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Add line, plane, ray and segments, split math unit test

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Added some basic geometric primitives such as planes, rays, segments
and lines (plus some extra functions like xProject, xBarycentric, Lerpf),
as well as some intersection tests between them.

Additionally, I split massive math test into smaller ones and tweaked
unit test library (testing no longer stops after first failure).
This commit is contained in:
Mikhail Romanko
2025-02-24 09:37:22 +03:00
parent be16daaecf
commit 67e7582d63
24 changed files with 3755 additions and 915 deletions
Download Patch File Download Diff File Expand all files Collapse all files

505
include/BH/Math.h
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@@ -106,6 +106,19 @@ void BH_Vec4fNormal(const float *in,
float *out);
/**
* Computes normal vector from the \a in stores result into \a out and returns
* source length of the vector.
*
* \param in Input 4D vector
* \param out Output 4D vector
*
* \return Returns length prior to normalization
*/
float BH_Vec4fNormalEx(const float *in,
float *out);
/**
* Computes minimum vector from the \a a and \a b vectors and stores result
* into \a out.
@@ -147,6 +160,39 @@ void BH_Vec4fLerp(const float *a,
float *out);
/**
* Projects \a a vector onto \a b vector and stores result into \a out.
*
* \param a A 4D vector
* \param b B 4D vector
* \param out Output 4D vector
*/
void BH_Vec4fProject(const float *a,
const float *b,
float *out);
/**
* Computes point from barycentric coordiantes \a v, \a w and points \a a,
* \a b and \a c vectors.
*
* Output vector is calculated as A + v*(B-A) + w*(C-A).
*
* \param a A 4D vector
* \param b B 4D vector
* \param c C 4D vector
* \param v V barycentric coordinate
* \param w W barycentric coordinate
* \param out Output 4D vector
*/
void BH_Vec4fBarycentric(const float *a,
const float *b,
const float *c,
float v,
float w,
float *out);
/**
* Adds \a a and \a b floating point vectors and stores result into \a out.
*
@@ -262,6 +308,19 @@ void BH_Vec3fNormal(const float *in,
float *out);
/**
* Computes normal vector from the \a in stores result into \a out and returns
* source length of the vector.
*
* \param in Input 3D vector
* \param out Output 3D vector
*
* \return Returns length prior to normalization
*/
float BH_Vec3fNormalEx(const float *in,
float *out);
/**
* Computes minimum vector from the \a a and \a b vectors and stores result into
* \a out.
@@ -303,6 +362,39 @@ void BH_Vec3fLerp(const float *a,
float *out);
/**
* Projects \a a vector onto \a b vector and stores result into \a out.
*
* \param a A 3D vector
* \param b B 3D vector
* \param out Output 3D vector
*/
void BH_Vec3fProject(const float *a,
const float *b,
float *out);
/**
* Computes point from barycentric coordiantes \a v, \a w and points \a a,
* \a b and \a c vectors.
*
* Output vector is calculated as A + v*(B-A) + w*(C-A).
*
* \param a A 3D vector
* \param b B 3D vector
* \param c C 3D vector
* \param v V barycentric coordinate
* \param w W barycentric coordinate
* \param out Output 3D vector
*/
void BH_Vec3fBarycentric(const float *a,
const float *b,
const float *c,
float v,
float w,
float *out);
/**
* Adds \a a and \a b floating point vectors and stores result into \a out.
*
@@ -416,6 +508,19 @@ void BH_Vec2fNormal(const float *in,
float *out);
/**
* Computes normal vector from the \a in stores result into \a out and returns
* source length of the vector.
*
* \param in Input 2D vector
* \param out Output 2D vector
*
* \return Returns length prior to normalization
*/
float BH_Vec2fNormalEx(const float *in,
float *out);
/**
* Computes minimum vector from the \a a and \a b vectors and stores result into
* \a out.
@@ -457,6 +562,51 @@ void BH_Vec2fLerp(const float *a,
float *out);
/**
* Projects \a a vector onto \a b vector and stores result into \a out.
*
* \param a A 2D vector
* \param b B 2D vector
* \param out Output 2D vector
*/
void BH_Vec2fProject(const float *a,
const float *b,
float *out);
/**
* Computes point from barycentric coordiantes \a v, \a w and points \a a,
* \a b and \a c vectors.
*
* Output vector is calculated as A + v*(B-A) + w*(C-A).
*
* \param a A 2D vector
* \param b B 2D vector
* \param c C 2D vector
* \param v V barycentric coordinate
* \param w W barycentric coordinate
* \param out Output 2D vector
*/
void BH_Vec2fBarycentric(const float *a,
const float *b,
const float *c,
float u,
float v,
float *out);
/**
* Interpolates between \a a and \a b values by \a t amount and returns the
* result.
*
* \param a A 2D vector
* \param b B 2D vector
* \param t Amount
* \param out Output 2D vector
*/
float BH_Lerpf(float a, float b, float t);
/**
* Adds \a a and \a b integer vectors and stores result into \a out.
*
@@ -1205,12 +1355,12 @@ void BH_Mat4fFromFrustum(float fov,
/**
* Computes camera view matrix and stores result into \a out.
*
* \param pos Position vector
* \param at Target vector
* \param up Up vector
* \param out Output 4x4 matrix
* \param position Position vector
* \param at Target vector
* \param up Up vector
* \param out Output 4x4 matrix
*/
void BH_Mat4fFromLookAt(const float *pos,
void BH_Mat4fFromLookAt(const float *position,
const float *at,
const float *up,
float *out);
@@ -1397,4 +1547,349 @@ void BH_Mat3fApplyVec2f(float *a,
float *out);
/**
* Computes plane from points \a a, \a b, \a c and stores result into \a out.
*
* X, Y, Z components of the \a out vector are plane normal, W component is a
* distance from the origin (0,0,0) to the plane.
*
* It is assumed, that points provided in clockwise order.
*
* If points form degenerate triangle, this function will return error.
*
* \param a A 3D vector
* \param b B 3D vector
* \param c C 3D vector
* \param out Output 4D vector
*
* \return On success, returns zero.
* \return On failure, returns error-code.
*/
int BH_PlaneFromPoints(const float *a,
const float *b,
const float *c,
float *out);
/**
* Computes distance from \a plane to the \a point and returns result.
*
* \param plane Plane 4D vector
* \param point Point 3D vector
*
* \return Returns distance from plane to point.
*/
float BH_PlaneDistance(const float *plane,
const float *point);
/**
* Computes closest point on the \a plane to the \a point and stores result
* into \a out.
*
* \param plane Plane 4D vector
* \param point Point 3D vector
* \param out Output 3D vector
*/
void BH_PlaneClosestPoint(const float *plane,
const float *point,
float *out);
/**
* Computes time of intersection \a t between ray (given \a start and
* \a direction) and \a plane and stores intersection point into \a out.
*
* The returned intersection time \a t is for the ray.
*
* \param start Start 3D vector
* \param direction Direction 3D vector
* \param plane Plane 4D vector
* \param t Time of intersection
* \param out Output 3D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray3fIntersectPlane(const float *start,
const float *direction,
const float *plane,
float *t,
float *out);
/**
* Computes time of intersection \a t between ray (given \a start and
* \a direction) and triangle formed by \a a, \a b, \a c points and intersection
* point into \a out.
*
* The returned intersection time \a t is for the ray.
*
* \param start Start 3D vector
* \param direction Direction 3D vector
* \param a A 3D vector
* \param b B 3D vector
* \param c C 3D vector
* \param t Time of intersection
* \param out Output 3D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray3fIntersectTriangle(const float *start,
const float *direction,
const float *a,
const float *b,
const float *c,
float *t,
float *out);
/**
* Computes time of intesection \a t between line segment (given \a a and \a b
* points) and \a plane and stores intersection point into \a out.
*
* The returned intersection time \a t is for the segment.
*
* \param a A 3D vector
* \param b B 3D vector
* \param plane Plane 4D vector
* \param t Time of intersection
* \param out Output 3D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Segment3fIntersectPlane(const float *start,
const float *end,
const float *plane,
float *t,
float *out);
/**
* Computes time of intersection \a t between segment (given \a start and
* \a end) and triangle formed by \a a, \a b, \a c points and intersection
* point into \a out.
*
* The returned intersection time \a t is for the segment.
*
* \param start Start 3D vector
* \param direction Direction 3D vector
* \param a A 3D vector
* \param b B 3D vector
* \param c C 3D vector
* \param t Time of intersection
* \param out Output 3D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Segment3fIntersectTriangle(const float *start,
const float *end,
const float *a,
const float *b,
const float *c,
float *t,
float *out);
/**
* Computes barycentric coordinates from \a point and triangle made of \a a,
* \a b, \a c points and stores result into \a out.
*
* \param a A 3D vector
* \param b B 3D vector
* \param c C 3D vector
* \param point Point 3D vector
* \param out Output 3D vector
*/
void BH_Triangle3fBarycentric(const float *a,
const float *b,
const float *c,
const float *point,
float *out);
/**
* Computes line from \a a and \a b points and stores result into \a out.
*
* \param a A 2D vector
* \param b B 2D vector
* \param out Output 3D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_LineFromPoints(const float *a,
const float *b,
float *out);
/**
* Computes distance from \a line to the \a point and returns result.
*
* \param line Line 3D vector
* \param point Point 2D vector
*
* \return Returns distance from plane to point.
*/
float BH_LineDistance(const float *line,
const float *point);
/**
* Computes closest point on the \a line to the \a point and stores result into
* \a out.
*
* \param line Line 3D vector
* \param point Point 2D vector
* \param out Output 2D vector
*/
void BH_LineClosestPoint(const float *line,
const float *point,
float *out);
/**
* Computes time of intersection \a t between ray (given \a start and
* \a direction) and \a line and stores intersection point into \a out.
*
* The returned intersection time \a t is for the ray.
*
* \param start Start 2D vector
* \param direction Direction 2D vector
* \param line Line 3D vector
* \param t Time of intersection
* \param out Output 2D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray2fIntersectLine(const float *start,
const float *direction,
const float *line,
float *t,
float *out);
/**
* Computes time of intersection \a time1 and \a time2 between one line (given
* \a startA and \a directionA) and other line (given \a startB and
* \a directionB).
*
* \param startA A Start 2D vector
* \param directionA A Direction 2D vector
* \param startB B Start 2D vector
* \param directionB B Direction 2D vector
* \param time1 Time of intersection of first line
* \param time2 Time of intersection of second line
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray2fIntersectTime(const float *startA,
const float *directionA,
const float *startB,
const float *directionB,
float *time1,
float *time2);
/**
* Computes time of intersection \a t between one ray (given \a startA and
* \a directionA) and other ray (given \a startB and \a directionB) and stores
* intersection point into \a out.
*
* The returned intersection time \a t is for the first ray.
*
* \param startA A Start 2D vector
* \param directionA A Direction 2D vector
* \param startB B Start 2D vector
* \param directionB B Direction 2D vector
* \param t Time of intersection
* \param out Output 2D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray2fIntersectRay(const float *startA,
const float *directionA,
const float *startB,
const float *directionB,
float *t,
float *out);
/**
* Computes time of intersection \a t between one ray (given \a startA and
* \a directionA) and segment (given \a startB and \a endB) and stores result
* into \a out.
*
* The returned intersection time \a t is for the ray.
*
* \param startA A Start 2D vector
* \param directionA A Direction 2D vector
* \param startB B Start 2D vector
* \param endB B End 2D vector
* \param t Time of intersection
* \param out Output 2D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Ray2fIntersectSegment(const float *startA,
const float *directionA,
const float *startB,
const float *endB,
float *t,
float *out);
/**
* Computes time of intersection \a t between segment (given \a start and
* \a end) and \a line and stores intersection point into \a out.
*
* The returned intersection time \a t is for the segment.
*
* \param start Start 2D vector
* \param end End 2D vector
* \param line Line 3D vector
* \param t Time of intersection
* \param out Output 2D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Segment2fIntersectLine(const float *start,
const float *end,
const float *line,
float *t,
float *out);
/**
* Computes time of intersection \a t between one segment (given \a startA and
* \a endA) and other sergment (given \a startB and \a endB) and stores
* intersection point into \a out.
*
* The returned intersection time \a t is for the first segment.
*
* \param startA A Start 2D vector
* \param endA A End 2D vector
* \param startB B Start 2D vector
* \param endB B End 2D vector
* \param t Time of intersection
* \param out Output 2D vector
*
* \return On success, returns zero.
* \return On failure, returns error code.
*/
int BH_Segment2fIntersectSegment(const float *startA,
const float *endA,
const float *startB,
const float *endB,
float *t,
float *out);
#endif /* BH_MATH_H */