[0] = row[1] = row[2] = row[3] = b[9]; BH_Vec4fMulAdd(&a[4], row, &tmp[8], &tmp[8]);
+ row[0] = row[1] = row[2] = row[3] = b[10]; BH_Vec4fMulAdd(&a[8], row, &tmp[8], &tmp[8]);
+ row[0] = row[1] = row[2] = row[3] = b[11]; BH_Vec4fMulAdd(&a[12], row, &tmp[8], &tmp[8]);
+
+ row[0] = row[1] = row[2] = row[3] = b[12]; BH_Vec4fMul(&a[0], row, &tmp[12]);
+ row[0] = row[1] = row[2] = row[3] = b[13]; BH_Vec4fMulAdd(&a[4], row, &tmp[12], &tmp[12]);
+ row[0] = row[1] = row[2] = row[3] = b[14]; BH_Vec4fMulAdd(&a[8], row, &tmp[12], &tmp[12]);
+ row[0] = row[1] = row[2] = row[3] = b[15]; BH_Vec4fMulAdd(&a[12], row, &tmp[12], &tmp[12]);
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+void BH_Mat4fScale(const float *a,
+ float b,
+ float *out)
+{
+ BH_Vec4fScale(&a[0], b, &out[0]);
+ BH_Vec4fScale(&a[4], b, &out[4]);
+ BH_Vec4fScale(&a[8], b, &out[8]);
+ BH_Vec4fScale(&a[12], b, &out[12]);
+}
+
+
+void BH_Mat4fTranspose(const float *in,
+ float *out)
+{
+ float tmp[16];
+
+ tmp[0] = in[0]; tmp[4] = in[1]; tmp[8] = in[2]; tmp[12] = in[3];
+ tmp[1] = in[4]; tmp[5] = in[5]; tmp[9] = in[6]; tmp[13] = in[7];
+ tmp[2] = in[8]; tmp[6] = in[9]; tmp[10] = in[10]; tmp[14] = in[11];
+ tmp[3] = in[12]; tmp[7] = in[13]; tmp[11] = in[14]; tmp[15] = in[15];
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+float BH_Mat4fTrace(const float *in)
+{
+ return in[0] + in[5] + in[10] + in[15];
+}
+
+
+float BH_Mat4fDet(const float *in)
+{
+ float a, b, c, d, e, f, result;
+
+ a = in[2] * in[7] - in[3] * in[6];
+ b = in[2] * in[11] - in[3] * in[10];
+ c = in[2] * in[15] - in[3] * in[14];
+ d = in[6] * in[11] - in[7] * in[10];
+ e = in[6] * in[15] - in[7] * in[14];
+ f = in[10] * in[15] - in[11] * in[14];
+
+ result = 0.0f;
+ result += in[0] * (in[5] * f - in[9] * e + in[13] * d);
+ result -= in[4] * (in[1] * f - in[9] * c + in[13] * b);
+ result += in[8] * (in[1] * e - in[5] * c + in[13] * a);
+ result -= in[12] * (in[1] * d - in[5] * b + in[9] * a);
+
+ return result;
+}
+
+
+int BH_Mat4fInverse(const float *in,
+ float *out)
+{
+ float a, b, c, d, e, f, det;
+ float tmp[16];
+
+ a = in[2] * in[7] - in[3] * in[6];
+ b = in[2] * in[11] - in[3] * in[10];
+ c = in[2] * in[15] - in[3] * in[14];
+ d = in[6] * in[11] - in[7] * in[10];
+ e = in[6] * in[15] - in[7] * in[14];
+ f = in[10] * in[15] - in[11] * in[14];
+
+ tmp[0] = (in[5] * f - in[9] * e + in[13] * d);
+ tmp[1] = -(in[1] * f - in[9] * c + in[13] * b);
+ tmp[2] = (in[1] * e - in[5] * c + in[13] * a);
+ tmp[3] = -(in[1] * d - in[5] * b + in[9] * a);
+
+ det = 0.0f;
+ det += in[0] * tmp[0];
+ det += in[4] * tmp[1];
+ det += in[8] * tmp[2];
+ det += in[12] * tmp[3];
+
+ if (fabsf(det) < EPSILON)
+ return BH_ERROR;
+
+ tmp[4] = -(in[4] * f - in[8] * e + in[12] * d);
+ tmp[5] = (in[0] * f - in[8] * c + in[12] * b);
+ tmp[6] = -(in[0] * e - in[4] * c + in[12] * a);
+ tmp[7] = (in[0] * d - in[4] * b + in[8] * a);
+
+ a = in[1] * in[7] - in[3] * in[5];
+ b = in[1] * in[11] - in[3] * in[9];
+ c = in[1] * in[15] - in[3] * in[13];
+ d = in[5] * in[11] - in[7] * in[9];
+ e = in[5] * in[15] - in[7] * in[13];
+ f = in[9] * in[15] - in[11] * in[13];
+
+ tmp[8] = (in[4] * f - in[8] * e + in[12] * d);
+ tmp[9] = -(in[0] * f - in[8] * c + in[12] * b);
+ tmp[10] = (in[0] * e - in[4] * c + in[12] * a);
+ tmp[11] = -(in[0] * d - in[4] * b + in[8] * a);
+
+ a = in[1] * in[6] - in[2] * in[5];
+ b = in[1] * in[10] - in[2] * in[9];
+ c = in[1] * in[14] - in[2] * in[13];
+ d = in[5] * in[10] - in[6] * in[9];
+ e = in[5] * in[14] - in[6] * in[13];
+ f = in[9] * in[14] - in[10] * in[13];
+
+ tmp[12] = -(in[4] * f - in[8] * e + in[12] * d);
+ tmp[13] = (in[0] * f - in[8] * c + in[12] * b);
+ tmp[14] = -(in[0] * e - in[4] * c + in[12] * a);
+ tmp[15] = (in[0] * d - in[4] * b + in[8] * a);
+
+ BH_Mat4fScale(tmp, 1.0f / det, out);
+ return BH_OK;
+}
+
+
+void BH_Mat4fFromScale(float x,
+ float y,
+ float z,
+ float *out)
+{
+ BH_Mat4fIdentity(out);
+ out[0] = x;
+ out[5] = y;
+ out[10] = z;
+}
+
+
+void BH_Mat4fFromTranslation(float x,
+ float y,
+ float z,
+ float *out)
+{
+ BH_Mat4fIdentity(out);
+ out[12] = x;
+ out[13] = y;
+ out[14] = z;
+}
+
+
+void BH_Mat4fFromRotationX(float angle,
+ float *out)
+{
+ float c, s;
+
+ c = cosf(angle);
+ s = sinf(angle);
+
+ BH_Mat4fIdentity(out);
+ out[5] = c;
+ out[6] = s;
+ out[9] = -s;
+ out[10] = c;
+}
+
+
+void BH_Mat4fFromRotationY(float angle,
+ float *out)
+{
+ float c, s;
+
+ c = cosf(angle);
+ s = sinf(angle);
+
+ BH_Mat4fIdentity(out);
+ out[0] = c;
+ out[2] = -s;
+ out[8] = s;
+ out[10] = c;
+}
+
+
+void BH_Mat4fFromRotationZ(float angle,
+ float *out)
+{
+ float c, s;
+
+ c = cosf(angle);
+ s = sinf(angle);
+
+ BH_Mat4fIdentity(out);
+ out[0] = c;
+ out[1] = s;
+ out[4] = -s;
+ out[5] = c;
+}
+
+
+void BH_Mat4fFromAxis(const float *axis,
+ float angle,
+ float *out)
+{
+ float x, y, z, length;
+ float c, s, moc, xx, xy, xz, yy, yz, zz;
+
+ length = BH_Vec3fLength(axis);
+ BH_Mat4fIdentity(out);
+
+ if (fabsf(length) < EPSILON)
+ return;
+
+ x = axis[0] / length;
+ y = axis[1] / length;
+ z = axis[2] / length;
+
+ c = cosf(angle);
+ s = sinf(angle);
+ moc = 1.0f - c;
+
+ xx = x * x;
+ xy = x * y;
+ xz = x * z;
+ yy = y * y;
+ yz = y * z;
+ zz = z * z;
+
+ out[0] = c + xx * moc;
+ out[1] = xy * moc + z * s;
+ out[2] = xz * moc - y * s;
+
+ out[4] = xy * moc - z * s;
+ out[5] = c + yy * moc;
+ out[6] = yz * moc + x * s;
+
+ out[8] = xz * moc + y * s;
+ out[9] = yz * moc - x * s;
+ out[10] = c + zz * moc;
+}
+
+
+void BH_Mat4fFromEuler(float roll,
+ float pitch,
+ float yaw,
+ float *out)
+{
+ float rs, rc, ys, yc, ps, pc;
+
+ rs = sinf(roll);
+ rc = cosf(roll);
+ ps = sinf(pitch);
+ pc = cosf(pitch);
+ ys = sinf(yaw);
+ yc = cosf(yaw);
+
+ BH_Mat4fIdentity(out);
+ out[0] = pc * yc;
+ out[1] = pc * ys;
+ out[2] = -ps;
+ out[4] = ps * rs * yc - rc * ys;
+ out[5] = ps * rs * ys + rc * yc;
+ out[6] = pc * rs;
+ out[8] = rs * ys + ps * rc * yc;
+ out[9] = ps * rc * ys - rs * yc;
+ out[10] = pc * rc;
+}
+
+
+void BH_Mat4fFromQuat4f(const float *in,
+ float *out)
+{
+ BH_Quat4fToMat4f(in, out);
+}
+
+
+void BH_Mat4fFromOrtho(float xMin,
+ float xMax,
+ float yMin,
+ float yMax,
+ float zMin,
+ float zMax,
+ float *out)
+{
+ float dx, dy, dz;
+
+ dx = xMax - xMin;
+ dy = yMax - yMin;
+ dz = zMax - zMin;
+
+ BH_Mat4fIdentity(out);
+
+ out[0] = 2.0f / dx;
+ out[5] = 2.0f / dy;
+ out[10] = -2.0f / dz;
+ out[12] = -(xMax + xMin) / dx;
+ out[13] = -(yMax + yMin) / dy;
+ out[14] = -(zMax + zMin) / dz;
+}
+
+
+void BH_Mat4fFromFrustum(float fov,
+ float aspect,
+ float zMin,
+ float zMax,
+ float *out)
+{
+ float t, dz;
+
+ dz = zMax - zMin;
+ t = tanf(fov / 2.0f);
+
+ BH_Mat4fIdentity(out);
+
+ out[0] = 1.0f / (aspect * t);
+ out[5] = 1.0f / t;
+ out[10] = -(zMax + zMin) / dz;
+ out[11] = -1.0f;
+ out[14] = -(2.0f * zMax * zMin) / dz;
+ out[15] = 0.0f;
+}
+
+
+void BH_Mat4fFromLookAt(const float *position,
+ const float *at,
+ const float *up,
+ float *out)
+{
+ float cameraDir[3], cameraRight[3], cameraUp[3];
+
+ BH_Vec3fSub(position, at, cameraDir);
+ BH_Vec3fNormal(cameraDir, cameraDir);
+ BH_Vec3fCross(up, cameraDir, cameraRight);
+ BH_Vec3fNormal(cameraRight, cameraRight);
+ BH_Vec3fCross(cameraDir, cameraRight, cameraUp);
+
+ out[0] = cameraRight[0];
+ out[1] = cameraUp[0];
+ out[2] = cameraDir[0];
+ out[3] = 0.0f;
+
+ out[4] = cameraRight[1];
+ out[5] = cameraUp[1];
+ out[6] = cameraDir[1];
+ out[7] = 0.0f;
+
+ out[8] = cameraRight[2];
+ out[9] = cameraUp[2];
+ out[10] = cameraDir[2];
+ out[11] = 0.0f;
+
+ out[12] = -BH_Vec3fDot(cameraRight, position);
+ out[13] = -BH_Vec3fDot(cameraUp, position);
+ out[14] = -BH_Vec3fDot(cameraDir, position);
+ out[15] = 1.0f;
+}
+
+
+void BH_Mat4fApplyVec4f(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[4], row[4];
+
+ row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, tmp);
+ row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, tmp, tmp);
+ row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, tmp, tmp);
+ row[0] = row[1] = row[2] = row[3] = b[3]; BH_Vec4fMulAdd(&a[12], row, tmp, tmp);
+
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+void BH_Mat4fApplyVec3f(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[4], row[4];
+
+ row[0] = row[1] = row[2] = row[3] = b[0]; BH_Vec4fMul(&a[0], row, tmp);
+ row[0] = row[1] = row[2] = row[3] = b[1]; BH_Vec4fMulAdd(&a[4], row, tmp, tmp);
+ row[0] = row[1] = row[2] = row[3] = b[2]; BH_Vec4fMulAdd(&a[8], row, tmp, tmp);
+ row[0] = row[1] = row[2] = row[3] = 1.0f; BH_Vec4fMulAdd(&a[12], row, tmp, tmp);
+
+ memcpy(out, tmp, sizeof(float) * 3);
+}
diff --git a/src/Math/Misc.c b/src/Math/Misc.c
new file mode 100644
index 0000000..3d09c2f
--- /dev/null
+++ b/src/Math/Misc.c
@@ -0,0 +1,33 @@
+#include <BH/Math.h>
+
+
+float BH_Lerpf(float a, float b, float t)
+{
+ return a + (b - a) * t;
+}
+
+
+void BH_Triangle3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ const float *point,
+ float *out)
+{
+ float tmp1[3], tmp2[3], tmp3[3];
+ float t11, t12, t22, t31, t32, denom;
+
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(c, a, tmp2);
+ BH_Vec3fSub(point, a, tmp3);
+
+ t11 = BH_Vec3fDot(tmp1, tmp1);
+ t12 = BH_Vec3fDot(tmp1, tmp2);
+ t22 = BH_Vec3fDot(tmp2, tmp2);
+ t31 = BH_Vec3fDot(tmp3, tmp1);
+ t32 = BH_Vec3fDot(tmp3, tmp2);
+ denom = 1.0f / (t11 * t22 - t12 * t12);
+
+ out[1] = (t22 * t31 - t12 * t32) * denom;
+ out[2] = (t11 * t32 - t12 * t31) * denom;
+ out[0] = 1.0f - out[1] - out[2];
+}
diff --git a/src/Math/Plane.c b/src/Math/Plane.c
new file mode 100644
index 0000000..23711c5
--- /dev/null
+++ b/src/Math/Plane.c
@@ -0,0 +1,43 @@
+#include <BH/Math.h>
+#include <string.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+int BH_PlaneFromPoints(const float *a,
+ const float *b,
+ const float *c,
+ float *out)
+{
+ float tmp1[3], tmp2[3];
+
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(c, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fNormalEx(tmp1, tmp1) < EPSILON)
+ return BH_ERROR;
+
+ out[3] = BH_Vec3fDot(a, tmp1);
+ memcpy(out, tmp1, sizeof(tmp1));
+ return BH_OK;
+}
+
+
+float BH_PlaneDistance(const float *plane,
+ const float *point)
+{
+ return BH_Vec3fDot(plane, point) - plane[3];
+}
+
+
+void BH_PlaneClosestPoint(const float *plane,
+ const float *point,
+ float *out)
+{
+ float tmp[3];
+
+ BH_Vec3fScale(plane, BH_PlaneDistance(plane, point), tmp);
+ BH_Vec3fSub(point, tmp, out);
+}
diff --git a/src/Math/Quat4f.c b/src/Math/Quat4f.c
new file mode 100644
index 0000000..45e9b32
--- /dev/null
+++ b/src/Math/Quat4f.c
@@ -0,0 +1,207 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+void BH_Quat4fIdentity(float *out)
+{
+ static const float ident[4] = {0.0f, 0.0f, 0.0f, 1.0f};
+ memcpy(out, ident, sizeof(ident));
+}
+
+
+void BH_Quat4fConjugate(const float *in,
+ float *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+ out[2] = -in[2];
+ out[3] = in[3];
+}
+
+
+void BH_Quat4fInverse(const float *in,
+ float *out)
+{
+ float dot;
+
+ dot = BH_Vec4fDot(in, in);
+ BH_Quat4fConjugate(in, out);
+ BH_Quat4fScale(out, 1.0f / dot, out);
+}
+
+
+void BH_Quat4fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp1[4], tmp2[4], tmp3[4];
+ float w;
+
+ w = a[3] * b[3] - BH_Vec3fDot(a, b);
+ BH_Vec4fScale(a, b[3], tmp1);
+ BH_Vec4fScale(b, a[3], tmp2);
+ BH_Vec3fCross(a, b, tmp3);
+ BH_Vec4fAdd(tmp1, tmp2, out);
+ BH_Vec4fAdd(tmp3, out, out);
+ out[3] = w;
+}
+
+
+void BH_Quat4fSlerp(const float *a,
+ const float *b,
+ float t,
+ float *out)
+{
+ float angle, denom;
+ float from[4], to[4];
+
+ angle = acosf(BH_Vec4fDot(a, b));
+ if (fabsf(angle) < EPSILON)
+ {
+ BH_Vec4fLerp(a, b, t, out);
+ return;
+ }
+
+ denom = 1.0f / sinf(angle);
+ BH_Vec4fScale(a, sinf((1 - t) * angle) * denom, from);
+ BH_Vec4fScale(b, sinf(t * angle) * denom, to);
+ BH_Vec4fAdd(from, to, out);
+}
+
+
+void BH_Quat4fFromEuler(float roll,
+ float pitch,
+ float yaw,
+ float *out)
+{
+ float cr, cp, cy, sr, sp, sy;
+
+ cr = cosf(roll / 2.0f);
+ cp = cosf(pitch / 2.0f);
+ cy = cosf(yaw / 2.0f);
+ sr = sinf(roll / 2.0f);
+ sp = sinf(pitch / 2.0f);
+ sy = sinf(yaw / 2.0f);
+
+ out[0] = sr * cp * cy - cr * sp * sy;
+ out[1] = cr * sp * cy + sr * cp * sy;
+ out[2] = cr * cp * sy - sr * sp * cy;
+ out[3] = cr * cp * cy + sr * sp * sy;
+}
+
+
+void BH_Quat4fFromAxis(const float *axis,
+ float angle,
+ float *out)
+{
+ float c, s;
+
+ c = cosf(angle / 2.0f);
+ s = sinf(angle / 2.0f);
+
+ out[0] = axis[0] * s;
+ out[1] = axis[1] * s;
+ out[2] = axis[2] * s;
+ out[3] = c;
+}
+
+
+void BH_Quat4fToEuler(const float *in,
+ float *roll,
+ float *pitch,
+ float *yaw)
+{
+ float ww, xw, yw, zw, xx, xy, xz, yy, yz, zz, angle;
+
+ xx = in[0] * in[0];
+ xy = in[0] * in[1];
+ xz = in[0] * in[2];
+ xw = in[0] * in[3];
+ yy = in[1] * in[1];
+ yz = in[1] * in[2];
+ yw = in[1] * in[3];
+ zz = in[2] * in[2];
+ zw = in[2] * in[3];
+ ww = in[3] * in[3];
+
+ angle = 2.0f * (yw - xz);
+ if (angle > 1.0f)
+ angle = 1.0f;
+ if (angle < -1.0f)
+ angle = -1.0f;
+
+ *pitch = asinf(angle);
+
+ if (fabsf(*pitch - (PI / 2.0f)) < EPSILON)
+ {
+ *roll = 0.0f;
+ *yaw = -2.0f * atan2f(in[0], in[3]);
+ }
+ else if (fabsf(*pitch - (PI / -2.0f)) < EPSILON)
+ {
+ *roll = 0.0f;
+ *yaw = 2.0f * atan2f(in[0], in[3]);
+ }
+ else
+ {
+ *roll = atan2f(2.0f * (xw + yz), ww - xx - yy + zz);
+ *yaw = atan2f(2.0f * (zw + xy), ww + xx - yy - zz);
+ }
+}
+
+
+void BH_Quat4fToAxis(const float *in,
+ float *axis,
+ float *angle)
+{
+ *angle = 2.0f * acosf(in[3]);
+
+ if (fabsf(*angle) < EPSILON)
+ {
+ axis[0] = 1.0f;
+ axis[1] = 0.0f;
+ axis[2] = 0.0f;
+ }
+ else
+ {
+ float tmp;
+
+ tmp = sqrtf(1.0f - in[3] * in[3]);
+ axis[0] = in[0] / tmp;
+ axis[1] = in[1] / tmp;
+ axis[2] = in[2] / tmp;
+ }
+}
+
+
+void BH_Quat4fToMat4f(const float *in,
+ float *out)
+{
+ float xx, xy, xz, xw, yy, yz, yw, zz, zw;
+
+ xx = in[0] * in[0];
+ xy = in[0] * in[1];
+ xz = in[0] * in[2];
+ xw = in[0] * in[3];
+ yy = in[1] * in[1];
+ yz = in[1] * in[2];
+ yw = in[1] * in[3];
+ zz = in[2] * in[2];
+ zw = in[2] * in[3];
+
+ BH_Mat4fIdentity(out);
+ out[0] = 1.0f - 2.0f * (yy + zz);
+ out[1] = 2.0f * (xy + zw);
+ out[2] = 2.0f * (xz - yw);
+ out[4] = 2.0f * (xy - zw);
+ out[5] = 1.0f - 2.0f * (xx + zz);
+ out[6] = 2.0f * (yz + xw);
+ out[8] = 2.0f * (xz + yw);
+ out[9] = 2.0f * (yz - xw);
+ out[10] = 1.0f - 2.0f * (xx + yy);
+}
diff --git a/src/Math/Ray2f.c b/src/Math/Ray2f.c
new file mode 100644
index 0000000..ea2572b
--- /dev/null
+++ b/src/Math/Ray2f.c
@@ -0,0 +1,236 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+int BH_Ray2fIntersectLine(const float *start,
+ const float *direction,
+ const float *line,
+ float *t,
+ float *out)
+{
+ float tmp1[2];
+ float denom, time;
+
+ /* Calculate intersection time */
+ denom = BH_Vec2fDot(direction, line);
+ time = (line[2] - BH_Vec2fDot(line, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (fabsf(denom) < EPSILON || time < 0.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec2fScale(direction, time, tmp1);
+ BH_Vec2fAdd(start, tmp1, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectTime(const float *aStart,
+ const float *aDirection,
+ const float *bStart,
+ const float *bDirection,
+ float *time1,
+ float *time2)
+{
+ float tmp1[2], tmp2[2], tmp3[2];
+ float denom;
+
+ /* Rotate directions by 90 degrees and caluclate denom */
+ tmp1[0] = -aDirection[1]; tmp1[1] = aDirection[0];
+ tmp2[0] = -bDirection[1]; tmp2[1] = bDirection[0];
+ denom = BH_Vec2fDot(tmp1, bDirection);
+
+ if (fabsf(denom) < EPSILON)
+ return BH_ERROR;
+
+ /* Calculate segments offset and intersection times */
+ BH_Vec2fSub(aStart, bStart, tmp3);
+ *time1 = BH_Vec2fDot(tmp3, tmp2) / denom;
+ *time2 = BH_Vec2fDot(tmp3, tmp1) / denom;
+
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectRay(const float *aStart,
+ const float *aDirection,
+ const float *bStart,
+ const float *bDirection,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float time1, time2;
+
+ if (BH_Ray2fIntersectTime(aStart, aDirection, bStart, bDirection, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time2 < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec2fScale(aDirection, time1, tmp);
+ BH_Vec2fAdd(aStart, tmp, out);
+ *t = time1;
+ return BH_OK;
+}
+
+
+int BH_Ray2fIntersectSegment(const float *aStart,
+ const float *aDirection,
+ const float *bStart,
+ const float *bEnd,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float time1, time2;
+
+ BH_Vec2fSub(bEnd, bStart, tmp);
+ if (BH_Ray2fIntersectTime(aStart, aDirection, bStart, tmp, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time2 < 0.0f || time2 > 1.0f)
+ return BH_ERROR;
+
+ BH_Vec2fScale(aDirection, time1, tmp);
+ BH_Vec2fAdd(aStart, tmp, out);
+ *t = time1;
+ return BH_OK;
+}
+
+
+int BH_Segment2fIntersectLine(const float *start,
+ const float *end,
+ const float *line,
+ float *t,
+ float *out)
+{
+ float tmp[2];
+ float denom, time;
+
+ /* Calculate intersection time */
+ BH_Vec2fSub(end, start, tmp);
+ denom = BH_Vec2fDot(tmp, line);
+ time = (line[2] - BH_Vec2fDot(line, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (fabsf(denom) < EPSILON || time < 0.0f || time > 1.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec2fScale(tmp, time, tmp);
+ BH_Vec2fAdd(start, tmp, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment2fIntersectSegment(const float *aStart,
+ const float *aEnd,
+ const float *bStart,
+ const float *bEnd,
+ float *t,
+ float *out)
+{
+ float tmp1[2], tmp2[2];
+ float time1, time2;
+
+ BH_Vec2fSub(aEnd, aStart, tmp1);
+ BH_Vec2fSub(bEnd, bStart, tmp2);
+ if (BH_Ray2fIntersectTime(aStart, tmp1, bStart, tmp2, &time1, &time2))
+ return BH_ERROR;
+
+ if (time1 < 0.0f || time1 > 1.0f || time2 < 0.0f || time2 > 1.0f)
+ return BH_ERROR;
+
+ BH_Vec2fLerp(aStart, aEnd, time1, out);
+ *t = time1;
+
+ return BH_OK;
+}
+
+int BH_Ray2fIntersectBox2f(const float *aStart,
+ const float *aDirection,
+ const float *bMin,
+ const float *bMax,
+ float *t,
+ float *out)
+{
+ float timeNear, timeFar, hitNear, hitFar, denom, tmp;
+ int i;
+
+ timeNear = -1.0f / 0.0f;
+ timeFar = 1.0f / 0.0f;
+
+ /* Check if origin inside box */
+ if (!BH_Box2fContains(bMin, bMax, aStart))
+ {
+ memcpy(out, aStart, sizeof(float) * 2);
+ *t = 0.0f;
+ return BH_OK;
+ }
+
+ /* Check each axis for the minimal and maximum intersection time */
+ for (i = 0; i < 2; i++)
+ {
+ if (fabsf(aDirection[i]) < EPSILON)
+ {
+ if (aStart[i] < bMin[i] || aStart[i] > bMax[i])
+ return BH_ERROR;
+ continue;
+ }
+
+ denom = 1.0f / aDirection[i];
+ hitNear = (bMin[i] - aStart[i]) * denom;
+ hitFar = (bMax[i] - aStart[i]) * denom;
+
+ if (hitNear > hitFar)
+ {
+ tmp = hitNear;
+ hitNear = hitFar;
+ hitFar = tmp;
+ }
+
+ if (hitNear > timeNear)
+ timeNear = hitNear;
+ if (hitFar < timeFar)
+ timeFar = hitFar;
+
+ if (timeNear > timeFar || timeFar < 0.0f)
+ return BH_ERROR;
+ }
+
+ out[0] = aStart[0] + aDirection[0] * timeNear;
+ out[1] = aStart[1] + aDirection[1] * timeNear;
+ *t = timeNear;
+
+ return BH_OK;
+}
+
+
+int BH_Segment2fIntersectBox2f(const float *aStart,
+ const float *aEnd,
+ const float *bMin,
+ const float *bMax,
+ float *t,
+ float *out)
+{
+ float tmp[3];
+ float time;
+
+ BH_Vec2fSub(aEnd, aStart, tmp);
+ if (BH_Ray2fIntersectBox2f(aStart, tmp, bMin, bMax, &time, out))
+ return BH_ERROR;
+
+ if (time > 1.0f)
+ return BH_ERROR;
+
+ *t = time;
+ return BH_OK;
+}
diff --git a/src/Math/Ray3f.c b/src/Math/Ray3f.c
new file mode 100644
index 0000000..e265071
--- /dev/null
+++ b/src/Math/Ray3f.c
@@ -0,0 +1,232 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+
+#define EPSILON 0.00001f
+#define PI 3.14159265358979323846f
+
+
+int BH_Ray3fIntersectPlane(const float *start,
+ const float *direction,
+ const float *plane,
+ float *t,
+ float *out)
+{
+ float tmp1[3];
+ float denom, time;
+
+ /* Calculate intersection time */
+ denom = BH_Vec3fDot(direction, plane);
+ time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (fabsf(denom) < EPSILON || time < 0.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec3fScale(direction, time, tmp1);
+ BH_Vec3fAdd(start, tmp1, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Ray3fIntersectTriangle(const float *start,
+ const float *direction,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out)
+{
+ float plane[4];
+ float tmp1[3], tmp2[3], tmp3[3];
+ float time;
+
+ /* Compute plane */
+ if (BH_PlaneFromPoints(a, b, c, plane))
+ return BH_ERROR;
+
+ /* Compute intersection point in ray against plane */
+ if (BH_Ray3fIntersectPlane(start, direction, plane, &time, tmp3))
+ return BH_ERROR;
+
+ /* Check if point inside rectangle */
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(tmp3, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(c, b, tmp1);
+ BH_Vec3fSub(tmp3, b, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(a, c, tmp1);
+ BH_Vec3fSub(tmp3, c, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ /* Copy intersection point */
+ memcpy(out, tmp3, sizeof(tmp3));
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment3fIntersectPlane(const float *start,
+ const float *end,
+ const float *plane,
+ float *t,
+ float *out)
+{
+ float tmp[3];
+ float denom, time;
+
+ /* Calculate intersection time */
+ BH_Vec3fSub(end, start, tmp);
+ denom = BH_Vec3fDot(tmp, plane);
+ time = (plane[3] - BH_Vec3fDot(plane, start)) / denom;
+
+ /* Check for ray/plane parallel to each other or point is behing the ray. */
+ if (fabsf(denom) < EPSILON || time < 0.0f || time > 1.0f)
+ return BH_ERROR;
+
+ /* Compute intersection point */
+ BH_Vec3fScale(tmp, time, tmp);
+ BH_Vec3fAdd(start, tmp, out);
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Segment3fIntersectTriangle(const float *start,
+ const float *end,
+ const float *a,
+ const float *b,
+ const float *c,
+ float *t,
+ float *out)
+{
+ float plane[4];
+ float tmp1[3], tmp2[3], tmp3[3];
+ float time;
+
+ /* Compute plane */
+ if (BH_PlaneFromPoints(a, b, c, plane))
+ return BH_ERROR;
+
+ /* Compute intersection point in ray against plane */
+ if (BH_Segment3fIntersectPlane(start, end, plane, &time, tmp3))
+ return BH_ERROR;
+
+ /* Check if point inside rectangle */
+ BH_Vec3fSub(b, a, tmp1);
+ BH_Vec3fSub(tmp3, a, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(c, b, tmp1);
+ BH_Vec3fSub(tmp3, b, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ BH_Vec3fSub(a, c, tmp1);
+ BH_Vec3fSub(tmp3, c, tmp2);
+ BH_Vec3fCross(tmp2, tmp1, tmp1);
+ if (BH_Vec3fDot(tmp1, plane) < 0.0f)
+ return BH_ERROR;
+
+ /* Copy intersection point */
+ memcpy(out, tmp3, sizeof(tmp3));
+ *t = time;
+ return BH_OK;
+}
+
+
+int BH_Ray3fIntersectBox3f(const float *aStart,
+ const float *aDirection,
+ const float *bMin,
+ const float *bMax,
+ float *t,
+ float *out)
+{
+ float timeNear, timeFar, hitNear, hitFar, denom, tmp;
+ int i;
+
+ timeNear = -1.0f / 0.0f;
+ timeFar = 1.0f / 0.0f;
+
+ /* Check if origin inside box */
+ if (!BH_Box3fContains(bMin, bMax, aStart))
+ {
+ memcpy(out, aStart, sizeof(float) * 3);
+ *t = 0.0f;
+ return BH_OK;
+ }
+
+ /* Check each axis for the minimal and maximum intersection time */
+ for (i = 0; i < 3; i++)
+ {
+ if (fabsf(aDirection[i]) < EPSILON)
+ {
+ if (aStart[i] < bMin[i] || aStart[i] > bMax[i])
+ return BH_ERROR;
+ continue;
+ }
+
+ denom = 1.0f / aDirection[i];
+ hitNear = (bMin[i] - aStart[i]) * denom;
+ hitFar = (bMax[i] - aStart[i]) * denom;
+
+ if (hitNear > hitFar)
+ {
+ tmp = hitNear;
+ hitNear = hitFar;
+ hitFar = tmp;
+ }
+
+ if (hitNear > timeNear)
+ timeNear = hitNear;
+ if (hitFar < timeFar)
+ timeFar = hitFar;
+
+ if (timeNear > timeFar || timeFar < 0.0f)
+ return BH_ERROR;
+ }
+
+ out[0] = aStart[0] + aDirection[0] * timeNear;
+ out[1] = aStart[1] + aDirection[1] * timeNear;
+ out[2] = aStart[2] + aDirection[2] * timeNear;
+ *t = timeNear;
+
+ return BH_OK;
+}
+
+
+int BH_Segment3fIntersectBox3f(const float *aStart,
+ const float *aEnd,
+ const float *bMin,
+ const float *bMax,
+ float *t,
+ float *out)
+{
+ float tmp[3];
+ float time;
+
+ BH_Vec3fSub(aEnd, aStart, tmp);
+ if (BH_Ray3fIntersectBox3f(aStart, tmp, bMin, bMax, &time, out))
+ return BH_ERROR;
+
+ if (time > 1.0f)
+ return BH_ERROR;
+
+ *t = time;
+ return BH_OK;
+}
diff --git a/src/Math/Vec2f.c b/src/Math/Vec2f.c
new file mode 100644
index 0000000..351415b
--- /dev/null
+++ b/src/Math/Vec2f.c
@@ -0,0 +1,153 @@
+#include <BH/Math.h>
+#include <math.h>
+
+
+void BH_Vec2fAdd(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+}
+
+
+void BH_Vec2fSub(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+}
+
+
+void BH_Vec2fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+}
+
+
+void BH_Vec2fScale(const float *a,
+ const float b,
+ float *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+}
+
+
+void BH_Vec2fMulAdd(const float *a,
+ const float *b,
+ const float *c,
+ float *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+}
+
+
+void BH_Vec2fNegate(const float *in,
+ float *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+}
+
+
+float BH_Vec2fDot(const float *a,
+ const float *b)
+{
+ return a[0] * b[0] + a[1] * b[1];
+}
+
+
+float BH_Vec2fCross(const float *a,
+ const float *b)
+{
+ return a[0] * b[1] - a[1] * b[0];
+}
+
+
+float BH_Vec2fLength(const float *in)
+{
+ return sqrtf(BH_Vec2fDot(in, in));
+}
+
+
+void BH_Vec2fNormal(const float *in,
+ float *out)
+{
+ BH_Vec2fScale(in, 1.0f / BH_Vec2fLength(in), out);
+}
+
+
+float BH_Vec2fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec2fLength(in);
+ BH_Vec2fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
+void BH_Vec2fMin(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+}
+
+
+void BH_Vec2fMax(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+}
+
+
+void BH_Vec2fLerp(const float *a,
+ const float *b,
+ float t,
+ float *out)
+{
+ float tmp[2];
+
+ BH_Vec2fSub(b, a, tmp);
+ BH_Vec2fScale(tmp, t, tmp);
+ BH_Vec2fAdd(a, tmp, out);
+}
+
+
+void BH_Vec2fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec2fDot(a, b) / BH_Vec2fDot(b, b);
+ BH_Vec2fScale(b, amount, out);
+}
+
+
+void BH_Vec2fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[2], tmp2[2];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = u; BH_Vec2fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = v; BH_Vec2fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = w; BH_Vec2fMulAdd(c, tmp1, tmp2, out);
+}
diff --git a/src/Math/Vec2i.c b/src/Math/Vec2i.c
new file mode 100644
index 0000000..94601ec
--- /dev/null
+++ b/src/Math/Vec2i.c
@@ -0,0 +1,73 @@
+#include <BH/Math.h>
+
+
+void BH_Vec2iAdd(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+}
+
+
+void BH_Vec2iSub(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+}
+
+
+void BH_Vec2iMul(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+}
+
+
+void BH_Vec2iScale(const int *a,
+ int b,
+ int *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+}
+
+
+void BH_Vec2iMulAdd(const int *a,
+ const int *b,
+ const int *c,
+ int *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+}
+
+
+void BH_Vec2iNegate(const int *in,
+ int *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+}
+
+
+void BH_Vec2iMin(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+}
+
+
+void BH_Vec2iMax(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+}
diff --git a/src/Math/Vec3f.c b/src/Math/Vec3f.c
new file mode 100644
index 0000000..50a268d
--- /dev/null
+++ b/src/Math/Vec3f.c
@@ -0,0 +1,168 @@
+#include <BH/Math.h>
+#include <string.h>
+#include <math.h>
+
+
+void BH_Vec3fAdd(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+ out[2] = a[2] + b[2];
+}
+
+
+void BH_Vec3fSub(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+ out[2] = a[2] - b[2];
+}
+
+
+void BH_Vec3fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+ out[2] = a[2] * b[2];
+}
+
+
+void BH_Vec3fScale(const float *a,
+ const float b,
+ float *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+ out[2] = a[2] * b;
+}
+
+
+void BH_Vec3fMulAdd(const float *a,
+ const float *b,
+ const float *c,
+ float *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+ out[2] = a[2] * b[2] + c[2];
+}
+
+
+void BH_Vec3fNegate(const float *in,
+ float *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+ out[2] = -in[2];
+}
+
+
+float BH_Vec3fDot(const float *a,
+ const float *b)
+{
+ return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+
+
+void BH_Vec3fCross(const float *a,
+ const float *b,
+ float *out)
+{
+ float tmp[3];
+
+ tmp[0] = a[1] * b[2] - a[2] * b[1];
+ tmp[1] = a[2] * b[0] - a[0] * b[2];
+ tmp[2] = a[0] * b[1] - a[1] * b[0];
+ memcpy(out, tmp, sizeof(tmp));
+}
+
+
+float BH_Vec3fLength(const float *in)
+{
+ return sqrtf(BH_Vec3fDot(in, in));
+}
+
+
+void BH_Vec3fNormal(const float *in,
+ float *out)
+{
+ BH_Vec3fScale(in, 1.0f / BH_Vec3fLength(in), out);
+}
+
+
+float BH_Vec3fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec3fLength(in);
+ BH_Vec3fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
+void BH_Vec3fMin(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
+}
+
+
+void BH_Vec3fMax(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
+}
+
+
+void BH_Vec3fLerp(const float *a,
+ const float *b,
+ float t,
+ float *out)
+{
+ float tmp[3];
+
+ BH_Vec3fSub(b, a, tmp);
+ BH_Vec3fScale(tmp, t, tmp);
+ BH_Vec3fAdd(a, tmp, out);
+}
+
+
+void BH_Vec3fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec3fDot(a, b) / BH_Vec3fDot(b, b);
+ BH_Vec3fScale(b, amount, out);
+}
+
+
+void BH_Vec3fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[3], tmp2[3];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = tmp1[2] = u; BH_Vec3fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = v; BH_Vec3fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = w; BH_Vec3fMulAdd(c, tmp1, tmp2, out);
+}
diff --git a/src/Math/Vec3i.c b/src/Math/Vec3i.c
new file mode 100644
index 0000000..c791c09
--- /dev/null
+++ b/src/Math/Vec3i.c
@@ -0,0 +1,81 @@
+#include <BH/Math.h>
+
+
+void BH_Vec3iAdd(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+ out[2] = a[2] + b[2];
+}
+
+
+void BH_Vec3iSub(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+ out[2] = a[2] - b[2];
+}
+
+
+void BH_Vec3iMul(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+ out[2] = a[2] * b[2];
+}
+
+
+void BH_Vec3iScale(const int *a,
+ int b,
+ int *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+ out[2] = a[2] * b;
+}
+
+
+void BH_Vec3iMulAdd(const int *a,
+ const int *b,
+ const int *c,
+ int *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+ out[2] = a[2] * b[2] + c[2];
+}
+
+
+void BH_Vec3iNegate(const int *in,
+ int *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+ out[2] = -in[2];
+}
+
+
+void BH_Vec3iMin(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
+}
+
+
+void BH_Vec3iMax(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
+}
diff --git a/src/Math/Vec4f.c b/src/Math/Vec4f.c
new file mode 100644
index 0000000..768f84c
--- /dev/null
+++ b/src/Math/Vec4f.c
@@ -0,0 +1,162 @@
+#include <BH/Math.h>
+#include <math.h>
+
+
+void BH_Vec4fAdd(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+ out[2] = a[2] + b[2];
+ out[3] = a[3] + b[3];
+}
+
+
+void BH_Vec4fSub(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+ out[2] = a[2] - b[2];
+ out[3] = a[3] - b[3];
+}
+
+
+void BH_Vec4fMul(const float *a,
+ const float *b,
+ float *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+ out[2] = a[2] * b[2];
+ out[3] = a[3] * b[3];
+}
+
+
+void BH_Vec4fScale(const float *a,
+ const float b,
+ float *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+ out[2] = a[2] * b;
+ out[3] = a[3] * b;
+}
+
+
+void BH_Vec4fMulAdd(const float *a,
+ const float *b,
+ const float *c,
+ float *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+ out[2] = a[2] * b[2] + c[2];
+ out[3] = a[3] * b[3] + c[3];
+}
+
+
+void BH_Vec4fNegate(const float *in,
+ float *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+ out[2] = -in[2];
+ out[3] = -in[3];
+}
+
+
+float BH_Vec4fDot(const float *a,
+ const float *b)
+{
+ return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+}
+
+
+float BH_Vec4fLength(const float *in)
+{
+ return sqrtf(BH_Vec4fDot(in, in));
+}
+
+
+void BH_Vec4fNormal(const float *in,
+ float *out)
+{
+ BH_Vec4fScale(in, 1.0f / BH_Vec4fLength(in), out);
+}
+
+
+float BH_Vec4fNormalEx(const float *in,
+ float *out)
+{
+ float length;
+
+ length = BH_Vec4fLength(in);
+ BH_Vec4fScale(in, 1.0f / length, out);
+ return length;
+}
+
+
+void BH_Vec4fMin(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
+ if (a[3] < b[3]) out[3] = a[3]; else out[3] = b[3];
+}
+
+
+void BH_Vec4fMax(const float *a,
+ const float *b,
+ float *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
+ if (a[3] > b[3]) out[3] = a[3]; else out[3] = b[3];
+}
+
+
+void BH_Vec4fLerp(const float *a,
+ const float *b,
+ float t,
+ float *out)
+{
+ float tmp[4];
+
+ BH_Vec4fSub(b, a, tmp);
+ BH_Vec4fScale(tmp, t, tmp);
+ BH_Vec4fAdd(a, tmp, out);
+}
+
+
+void BH_Vec4fProject(const float *a,
+ const float *b,
+ float *out)
+{
+ float amount;
+
+ amount = BH_Vec4fDot(a, b) / BH_Vec4fDot(b, b);
+ BH_Vec4fScale(b, amount, out);
+}
+
+
+void BH_Vec4fBarycentric(const float *a,
+ const float *b,
+ const float *c,
+ float v,
+ float w,
+ float *out)
+{
+ float tmp1[4], tmp2[4];
+ float u;
+
+ u = 1.0f - v - w;
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = u; BH_Vec4fMul(a, tmp1, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = v; BH_Vec4fMulAdd(b, tmp1, tmp2, tmp2);
+ tmp1[0] = tmp1[1] = tmp1[2] = tmp1[3] = w; BH_Vec4fMulAdd(c, tmp1, tmp2, out);
+}
diff --git a/src/Math/Vec4i.c b/src/Math/Vec4i.c
new file mode 100644
index 0000000..e62ff9e
--- /dev/null
+++ b/src/Math/Vec4i.c
@@ -0,0 +1,89 @@
+#include <BH/Math.h>
+
+
+void BH_Vec4iAdd(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] + b[0];
+ out[1] = a[1] + b[1];
+ out[2] = a[2] + b[2];
+ out[3] = a[3] + b[3];
+}
+
+
+void BH_Vec4iSub(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] - b[0];
+ out[1] = a[1] - b[1];
+ out[2] = a[2] - b[2];
+ out[3] = a[3] - b[3];
+}
+
+
+void BH_Vec4iMul(const int *a,
+ const int *b,
+ int *out)
+{
+ out[0] = a[0] * b[0];
+ out[1] = a[1] * b[1];
+ out[2] = a[2] * b[2];
+ out[3] = a[3] * b[3];
+}
+
+
+void BH_Vec4iScale(const int *a,
+ int b,
+ int *out)
+{
+ out[0] = a[0] * b;
+ out[1] = a[1] * b;
+ out[2] = a[2] * b;
+ out[3] = a[3] * b;
+}
+
+
+void BH_Vec4iMulAdd(const int *a,
+ const int *b,
+ const int *c,
+ int *out)
+{
+ out[0] = a[0] * b[0] + c[0];
+ out[1] = a[1] * b[1] + c[1];
+ out[2] = a[2] * b[2] + c[2];
+ out[3] = a[3] * b[3] + c[3];
+}
+
+
+void BH_Vec4iNegate(const int *in,
+ int *out)
+{
+ out[0] = -in[0];
+ out[1] = -in[1];
+ out[2] = -in[2];
+ out[3] = -in[3];
+}
+
+
+void BH_Vec4iMin(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] < b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] < b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] < b[2]) out[2] = a[2]; else out[2] = b[2];
+ if (a[3] < b[3]) out[3] = a[3]; else out[3] = b[3];
+}
+
+
+void BH_Vec4iMax(const int *a,
+ const int *b,
+ int *out)
+{
+ if (a[0] > b[0]) out[0] = a[0]; else out[0] = b[0];
+ if (a[1] > b[1]) out[1] = a[1]; else out[1] = b[1];
+ if (a[2] > b[2]) out[2] = a[2]; else out[2] = b[2];
+ if (a[3] > b[3]) out[3] = a[3]; else out[3] = b[3];
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-01 01:42:14 +0000