Initial commit

2025-01-18 17:24:36 +03:00
commit 453843f51a
28 changed files with 7356 additions and 0 deletions
--- a/include/bh/math.h
+++ b/include/bh/math.h
@@ -0,0 +1,715 @@
+#ifndef BH_MATH_H
+#define BH_MATH_H
+
+
+#include "common.h"
+
+
+typedef struct bh_point2f_s
+{
+    float x;
+    float y;
+} bh_point2f_t;
+
+
+typedef struct bh_point3f_s
+{
+    float x;
+    float y;
+    float z;
+} bh_point3f_t;
+
+
+typedef struct bh_point4f_s
+{
+    float x;
+    float y;
+    float z;
+    float w;
+} bh_point4f_t;
+
+
+typedef struct bh_point2i_s
+{
+    int x;
+    int y;
+} bh_point2i_t;
+
+
+typedef struct bh_point3i_s
+{
+    int x;
+    int y;
+    int z;
+} bh_point3i_t;
+
+
+typedef struct bh_point4i_s
+{
+    int x;
+    int y;
+    int z;
+    int w;
+} bh_point4i_t;
+
+
+typedef struct bh_matrix3f_s
+{
+    bh_point3f_t x;
+    bh_point3f_t y;
+    bh_point3f_t z;
+} bh_matrix3f_t;
+
+
+typedef struct bh_matrix4f_s
+{
+    bh_point4f_t x;
+    bh_point4f_t y;
+    bh_point4f_t z;
+    bh_point4f_t w;
+} bh_matrix4f_t;
+
+
+typedef struct bh_line2f_s
+{
+    bh_point2f_t normal;
+    float distance;
+} bh_line2f_t;
+
+
+typedef struct bh_plane3f_s
+{
+    bh_point3f_t normal;
+    float distance;
+} bh_plane3f_t;
+
+
+typedef struct bh_ray2f_s
+{
+    bh_point2f_t origin;
+    bh_point2f_t normal;
+} bh_ray2f_t;
+
+
+typedef struct bh_ray3f_s
+{
+    bh_point3f_t origin;
+    bh_point3f_t normal;
+} bh_ray3f_t;
+
+
+typedef struct bh_aabb2f_s
+{
+    bh_point2f_t origin;
+    bh_point2f_t size;
+} bh_aabb2f_t;
+
+
+typedef struct bh_aabb3f_s
+{
+    bh_point3f_t origin;
+    bh_point3f_t size;
+} bh_aabb3f_t;
+
+
+typedef struct bh_aabb2i_s
+{
+    bh_point2i_t origin;
+    bh_point2i_t size;
+} bh_aabb2i_t;
+
+
+typedef struct bh_aabb3i_s
+{
+    bh_point3i_t origin;
+    bh_point3i_t size;
+} bh_aabb3i_t;
+
+
+typedef bh_point4f_t bh_quat_t;
+
+
+bh_point4f_t *bh_point4f_add(const bh_point4f_t *a,
+                             const bh_point4f_t *b,
+                             bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_sub(const bh_point4f_t *a,
+                             const bh_point4f_t *b,
+                             bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_mul(const bh_point4f_t *a,
+                             const bh_point4f_t *b,
+                             bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_scale(const bh_point4f_t *a,
+                               float b,
+                               bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_madd(const bh_point4f_t *a,
+                              const bh_point4f_t *b,
+                              const bh_point4f_t *c,
+                              bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_negate(const bh_point4f_t *in,
+                                bh_point4f_t *result);
+
+
+float bh_point4f_dot(const bh_point4f_t *a,
+                     const bh_point4f_t *b);
+
+
+float bh_point4f_dot3(const bh_point4f_t *a,
+                      const bh_point4f_t *b);
+
+
+bh_point4f_t *bh_point4f_cross(const bh_point4f_t *a,
+                               const bh_point4f_t *b,
+                               bh_point4f_t *result);
+
+
+float bh_point4f_length(const bh_point4f_t *in);
+
+
+bh_point4f_t *bh_point4f_normal(const bh_point4f_t *in,
+                                bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_min(const bh_point4f_t *a,
+                             const bh_point4f_t *b,
+                             bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_max(const bh_point4f_t *a,
+                             const bh_point4f_t *b,
+                             bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_lerp(const bh_point4f_t *a,
+                              const bh_point4f_t *b,
+                              float t,
+                              bh_point4f_t *result);
+
+
+bh_point4f_t *bh_point4f_slerp(const bh_point4f_t *a,
+                               const bh_point4f_t *b,
+                               float t,
+                               bh_point4f_t *result);
+
+
+bh_point3f_t *bh_point3f_add(const bh_point3f_t *a,
+                             const bh_point3f_t *b,
+                             bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_sub(const bh_point3f_t *a,
+                             const bh_point3f_t *b,
+                             bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_mul(const bh_point3f_t *a,
+                             const bh_point3f_t *b,
+                             bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_scale(const bh_point3f_t *a,
+                               float b,
+                               bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_madd(const bh_point3f_t *a,
+                              const bh_point3f_t *b,
+                              const bh_point3f_t *c,
+                              bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_negate(const bh_point3f_t *in,
+                                bh_point3f_t *result);
+
+
+float bh_point3f_dot(const bh_point3f_t *a,
+                     const bh_point3f_t *b);
+
+
+bh_point3f_t *bh_point3f_cross(const bh_point3f_t *a,
+                               const bh_point3f_t *b,
+                               bh_point3f_t *result);
+
+
+float bh_point3f_length(const bh_point3f_t *in);
+
+
+bh_point3f_t *bh_point3f_normal(const bh_point3f_t *in,
+                                bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_min(const bh_point3f_t *a,
+                             const bh_point3f_t *b,
+                             bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_max(const bh_point3f_t *a,
+                             const bh_point3f_t *b,
+                             bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_lerp(const bh_point3f_t *a,
+                              const bh_point3f_t *b,
+                              float t,
+                              bh_point3f_t *result);
+
+
+bh_point3f_t *bh_point3f_slerp(const bh_point3f_t *a,
+                               const bh_point3f_t *b,
+                               float t,
+                               bh_point3f_t *result);
+
+
+bh_point2f_t *bh_point2f_add(const bh_point2f_t *a,
+                             const bh_point2f_t *b,
+                             bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_sub(const bh_point2f_t *a,
+                             const bh_point2f_t *b,
+                             bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_mul(const bh_point2f_t *a,
+                             const bh_point2f_t *b,
+                             bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_scale(const bh_point2f_t *a,
+                               float b,
+                               bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_madd(const bh_point2f_t *a,
+                              const bh_point2f_t *b,
+                              const bh_point2f_t *c,
+                              bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_negate(const bh_point2f_t *in,
+                                bh_point2f_t *result);
+
+
+float bh_point2f_dot(const bh_point2f_t *a,
+                     const bh_point2f_t *b);
+
+
+float bh_point2f_cross(const bh_point2f_t *a,
+                       const bh_point2f_t *b);
+
+
+float bh_point2f_length(const bh_point2f_t *in);
+
+
+bh_point2f_t *bh_point2f_normal(const bh_point2f_t *in,
+                                bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_min(const bh_point2f_t *a,
+                             const bh_point2f_t *b,
+                             bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_max(const bh_point2f_t *a,
+                             const bh_point2f_t *b,
+                             bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_lerp(const bh_point2f_t *a,
+                              const bh_point2f_t *b,
+                              float t,
+                              bh_point2f_t *result);
+
+
+bh_point2f_t *bh_point2f_slerp(const bh_point2f_t *a,
+                               const bh_point2f_t *b,
+                               float t,
+                               bh_point2f_t *result);
+
+
+bh_point4i_t *bh_point4i_add(const bh_point4i_t *a,
+                             const bh_point4i_t *b,
+                             bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_sub(const bh_point4i_t *a,
+                             const bh_point4i_t *b,
+                             bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_mul(const bh_point4i_t *a,
+                             const bh_point4i_t *b,
+                             bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_scale(const bh_point4i_t *a,
+                               int b,
+                               bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_madd(const bh_point4i_t *a,
+                              const bh_point4i_t *b,
+                              const bh_point4i_t *c,
+                              bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_negate(const bh_point4i_t *in,
+                                bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_min(const bh_point4i_t *a,
+                             const bh_point4i_t *b,
+                             bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_max(const bh_point4i_t *a,
+                             const bh_point4i_t *b,
+                             bh_point4i_t *result);
+
+
+bh_point4i_t *bh_point4i_lerp(const bh_point4i_t *a,
+                              const bh_point4i_t *b,
+                              float t,
+                              bh_point4i_t *result);
+
+
+bh_point3i_t *bh_point3i_add(const bh_point3i_t *a,
+                             const bh_point3i_t *b,
+                             bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_sub(const bh_point3i_t *a,
+                             const bh_point3i_t *b,
+                             bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_mul(const bh_point3i_t *a,
+                             const bh_point3i_t *b,
+                             bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_scale(const bh_point3i_t *a,
+                               int b,
+                               bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_madd(const bh_point3i_t *a,
+                              const bh_point3i_t *b,
+                              const bh_point3i_t *c,
+                              bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_negate(const bh_point3i_t *in,
+                                bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_min(const bh_point3i_t *a,
+                             const bh_point3i_t *b,
+                             bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_max(const bh_point3i_t *a,
+                             const bh_point3i_t *b,
+                             bh_point3i_t *result);
+
+
+bh_point3i_t *bh_point3i_lerp(const bh_point3i_t *a,
+                              const bh_point3i_t *b,
+                              float t,
+                              bh_point3i_t *result);
+
+
+bh_point2i_t *bh_point2i_add(const bh_point2i_t *a,
+                             const bh_point2i_t *b,
+                             bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_sub(const bh_point2i_t *a,
+                             const bh_point2i_t *b,
+                             bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_mul(const bh_point2i_t *a,
+                             const bh_point2i_t *b,
+                             bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_scale(const bh_point2i_t *a,
+                               int b,
+                               bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_madd(const bh_point2i_t *a,
+                              const bh_point2i_t *b,
+                              const bh_point2i_t *c,
+                              bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_negate(const bh_point2i_t *in,
+                                bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_min(const bh_point2i_t *a,
+                             const bh_point2i_t *b,
+                             bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_max(const bh_point2i_t *a,
+                             const bh_point2i_t *b,
+                             bh_point2i_t *result);
+
+
+bh_point2i_t *bh_point2i_lerp(const bh_point2i_t *a,
+                              const bh_point2i_t *b,
+                              float t,
+                              bh_point2i_t *result);
+
+
+#define bh_quat_add     bh_point4f_add
+
+
+#define bh_quat_sub     bh_point4f_sub
+
+
+#define bh_quat_scale   bh_point4f_scale
+
+
+#define bh_quat_negate  bh_point4f_negate
+
+
+#define bh_quat_length  bh_point4f_length
+
+
+#define bh_quat_normal  bh_point4f_normal
+
+
+#define bh_quat_dot     bh_point4f_dot
+
+
+#define bh_quat_lerp    bh_point4f_lerp
+
+
+#define bh_quat_slerp   bh_point4f_slerp
+
+
+bh_quat_t *bh_quat_identity(bh_quat_t *result);
+
+
+bh_quat_t *bh_quat_conjugate(const bh_quat_t *in,
+                             bh_quat_t *result);
+
+
+bh_quat_t *bh_quat_inverse(const bh_quat_t *in,
+                           bh_quat_t *result);
+
+
+bh_quat_t *bh_quat_mul(const bh_quat_t *a,
+                       const bh_quat_t *b,
+                       bh_quat_t *result);
+
+
+bh_quat_t *bh_quat_set_euler(float roll,
+                             float pitch,
+                             float yaw,
+                             bh_quat_t *result);
+
+
+bh_quat_t *bh_quat_set_rotation(const bh_point3f_t *axis,
+                                float angle,
+                                bh_quat_t *result);
+
+
+void bh_quat_euler(const bh_quat_t *in,
+                   float *roll,
+                   float *pitch,
+                   float *yaw);
+
+
+void bh_quat_rotation(const bh_quat_t *in,
+                      bh_point3f_t *axis,
+                      float *angle);
+
+
+bh_matrix4f_t *bh_quat_matrix(const bh_quat_t *in,
+                              bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_identity(bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_add(const bh_matrix4f_t *a,
+                               const bh_matrix4f_t *b,
+                               bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_sub(const bh_matrix4f_t *a,
+                               const bh_matrix4f_t *b,
+                               bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_mul(const bh_matrix4f_t *a,
+                               const bh_matrix4f_t *b,
+                               bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_scale(const bh_matrix4f_t *a,
+                                 float b,
+                                 bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_transpose(const bh_matrix4f_t *in,
+                                     bh_matrix4f_t *result);
+
+
+float bh_matrix4f_trace(const bh_matrix4f_t *in);
+
+
+float bh_matrix4f_determinant(const bh_matrix4f_t *in);
+
+
+bh_matrix4f_t *bh_matrix4f_inverse(const bh_matrix4f_t *in,
+                                   bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_scaling(float x,
+                                   float y,
+                                   float z,
+                                   bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_translation(float x,
+                                       float y,
+                                       float z,
+                                       bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation_x(float angle,
+                                      bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation_y(float angle,
+                                      bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation_z(float angle,
+                                      bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation(const bh_point3f_t *axis,
+                                    float angle,
+                                    bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation_euler(float roll,
+                                          float pitch,
+                                          float yaw,
+                                          bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_rotation_quat(bh_quat_t *rotation,
+                                         bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_ortho(float x_min,
+                                 float x_max,
+                                 float y_min,
+                                 float y_max,
+                                 float z_min,
+                                 float z_max,
+                                 bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_perspective(float fov,
+                                       float aspect,
+                                       float z_min,
+                                       float z_max,
+                                       bh_matrix4f_t *result);
+
+
+bh_matrix4f_t *bh_matrix4f_lookat(const bh_point3f_t *camera,
+                                  const bh_point3f_t *at,
+                                  const bh_point3f_t *up,
+                                  bh_matrix4f_t *result);
+
+
+bh_point3f_t *bh_matrix4f_transform_point3f(const bh_matrix4f_t *a,
+                                            const bh_point3f_t *b,
+                                            bh_point3f_t *result);
+
+
+bh_point4f_t *bh_matrix4f_transform_point4f(const bh_matrix4f_t *a,
+                                            const bh_point4f_t *b,
+                                            bh_point4f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_identity(bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_add(const bh_matrix3f_t *a,
+                               const bh_matrix3f_t *b,
+                               bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_sub(const bh_matrix3f_t *a,
+                               const bh_matrix3f_t *b,
+                               bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_mul(const bh_matrix3f_t *a,
+                               const bh_matrix3f_t *b,
+                               bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_scale(const bh_matrix3f_t *a,
+                                 float b,
+                                 bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_transpose(const bh_matrix3f_t *in,
+                                     bh_matrix3f_t *result);
+
+
+float bh_matrix3f_trace(const bh_matrix3f_t *in);
+
+
+float bh_matrix3f_determinant(const bh_matrix3f_t *in);
+
+
+bh_matrix3f_t *bh_matrix3f_inverse(const bh_matrix3f_t *in,
+                                   bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_scaling(float x,
+                                   float y,
+                                   bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_translation(float x,
+                                       float y,
+                                       bh_matrix3f_t *result);
+
+
+bh_matrix3f_t *bh_matrix3f_rotation(float angle,
+                                    bh_matrix3f_t *result);
+
+
+bh_point2f_t *bh_matrix3f_transform_point2f(const bh_matrix3f_t *a,
+                                            const bh_point2f_t *b,
+                                            bh_point2f_t *result);
+
+
+bh_point3f_t *bh_matrix3f_transform_point3f(const bh_matrix3f_t *a,
+                                            const bh_point3f_t *b,
+                                            bh_point3f_t *result);
+
+
+#endif /* BH_MATH_H */