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-rw-r--r--src/maths.c175
1 files changed, 88 insertions, 87 deletions
diff --git a/src/maths.c b/src/maths.c
index 3a7ecf1..72b6dd3 100644
--- a/src/maths.c
+++ b/src/maths.c
@@ -1,3 +1,11 @@
+/**
+ * @file maths.c
+ * @author Omniscient
+ * @brief Linear algebra for 2D and 3D including vectors, matrices, and quaternion functions.
+ *
+ * @copyright Copyright (c) 2024
+ */
+
#include <celeritas.h>
vec3 vec3_create(f32 x, f32 y, f32 z) { return (vec3){ x, y, z }; }
@@ -43,117 +51,110 @@ quat quat_from_axis_angle(vec3 axis, f32 angle, bool normalize) {
return q;
}
-mat4 mat4_ident() { return (mat4){ .data = { 1.0, 0., 0., 0., 0., 1., 0., 0., 0., 0., 1., 0., 0., 0., 0., 1.0 } }; }
+mat4 mat4_ident() {
+ return (mat4){
+ .x_axis = { 1, 0, 0, 0 },
+ .y_axis = { 0, 1, 0, 0 },
+ .z_axis = { 0, 0, 1, 0 },
+ .w_axis = { 0, 0, 0, 1 },
+ };
+}
mat4 mat4_translation(vec3 position) {
mat4 out_matrix = mat4_ident();
- out_matrix.data[12] = position.x;
- out_matrix.data[13] = position.y;
- out_matrix.data[14] = position.z;
+ out_matrix.w_axis.x = position.x;
+ out_matrix.w_axis.y = position.y;
+ out_matrix.w_axis.z = position.z;
return out_matrix;
}
mat4 mat4_scale(vec3 scale) {
mat4 out_matrix = mat4_ident();
- out_matrix.data[0] = scale.x;
- out_matrix.data[5] = scale.y;
- out_matrix.data[10] = scale.z;
+ out_matrix.x_axis.x = scale.x;
+ out_matrix.y_axis.y = scale.y;
+ out_matrix.z_axis.z = scale.z;
return out_matrix;
}
// TODO: double check this
mat4 mat4_rotation(quat rotation) {
- mat4 out_matrix = mat4_ident();
- quat n = quat_normalise(rotation);
+ TODO("impl mat4_rotation");
+ // mat4 out_matrix = mat4_ident();
+ // quat n = quat_normalise(rotation);
- out_matrix.data[0] = 1.0f - 2.0f * n.y * n.y - 2.0f * n.z * n.z;
- out_matrix.data[1] = 2.0f * n.x * n.y - 2.0f * n.z * n.w;
- out_matrix.data[2] = 2.0f * n.x * n.z + 2.0f * n.y * n.w;
+ // out_matrix.data[0] = 1.0f - 2.0f * n.y * n.y - 2.0f * n.z * n.z;
+ // out_matrix.data[1] = 2.0f * n.x * n.y - 2.0f * n.z * n.w;
+ // out_matrix.data[2] = 2.0f * n.x * n.z + 2.0f * n.y * n.w;
- out_matrix.data[4] = 2.0f * n.x * n.y + 2.0f * n.z * n.w;
- out_matrix.data[5] = 1.0f - 2.0f * n.x * n.x - 2.0f * n.z * n.z;
- out_matrix.data[6] = 2.0f * n.y * n.z - 2.0f * n.x * n.w;
+ // out_matrix.data[4] = 2.0f * n.x * n.y + 2.0f * n.z * n.w;
+ // out_matrix.data[5] = 1.0f - 2.0f * n.x * n.x - 2.0f * n.z * n.z;
+ // out_matrix.data[6] = 2.0f * n.y * n.z - 2.0f * n.x * n.w;
- out_matrix.data[8] = 2.0f * n.x * n.z - 2.0f * n.y * n.w;
- out_matrix.data[9] = 2.0f * n.y * n.z + 2.0f * n.x * n.w;
- out_matrix.data[10] = 1.0f - 2.0f * n.x * n.x - 2.0f * n.y * n.y;
+ // out_matrix.data[8] = 2.0f * n.x * n.z - 2.0f * n.y * n.w;
+ // out_matrix.data[9] = 2.0f * n.y * n.z + 2.0f * n.x * n.w;
+ // out_matrix.data[10] = 1.0f - 2.0f * n.x * n.x - 2.0f * n.y * n.y;
- return out_matrix;
+ // return out_matrix;
}
-// mat4 mat4_mult(mat4 lhs, mat4 rhs) {
-// mat4 out_matrix = mat4_ident();
-
-// const f32* m1_ptr = lhs.data;
-// const f32* m2_ptr = rhs.data;
-// f32* dst_ptr = out_matrix.data;
-
-// for (i32 i = 0; i < 4; ++i) {
-// for (i32 j = 0; j < 4; ++j) {
-// *dst_ptr = m1_ptr[0] * m2_ptr[0 + j] + m1_ptr[1] * m2_ptr[4 + j] + m1_ptr[2] * m2_ptr[8 + j] +
-// m1_ptr[3] * m2_ptr[12 + j];
-// dst_ptr++;
-// }
-// m1_ptr += 4;
-// }
-
-// return out_matrix;
-// }
mat4 mat4_mult(mat4 lhs, mat4 rhs) {
- mat4 out_matrix = mat4_ident();
-
- for (i32 row = 0; row < 4; row++) {
- for (i32 col = 0; col < 4; col++) {
- f32 sum = 0;
- for (i32 i = 0; i < 4; i++) {
- // column-major: first matrix columns × second matrix rows
- sum += lhs.data[row + i * 4] * rhs.data[i + col * 4];
- }
- out_matrix.data[row + col * 4] = sum;
- }
- }
-
- return out_matrix;
+ TODO("impl mat4_mult");
+ // mat4 out_matrix = mat4_ident();
+
+ // for (i32 row = 0; row < 4; row++) {
+ // for (i32 col = 0; col < 4; col++) {
+ // f32 sum = 0;
+ // for (i32 i = 0; i < 4; i++) {
+ // // column-major: first matrix columns × second matrix rows
+ // sum += lhs.data[row + i * 4] * rhs.data[i + col * 4];
+ // }
+ // out_matrix.data[row + col * 4] = sum;
+ // }
+ // }
+
+ // return out_matrix;
}
mat4 mat4_perspective(f32 fov_radians, f32 aspect_ratio, f32 near_z, f32 far_z) {
- f32 half_tan_fov = tanf(fov_radians * 0.5f);
- mat4 out_matrix = { .data = { 0 } };
- out_matrix.data[0] = 1.0f / (aspect_ratio * half_tan_fov);
- out_matrix.data[5] = 1.0f / half_tan_fov;
- out_matrix.data[10] = -((far_z + near_z) / (far_z - near_z));
- out_matrix.data[11] = -1.0f;
- out_matrix.data[14] = -((2.0f * far_z * near_z) / (far_z - near_z));
- return out_matrix;
+ TODO("impl mat4_perspective");
+ // f32 half_tan_fov = tanf(fov_radians * 0.5f);
+ // mat4 out_matrix = { .data = { 0 } };
+ // out_matrix.data[0] = 1.0f / (aspect_ratio * half_tan_fov);
+ // out_matrix.data[5] = 1.0f / half_tan_fov;
+ // out_matrix.data[10] = -((far_z + near_z) / (far_z - near_z));
+ // out_matrix.data[11] = -1.0f;
+ // out_matrix.data[14] = -((2.0f * far_z * near_z) / (far_z - near_z));
+ // return out_matrix;
}
mat4 mat4_look_at(vec3 position, vec3 target, vec3 up) {
- mat4 out_matrix;
- vec3 z_axis;
- z_axis.x = target.x - position.x;
- z_axis.y = target.y - position.y;
- z_axis.z = target.z - position.z;
-
- z_axis = vec3_normalise(z_axis);
- vec3 x_axis = vec3_normalise(vec3_cross(z_axis, up));
- vec3 y_axis = vec3_cross(x_axis, z_axis);
-
- out_matrix.data[0] = x_axis.x;
- out_matrix.data[1] = y_axis.x;
- out_matrix.data[2] = -z_axis.x;
- out_matrix.data[3] = 0;
- out_matrix.data[4] = x_axis.y;
- out_matrix.data[5] = y_axis.y;
- out_matrix.data[6] = -z_axis.y;
- out_matrix.data[7] = 0;
- out_matrix.data[8] = x_axis.z;
- out_matrix.data[9] = y_axis.z;
- out_matrix.data[10] = -z_axis.z;
- out_matrix.data[11] = 0;
- out_matrix.data[12] = -vec3_dot(x_axis, position);
- out_matrix.data[13] = -vec3_dot(y_axis, position);
- out_matrix.data[14] = vec3_dot(z_axis, position);
- out_matrix.data[15] = 1.0f;
-
- return out_matrix;
+ TODO("impl mat4_lookat");
+ // mat4 out_matrix;
+ // vec3 z_axis;
+ // z_axis.x = target.x - position.x;
+ // z_axis.y = target.y - position.y;
+ // z_axis.z = target.z - position.z;
+
+ // z_axis = vec3_normalise(z_axis);
+ // vec3 x_axis = vec3_normalise(vec3_cross(z_axis, up));
+ // vec3 y_axis = vec3_cross(x_axis, z_axis);
+
+ // out_matrix.data[0] = x_axis.x;
+ // out_matrix.data[1] = y_axis.x;
+ // out_matrix.data[2] = -z_axis.x;
+ // out_matrix.data[3] = 0;
+ // out_matrix.data[4] = x_axis.y;
+ // out_matrix.data[5] = y_axis.y;
+ // out_matrix.data[6] = -z_axis.y;
+ // out_matrix.data[7] = 0;
+ // out_matrix.data[8] = x_axis.z;
+ // out_matrix.data[9] = y_axis.z;
+ // out_matrix.data[10] = -z_axis.z;
+ // out_matrix.data[11] = 0;
+ // out_matrix.data[12] = -vec3_dot(x_axis, position);
+ // out_matrix.data[13] = -vec3_dot(y_axis, position);
+ // out_matrix.data[14] = vec3_dot(z_axis, position);
+ // out_matrix.data[15] = 1.0f;
+
+ // return out_matrix;
}
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