From e8c93463b2ae5114f0c88e768e5625abac9d5a50 Mon Sep 17 00:00:00 2001
From: quou <quou@disroot.org>
Date: Fri, 27 Dec 2024 12:04:51 +1100
Subject: 3D maths

---
 maths.cpp | 296 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 296 insertions(+)
 create mode 100644 maths.cpp

(limited to 'maths.cpp')

diff --git a/maths.cpp b/maths.cpp
new file mode 100644
index 0000000..ed8948f
--- /dev/null
+++ b/maths.cpp
@@ -0,0 +1,296 @@
+#include "maths.hpp"
+
+m4f::m4f() {}
+
+m4f::m4f(float d) {
+	for (int y = 0; y < 4; y++) {
+		for (int x = 0; x < 4; x++) {
+			m[x][y] = 0.0f;
+		}
+	}
+
+	m[0][0] = d;
+	m[1][1] = d;
+	m[2][2] = d;
+	m[3][3] = d;
+}
+
+m4f m4f::identity() {
+	return m4f(1.0f);
+}
+
+m4f m4f::screenspace(float hw, float hh) {
+	m4f r(1.0f);
+
+	r.m[0][0] =  hw;
+	r.m[0][3] =  hw;
+	r.m[1][1] = -hh;
+	r.m[1][3] =  hh;
+
+	return r;
+}
+
+m4f m4f::operator*(const m4f& other) const {
+	m4f r(1.0f);
+
+	r.m[0][0] = m[0][0] * other.m[0][0] + m[1][0] * other.m[0][1] + m[2][0] * other.m[0][2] + m[3][0] * other.m[0][3];
+	r.m[1][0] = m[0][0] * other.m[1][0] + m[1][0] * other.m[1][1] + m[2][0] * other.m[1][2] + m[3][0] * other.m[1][3];
+	r.m[2][0] = m[0][0] * other.m[2][0] + m[1][0] * other.m[2][1] + m[2][0] * other.m[2][2] + m[3][0] * other.m[2][3];
+	r.m[3][0] = m[0][0] * other.m[3][0] + m[1][0] * other.m[3][1] + m[2][0] * other.m[3][2] + m[3][0] * other.m[3][3];
+	r.m[0][1] = m[0][1] * other.m[0][0] + m[1][1] * other.m[0][1] + m[2][1] * other.m[0][2] + m[3][1] * other.m[0][3];
+	r.m[1][1] = m[0][1] * other.m[1][0] + m[1][1] * other.m[1][1] + m[2][1] * other.m[1][2] + m[3][1] * other.m[1][3];
+	r.m[2][1] = m[0][1] * other.m[2][0] + m[1][1] * other.m[2][1] + m[2][1] * other.m[2][2] + m[3][1] * other.m[2][3];
+	r.m[3][1] = m[0][1] * other.m[3][0] + m[1][1] * other.m[3][1] + m[2][1] * other.m[3][2] + m[3][1] * other.m[3][3];
+	r.m[0][2] = m[0][2] * other.m[0][0] + m[1][2] * other.m[0][1] + m[2][2] * other.m[0][2] + m[3][2] * other.m[0][3];
+	r.m[1][2] = m[0][2] * other.m[1][0] + m[1][2] * other.m[1][1] + m[2][2] * other.m[1][2] + m[3][2] * other.m[1][3];
+	r.m[2][2] = m[0][2] * other.m[2][0] + m[1][2] * other.m[2][1] + m[2][2] * other.m[2][2] + m[3][2] * other.m[2][3];
+	r.m[3][2] = m[0][2] * other.m[3][0] + m[1][2] * other.m[3][1] + m[2][2] * other.m[3][2] + m[3][2] * other.m[3][3];
+	r.m[0][3] = m[0][3] * other.m[0][0] + m[1][3] * other.m[0][1] + m[2][3] * other.m[0][2] + m[3][3] * other.m[0][3];
+	r.m[1][3] = m[0][3] * other.m[1][0] + m[1][3] * other.m[1][1] + m[2][3] * other.m[1][2] + m[3][3] * other.m[1][3];
+	r.m[2][3] = m[0][3] * other.m[2][0] + m[1][3] * other.m[2][1] + m[2][3] * other.m[2][2] + m[3][3] * other.m[2][3];
+	r.m[3][3] = m[0][3] * other.m[3][0] + m[1][3] * other.m[3][1] + m[2][3] * other.m[3][2] + m[3][3] * other.m[3][3];
+
+	return r;
+}
+
+v4f m4f::operator*(const v4f& other) const {
+	return v4f(
+		m[0][0] * other.x + m[1][0] * other.y + m[2][0] * other.z + m[3][0] + other.w,
+		m[0][1] * other.x + m[1][1] * other.y + m[2][1] * other.z + m[3][1] + other.w,
+		m[0][2] * other.x + m[1][2] * other.y + m[2][2] * other.z + m[3][2] + other.w,
+		m[0][3] * other.x + m[1][3] * other.y + m[2][3] * other.z + m[3][3] + other.w);
+}
+
+m4f m4f::translate(m4f m, v3f v) {
+	m4f r(1.0f);
+
+	r.m[3][0] += v.x;
+	r.m[3][1] += v.y;
+	r.m[3][2] += v.z;
+
+	return m * r;
+}
+
+m4f m4f::rotate(m4f m, float a, v3f v) {
+	m4f r(1.0f);
+
+	const float c = cosf(a);
+	const float s = sinf(a);
+
+	const float omc = (float)1 - c;
+
+	const float x = v.x;
+	const float y = v.y;
+	const float z = v.z;
+
+	r.m[0][0] = x * x * omc + c;
+	r.m[0][1] = y * x * omc + z * s;
+	r.m[0][2] = x * z * omc - y * s;
+	r.m[1][0] = x * y * omc - z * s;
+	r.m[1][1] = y * y * omc + c;
+	r.m[1][2] = y * z * omc + x * s;
+	r.m[2][0] = x * z * omc + y * s;
+	r.m[2][1] = y * z * omc - x * s;
+	r.m[2][2] = z * z * omc + c;
+
+	return m * r;
+}
+
+m4f m4f::scale(m4f m, v3f v) {
+	m4f r(1.0f);
+
+	r.m[0][0] = v.x;
+	r.m[1][1] = v.y;
+	r.m[2][2] = v.z;
+
+	return m * r;
+}
+
+
+v3f m4f::get_translation() {
+	return v3f(m[3][0], m[3][1], m[3][2]);
+}
+
+m4f m4f::lookat(v3f c, v3f o, v3f u) {
+	m4f r(1.0f);
+
+	const v3f f = v3f::normalised(o - c);
+	u = v3f::normalised(u);
+	const v3f s = v3f::normalised(v3f::cross(f, u));
+	u = v3f::cross(s, f);
+
+	r.m[0][0] = s.x;
+	r.m[1][0] = s.y;
+	r.m[2][0] = s.z;
+	r.m[0][1] = u.x;
+	r.m[1][1] = u.y;
+	r.m[2][1] = u.z;
+	r.m[0][2] = -f.x;
+	r.m[1][2] = -f.y;
+	r.m[2][2] = -f.z;
+	r.m[3][0] = -v3f::dot(s, c);
+	r.m[3][1] = -v3f::dot(u, c);
+	r.m[3][2] = v3f::dot(f, c);
+
+	return r;
+}
+
+m4f m4f::pers(float fov, float asp, float n, float f) {
+	m4f r(0.0f);
+
+	float fov_rad = to_rad(fov);
+	float focal_length = 1.0f / tanf(fov_rad / 2.0f);
+
+	float x =  focal_length / asp;
+	float y = -focal_length;
+	float a = f / (n - f);
+	float b = n * a;
+
+	r.m[0][0] = x;
+	r.m[1][1] = y;
+	r.m[2][2] = a;
+	r.m[3][2] = b;
+	r.m[2][3] = -1.0f;
+
+	return r;
+}
+
+m4f m4f::orth(float l, float r, float b, float t, float n, float f) {
+	m4f res(1.0f);
+
+	float* data = (float*)res.m;
+
+	float lr = 1.0f / (l - r);
+	float bt = 1.0f / (b - t);
+	float nf = 1.0f / (n - f);
+
+	data[0] = -2.0f * lr;
+	data[5] = -2.0f * bt;
+	data[10] = 2.0f * nf;
+	
+	data[12] = (l + r) * lr;
+	data[13] = (t + b) * bt;
+	data[14] = (f + n) * nf;
+
+	return res;
+}
+
+m4f m4f::inverse() {
+	const float* mm = (float*)m;
+
+	float t0 = mm[10] * mm[15];
+	float t1 = mm[14] * mm[11];
+	float t2 = mm[6] * mm[15];
+	float t3 = mm[14] * mm[7];
+	float t4 = mm[6] * mm[11];
+	float t5 = mm[10] * mm[7];
+	float t6 = mm[2] * mm[15];
+	float t7 = mm[14] * mm[3];
+	float t8 = mm[2] * mm[11];
+	float t9 = mm[10] * mm[3];
+	float t10 = mm[2] * mm[7];
+	float t11 = mm[6] * mm[3];
+	float t12 = mm[8] * mm[13];
+	float t13 = mm[12] * mm[9];
+	float t14 = mm[4] * mm[13];
+	float t15 = mm[12] * mm[5];
+	float t16 = mm[4] * mm[9];
+	float t17 = mm[8] * mm[5];
+	float t18 = mm[0] * mm[13];
+	float t19 = mm[12] * mm[1];
+	float t20 = mm[0] * mm[9];
+	float t21 = mm[8] * mm[1];
+	float t22 = mm[0] * mm[5];
+	float t23 = mm[4] * mm[1];
+
+	m4f r(1.0f);
+	float* o = (float*)r.m;
+
+	o[0] = (t0 * mm[5] + t3 * mm[9] + t4 * mm[13]) - (t1 * mm[5] + t2 * mm[9] + t5 * mm[13]);
+	o[1] = (t1 * mm[1] + t6 * mm[9] + t9 * mm[13]) - (t0 * mm[1] + t7 * mm[9] + t8 * mm[13]);
+	o[2] = (t2 * mm[1] + t7 * mm[5] + t10 * mm[13]) - (t3 * mm[1] + t6 * mm[5] + t11 * mm[13]);
+	o[3] = (t5 * mm[1] + t8 * mm[5] + t11 * mm[9]) - (t4 * mm[1] + t9 * mm[5] + t10 * mm[9]);
+
+	float d = 1.0f / (mm[0] * o[0] + mm[4] * o[1] + mm[8] * o[2] + mm[12] * o[3]);
+
+	o[0] = d * o[0];
+	o[1] = d * o[1];
+	o[2] = d * o[2];
+	o[3] = d * o[3];
+	o[4] = d * ((t1 * mm[4] + t2 * mm[8] + t5 * mm[12]) - (t0 * mm[4] + t3 * mm[8] + t4 * mm[12]));
+	o[5] = d * ((t0 * mm[0] + t7 * mm[8] + t8 * mm[12]) - (t1 * mm[0] + t6 * mm[8] + t9 * mm[12]));
+	o[6] = d * ((t3 * mm[0] + t6 * mm[4] + t11 * mm[12]) - (t2 * mm[0] + t7 * mm[4] + t10 * mm[12]));
+	o[7] = d * ((t4 * mm[0] + t9 * mm[4] + t10 * mm[8]) - (t5 * mm[0] + t8 * mm[4] + t11 * mm[8]));
+	o[8] = d * ((t12 * mm[7] + t15 * mm[11] + t16 * mm[15]) - (t13 * mm[7] + t14 * mm[11] + t17 * mm[15]));
+	o[9] = d * ((t13 * mm[3] + t18 * mm[11] + t21 * mm[15]) - (t12 * mm[3] + t19 * mm[11] + t20 * mm[15]));
+	o[10] = d * ((t14 * mm[3] + t19 * mm[7] + t22 * mm[15]) - (t15 * mm[3] + t18 * mm[7] + t23 * mm[15]));
+	o[11] = d * ((t17 * mm[3] + t20 * mm[7] + t23 * mm[11]) - (t16 * mm[3] + t21 * mm[7] + t22 * mm[11]));
+	o[12] = d * ((t14 * mm[10] + t17 * mm[14] + t13 * mm[6]) - (t16 * mm[14] + t12 * mm[6] + t15 * mm[10]));
+	o[13] = d * ((t20 * mm[14] + t12 * mm[2] + t19 * mm[10]) - (t18 * mm[10] + t21 * mm[14] + t13 * mm[2]));
+	o[14] = d * ((t18 * mm[6] + t23 * mm[14] + t15 * mm[2]) - (t22 * mm[14] + t14 * mm[2] + t19 * mm[6]));
+	o[15] = d * ((t22 * mm[10] + t16 * mm[2] + t21 * mm[6]) - (t20 * mm[6] + t23 * mm[10] + t17 * mm[2]));
+
+	return r;
+}
+
+m4f m4f::transposed() {
+	m4f r(1.0f);
+
+	r.m[0][0] = m[0][0];
+	r.m[1][0] = m[0][1];
+	r.m[2][0] = m[0][2];
+	r.m[3][0] = m[0][3];
+	r.m[0][1] = m[1][0];
+	r.m[1][1] = m[1][1];
+	r.m[2][1] = m[1][2];
+	r.m[3][1] = m[1][3];
+	r.m[0][2] = m[2][0];
+	r.m[1][2] = m[2][1];
+	r.m[2][2] = m[2][2];
+	r.m[3][2] = m[2][3];
+	r.m[0][3] = m[3][0];
+	r.m[1][3] = m[3][1];
+	r.m[2][3] = m[3][2];
+	r.m[3][3] = m[3][3];
+
+	return r;
+}
+
+v4f m4f::transform(m4f m, v4f v) {
+	return v4f(
+		m.m[0][0] * v.x + m.m[1][0] * v.y + m.m[2][0] * v.z + m.m[3][0] + v.w,
+		m.m[0][1] * v.x + m.m[1][1] * v.y + m.m[2][1] * v.z + m.m[3][1] + v.w,
+		m.m[0][2] * v.x + m.m[1][2] * v.y + m.m[2][2] * v.z + m.m[3][2] + v.w,
+		m.m[0][3] * v.x + m.m[1][3] * v.y + m.m[2][3] * v.z + m.m[3][3] + v.w);
+}
+
+AABB m4f::transform(m4f m, AABB aabb) {
+	v3f corners[] = {
+		aabb.min,
+		v3f(aabb.min.x, aabb.max.y, aabb.min.z),
+		v3f(aabb.min.x, aabb.max.y, aabb.max.z),
+		v3f(aabb.min.x, aabb.min.y, aabb.max.z),
+		v3f(aabb.max.x, aabb.min.y, aabb.min.z),
+		v3f(aabb.max.x, aabb.max.y, aabb.min.z),
+		aabb.max,
+		v3f(aabb.max.x, aabb.min.y, aabb.max.z)
+	};
+
+	AABB result = {
+		.min = { INFINITY, INFINITY, INFINITY },
+		.max = { -INFINITY, -INFINITY, -INFINITY }
+	};
+
+	for (int i = 0; i < 8; i++) {
+		v4f point = m4f::transform(m, v4f(corners[i].x, corners[i].y, corners[i].z, 0.0f));
+
+		result.min.x = std::min(result.min.x, point.x);
+		result.min.y = std::min(result.min.y, point.y);
+		result.min.z = std::min(result.min.z, point.z);
+		result.max.x = std::max(result.max.x, point.x);
+		result.max.y = std::max(result.max.y, point.y);
+		result.max.z = std::max(result.max.z, point.z);
+	}
+
+	return result;
+}
-- 
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