Merge branch 'brainstorming-systems' into ral

2 files changed, 70 insertions, 40 deletions

diff --git a/src/maths/maths.h b/src/maths/maths.h
index c9bcaad..638d9f6 100644
--- a/src/maths/maths.h
+++ b/src/maths/maths.h
@@ -64,13 +64,25 @@ static inline vec4 vec4_create(f32 x, f32 y, f32 z, f32 w) { return (vec4){ x, y
 static inline f32 quat_dot(quat a, quat b) { return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; }
 
 static inline quat quat_normalise(quat a) {
-  f32 length = sqrtf(quat_dot(a, a)  // same as len squared
-  );
+  f32 length = sqrtf(quat_dot(a, a));  // same as len squared
+
   return (quat){ a.x / length, a.y / length, a.z / length, a.w / length };
 }
 
 static inline quat quat_ident() { return (quat){ .x = 0.0, .y = 0.0, .z = 0.0, .w = 1.0 }; }
 
+static quat quat_from_axis_angle(vec3 axis, f32 angle, bool normalize) {
+  const f32 half_angle = 0.5f * angle;
+  f32 s = sinf(half_angle);
+  f32 c = cosf(half_angle);
+
+  quat q = (quat){ s * axis.x, s * axis.y, s * axis.z, c };
+  if (normalize) {
+    return quat_normalise(q);
+  }
+  return q;
+}
+
 // --- Matrix Implementations
 
 static inline mat4 mat4_ident() {
@@ -246,12 +258,14 @@ static inline mat4 mat4_look_at(vec3 position, vec3 target, vec3 up) {
                 .is_dirty = false })
 
 static transform transform_create(vec3 pos, quat rot, f32 scale) {
-  return (transform){ .position = pos, .rotation = rot, .scale = scale, .is_dirty = false };
+  return (transform){ .position = pos, .rotation = rot, .scale = scale, .is_dirty = true };
 }
 
 static inline mat4 transform_to_mat(transform *tf) {
-  // TODO: rotation
-  return mat4_mult(mat4_translation(tf->position), mat4_scale(tf->scale));
+  mat4 trans = mat4_translation(tf->position);
+  mat4 rot = mat4_rotation(tf->rotation);
+  mat4 scale = mat4_scale(tf->scale);
+  return mat4_mult(trans, mat4_mult(rot, scale));
 }
 
 // --- Sizing asserts
diff --git a/src/maths/primitives.h b/src/maths/primitives.h
index 4fb6b4d..ed52c8c 100644
--- a/src/maths/primitives.h
+++ b/src/maths/primitives.h
@@ -34,38 +34,48 @@ static mesh prim_cube_mesh_create() {
       (vertex){ .position = BACK_TOP_RIGHT, .normal = VEC3_NEG_Z, .uv = (vec2){ 1, 0 } });
   vertex_darray_push(
       cube.vertices,
-      (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_NEG_Z, .uv = (vec2){ 1,1 } });
+      (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_NEG_Z, .uv = (vec2){ 1, 1 } });
   vertex_darray_push(
       cube.vertices,
       (vertex){ .position = BACK_BOT_LEFT, .normal = VEC3_NEG_Z, .uv = (vec2){ 0, 1 } });
 
   // front faces
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_BOT_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 1} });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 0} });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_BOT_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 1 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_BOT_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 1 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_BOT_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_BOT_LEFT, .normal = VEC3_Z, .uv = (vec2){ 0, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_BOT_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Z, .uv = (vec2){ 1, 0 } });
 
   // top faces
   vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
+                     (vertex){ .position = BACK_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 1, 1 } });
   vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 0 } });
+                     (vertex){ .position = BACK_TOP_LEFT, .normal = VEC3_Y, .uv = (vec2){ 0, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 1, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = BACK_TOP_RIGHT, .normal = VEC3_Y, .uv = (vec2){ 1, 0 } });
 
   // bottom faces
   vertex_darray_push(
@@ -88,18 +98,24 @@ static mesh prim_cube_mesh_create() {
       (vertex){ .position = FRONT_BOT_RIGHT, .normal = VEC3_NEG_Y, .uv = (vec2){ 0 } });
 
   // right faces
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
-  vertex_darray_push(cube.vertices,
-                     (vertex){ .position = FRONT_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 1, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = BACK_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 1, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = BACK_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 1, 1 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_TOP_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0, 0 } });
+  vertex_darray_push(
+      cube.vertices,
+      (vertex){ .position = FRONT_BOT_RIGHT, .normal = VEC3_X, .uv = (vec2){ 0, 1 } });
 
   // left faces
   vertex_darray_push(