134 lines
2.5 KiB
C
134 lines
2.5 KiB
C
#include "linear_alg.h"
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#include <math.h>
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vec3_t vec3_sub(vec3_t v, vec3_t u)
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{
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return (vec3_t) { v.x - u.x, v.y - u.y, v.z - u.z };
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}
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float vec3_len(vec3_t v)
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{
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return sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
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}
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vec3_t vec3_norm(vec3_t v)
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{
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const float l = vec3_len(v);
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return (vec3_t) { v.x / l, v.y / l, v.z / l };
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}
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float vec3_dot(vec3_t v, vec3_t u)
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{
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return v.x * u.x + v.y * u.y + v.z * u.z;
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}
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vec3_t vec3_cross(vec3_t v, vec3_t u)
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{
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return (vec3_t) {
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v.y * u.z - v.z * u.y,
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v.z * u.x - v.x * u.z,
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v.x * u.y - v.y * u.x,
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};
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}
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mat4_t mat4_mul(mat4_t m, mat4_t n)
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{
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#define ELEM(i, j) m.x.i *n.j.x + m.y.i *n.j.y + m.z.i *n.j.z + m.w.i *n.j.w
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return (mat4_t) {
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{ ELEM(x, x), ELEM(y, x), ELEM(z, x), ELEM(w, x) },
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{ ELEM(x, y), ELEM(y, y), ELEM(z, y), ELEM(w, y) },
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{ ELEM(x, z), ELEM(y, z), ELEM(z, z), ELEM(w, z) },
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{ ELEM(x, w), ELEM(y, w), ELEM(z, w), ELEM(w, w) },
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};
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#undef ELEM
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}
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mat4_t mat4_lookat(vec3_t camera, vec3_t target, vec3_t up)
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{
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const vec3_t s = vec3_sub(target, camera);
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const vec3_t s_hat = vec3_norm(s);
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const vec3_t u_hat = vec3_norm(vec3_cross(up, s_hat));
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const vec3_t v_hat = vec3_cross(s_hat, u_hat);
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return (mat4_t) {
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{ u_hat.x, v_hat.x, s_hat.x, 0 },
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{ u_hat.y, v_hat.y, s_hat.y, 0 },
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{ u_hat.z, v_hat.z, s_hat.z, 0 },
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{
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-vec3_dot(u_hat, camera),
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-vec3_dot(v_hat, camera),
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-vec3_dot(s_hat, camera),
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1,
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},
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};
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}
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mat4_t mat4_perspective(float aspect, float fov, float near, float far)
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{
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const float r = 2 * near * tanf(fov / 2);
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const float t = r * aspect;
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return (mat4_t) {
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{ near / t, 0, 0, 0 },
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{ 0, -near / r, 0, 0 },
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{ 0, 0, far / (far - near), 1 },
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{ 0, 0, -far * near / (far - near), 0 },
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};
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}
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mat4_t mat4_translate_vec3(vec3_t v)
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{
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return (mat4_t) {
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{ 1, 0, 0, 0 },
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{ 0, 1, 0, 0 },
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{ 0, 0, 1, 0 },
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{ v.x, v.y, v.z, 1 },
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};
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}
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mat4_t mat4_scale_vec3(vec3_t v)
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{
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return (mat4_t) {
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{ v.x, 0, 0, 0 },
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{ 0, v.y, 0, 0 },
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{ 0, 0, v.z, 0 },
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{ 0, 0, 0, 1 },
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};
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}
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mat4_t mat4_rotate_quaternion(vec4_t q)
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{
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const float xx = q.x * q.x;
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const float xy = q.x * q.y;
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const float xz = q.x * q.z;
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const float xw = q.x * q.w;
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const float yy = q.y * q.y;
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const float yz = q.y * q.z;
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const float yw = q.y * q.w;
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const float zz = q.z * q.z;
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const float zw = q.z * q.w;
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return (mat4_t) {
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{
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1 - 2 * (yy + zz),
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2 * (xy + zw),
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2 * (xz - yw),
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0,
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},
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{
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2 * (xy - zw),
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1 - 2 * (xx + zz),
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2 * (yz + xw),
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0,
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},
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{
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2 * (xz + yw),
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2 * (yz - xw),
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1 - 2 * (xx + yy),
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0,
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},
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{ 0, 0, 0, 1 },
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};
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}
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