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-rw-r--r--src/maths/maths.h24
-rw-r--r--src/maths/primitives.h86
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(
generated by cgit v1.2.3-70-g09d2 (git 2.46.0) at 2025-01-10 05:03:21 +0000