begin 3D rendering, basic camera controlsHEADmaster

1 files changed, 175 insertions, 0 deletions

diff --git a/src/math33.c b/src/math33.c
new file mode 100644
index 0000000..24f8dd9
--- /dev/null
+++ b/src/math33.c
@@ -0,0 +1,175 @@
+#include "math33.h"
+
+
+void M4I( Mat4 m )
+{
+  m[0] = 1.0; m[1] =   0; m[2] =    0; m[3] =    0;
+  m[4] =   0; m[5] = 1.0; m[6] =    0; m[7] =    0;
+  m[8] =   0; m[9] =   0; m[10] = 1.0; m[11] =   0;
+  m[12] =  0; m[13] =  0; m[14] =   0; m[15] = 1.0;
+}
+
+void V4xMt( Vec4 dst, Vec4 v, Mat4 m )
+{
+  dst[0] = (v[0] * m[0]) + (v[1] * m[4]) + (v[2] * m[8]) + (v[3] * m[12]);
+  dst[1] = (v[0] * m[1]) + (v[1] * m[5]) + (v[2] * m[9]) + (v[3] * m[13]);
+  dst[2] = (v[0] * m[2]) + (v[1] * m[6]) + (v[2] * m[10]) + (v[3] * m[14]);
+  dst[3] = (v[0] * m[3]) + (v[1] * m[7]) + (v[2] * m[11]) + (v[3] * m[15]);
+}
+
+void MxM4( Mat4 a, Mat4 b )
+{
+  Mat4 t = {
+    a[0], a[1], a[2], a[3],
+    a[4], a[5], a[6], a[7],
+    a[8], a[9], a[10], a[11],
+    a[12], a[13], a[14], a[15]
+  };
+
+  a[ 0] = (t[ 0] * b[ 0]) + (t[ 1] * b[ 4]) + (t[ 2] * b[ 8]) + (t[ 3] * b[12]);
+  a[ 1] = (t[ 0] * b[ 1]) + (t[ 1] * b[ 5]) + (t[ 2] * b[ 9]) + (t[ 3] * b[13]);
+  a[ 2] = (t[ 0] * b[ 2]) + (t[ 1] * b[ 6]) + (t[ 2] * b[10]) + (t[ 3] * b[14]);
+  a[ 3] = (t[ 0] * b[ 3]) + (t[ 1] * b[ 7]) + (t[ 2] * b[11]) + (t[ 3] * b[15]);
+
+  a[ 4] = (t[ 4] * b[ 0]) + (t[ 5] * b[ 4]) + (t[ 6] * b[ 8]) + (t[ 7] * b[12]);
+  a[ 5] = (t[ 4] * b[ 1]) + (t[ 5] * b[ 5]) + (t[ 6] * b[ 9]) + (t[ 7] * b[13]);
+  a[ 6] = (t[ 4] * b[ 2]) + (t[ 5] * b[ 6]) + (t[ 6] * b[10]) + (t[ 7] * b[14]);
+  a[ 7] = (t[ 4] * b[ 3]) + (t[ 5] * b[ 7]) + (t[ 6] * b[11]) + (t[ 7] * b[15]);
+
+  a[ 8] = (t[ 8] * b[ 0]) + (t[ 9] * b[ 4]) + (t[10] * b[ 8]) + (t[11] * b[12]);
+  a[ 9] = (t[ 8] * b[ 1]) + (t[ 9] * b[ 5]) + (t[10] * b[ 9]) + (t[11] * b[13]);
+  a[10] = (t[ 8] * b[ 2]) + (t[ 9] * b[ 6]) + (t[10] * b[10]) + (t[11] * b[14]);
+  a[11] = (t[ 8] * b[ 3]) + (t[ 9] * b[ 7]) + (t[10] * b[11]) + (t[11] * b[15]);
+
+  a[12] = (t[12] * b[ 0]) + (t[13] * b[ 4]) + (t[14] * b[ 8]) + (t[15] * b[12]);
+  a[13] = (t[12] * b[ 1]) + (t[13] * b[ 5]) + (t[14] * b[ 9]) + (t[15] * b[13]);
+  a[14] = (t[12] * b[ 2]) + (t[13] * b[ 6]) + (t[14] * b[10]) + (t[15] * b[14]);
+  a[15] = (t[12] * b[ 3]) + (t[13] * b[ 7]) + (t[14] * b[11]) + (t[15] * b[15]);
+}
+
+void VxP( Mat4 v, Mat4 p )
+{
+  Mat4 t = {
+    v[0], v[1], v[2], v[3],
+    v[4], v[5], v[6], v[7],
+    v[8], v[9], v[10], v[11],
+    v[12], v[13], v[14], v[15] };
+
+  v[ 0] = t[ 0] * p[ 0];
+  v[ 1] = t[ 1] * p[ 5];
+  v[ 2] = t[ 2] * p[10] + t[ 3] * p[14];
+  v[ 3] = t[ 2];
+
+  v[ 4] = t[ 4] * p[ 0];
+  v[ 5] = t[ 5] * p[ 5];
+  v[ 6] = t[ 6] * p[10] + t[ 7] * p[14];
+  v[ 7] = t[ 6];
+
+  v[ 8] = t[ 8] * p[ 0];
+  v[ 9] = t[ 9] * p[ 5];
+  v[10] = t[10] * p[10] + t[11] * p[14];
+  v[11] = t[10];
+
+  v[12] = t[12] * p[ 0];
+  v[13] = t[13] * p[ 5];
+  v[14] = t[14] * p[10] + t[15] * p[14];
+  v[15] = t[14];
+}
+
+void math33_create_translation_matrix( f64 x, f64 y, f64 z, Mat4 m )
+{
+  m[0] = 1.0; m[1] =   0; m[2] =    0; m[3] =    0;
+  m[4] =   0; m[5] = 1.0; m[6] =    0; m[7] =    0;
+  m[8] =   0; m[9] =   0; m[10] = 1.0; m[11] =   0;
+  m[12] =  x; m[13] =  y; m[14] =   z; m[15] = 1.0;
+}
+
+void math33_create_view_rotation_matrix( f64 x, f64 y, Mat4 m )
+{
+  f64 sx, sy, cx, cy;
+
+  sx = sin(x);  
+  sy = sin(y);  
+  cx = cos(x);  
+  cy = cos(y);  
+
+  Mat4 Rx = {
+    1.0,   0,  0,   0,
+      0,  cx, sx,   0,
+      0, -sx, cx,   0,
+      0,   0,  0, 1.0
+  };
+
+  m[ 0] = cy; m[ 1] =   0; m[ 2] = -sy; m[ 3] =   0;
+  m[ 4] =  0; m[ 5] = 1.0; m[ 6] =   0; m[ 7] =   0;
+  m[ 8] = sy; m[ 9] =   0; m[10] =  cy; m[11] =   0;
+  m[12] =  0; m[13] =   0; m[14] =   0; m[15] = 1.0;
+
+  MxM4(m, Rx);
+}
+
+void math33_create_view_matrix( Vec3 t, Vec3 r, Mat4 m )
+{
+  Mat4 rot;
+
+  math33_create_translation_matrix(-t[0], -t[1], -t[2], m);
+  math33_create_view_rotation_matrix(r[0], r[1], rot);
+  MxM4(m, rot);
+}
+
+void math33_create_rotation_matrix( f64 x, f64 y, f64 z, Mat4 m )
+{
+  f64 sx, sy, sz, cx, cy, cz;
+
+  sx = sin(x);  
+  sy = sin(y);  
+  sz = sin(z);  
+  cx = cos(x);  
+  cy = cos(y);  
+  cz = cos(z);
+
+  m[ 0] = 1.0; m[ 1] =   0; m[ 2] =  0; m[ 3] = 0;
+  m[ 4] =   0; m[ 5] =  cx; m[ 6] = sx; m[ 7] = 0;
+  m[ 8] =   0; m[ 9] = -sx; m[10] = cx; m[11] = 0;
+  m[12] =   0; m[13] =   0; m[14] =  0; m[15] = 1.0;
+
+  Mat4 Ry = {
+     cy,   0, sy,   0,
+      0, 1.0,  0,   0,
+    -sy,   0, cy,   0,
+      0,   0,  0, 1.0
+  };
+
+  Mat4 Rz = {
+    cz, -sz,   0,   0,
+    sz,  cz,   0,   0,
+     0,   0, 1.0,   0,
+     0,   0,   0, 1.0
+  };
+
+  MxM4(m, Ry);
+  MxM4(m, Rz);
+}
+
+void math33_create_scale_matrix( f64 x, f64 y, f64 z, Mat4 m )
+{
+  m[0] =  x; m[1] =  0; m[2] =  0; m[3] =    0;
+  m[4] =  0; m[5] =  y; m[6] =  0; m[7] =    0;
+  m[8] =  0; m[9] =  0; m[10] = z; m[11] =   0;
+  m[12] = 0; m[13] = 0; m[14] = 0; m[15] = 1.0;
+}
+
+#include "strings33.h"
+
+void math33_create_world_matrix( Vec3 t, Vec3 r, Vec3 s, Mat4 m )
+{
+  Mat4 rot;
+
+
+  math33_create_scale_matrix(s[0], s[1], s[2], m);
+  math33_create_rotation_matrix(r[0], r[1], r[2], rot);
+  MxM4(m, rot);
+  math33_create_translation_matrix(t[0], t[1], t[2], rot);
+  MxM4(m, rot);
+}
+