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-rw-r--r--libs/rs/scriptc/rs_core.rsh250
1 files changed, 250 insertions, 0 deletions
diff --git a/libs/rs/scriptc/rs_core.rsh b/libs/rs/scriptc/rs_core.rsh
index e32d435..104ad28 100644
--- a/libs/rs/scriptc/rs_core.rsh
+++ b/libs/rs/scriptc/rs_core.rsh
@@ -161,6 +161,256 @@ extern void __attribute__((overloadable)) rsMatrixTranspose(rs_matrix3x3 *m);
extern void __attribute__((overloadable)) rsMatrixTranspose(rs_matrix2x2 *m);
/////////////////////////////////////////////////////
+// quaternion ops
+/////////////////////////////////////////////////////
+
+_RS_STATIC void __attribute__((overloadable))
+rsQuaternionSet(rs_quaternion *q, float w, float x, float y, float z) {
+ q->w = w;
+ q->x = x;
+ q->y = y;
+ q->z = z;
+}
+
+_RS_STATIC void __attribute__((overloadable))
+rsQuaternionSet(rs_quaternion *q, const rs_quaternion *rhs) {
+ q->w = rhs->w;
+ q->x = rhs->x;
+ q->y = rhs->y;
+ q->z = rhs->z;
+}
+
+_RS_STATIC void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, float s) {
+ q->w *= s;
+ q->x *= s;
+ q->y *= s;
+ q->z *= s;
+}
+
+_RS_STATIC void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, const rs_quaternion *rhs) {
+ q->w = -q->x*rhs->x - q->y*rhs->y - q->z*rhs->z + q->w*rhs->w;
+ q->x = q->x*rhs->w + q->y*rhs->z - q->z*rhs->y + q->w*rhs->x;
+ q->y = -q->x*rhs->z + q->y*rhs->w + q->z*rhs->x + q->w*rhs->y;
+ q->z = q->x*rhs->y - q->y*rhs->x + q->z*rhs->w + q->w*rhs->z;
+}
+
+_RS_STATIC void
+rsQuaternionAdd(rs_quaternion *q, const rs_quaternion *rhs) {
+ q->w *= rhs->w;
+ q->x *= rhs->x;
+ q->y *= rhs->y;
+ q->z *= rhs->z;
+}
+
+_RS_STATIC void
+rsQuaternionLoadRotateUnit(rs_quaternion *q, float rot, float x, float y, float z) {
+ rot *= (float)(M_PI / 180.0f) * 0.5f;
+ float c = cos(rot);
+ float s = sin(rot);
+
+ q->w = c;
+ q->x = x * s;
+ q->y = y * s;
+ q->z = z * s;
+}
+
+_RS_STATIC void
+rsQuaternionLoadRotate(rs_quaternion *q, float rot, float x, float y, float z) {
+ const float len = x*x + y*y + z*z;
+ if (len != 1) {
+ const float recipLen = 1.f / sqrt(len);
+ x *= recipLen;
+ y *= recipLen;
+ z *= recipLen;
+ }
+ rsQuaternionLoadRotateUnit(q, rot, x, y, z);
+}
+
+_RS_STATIC void
+rsQuaternionConjugate(rs_quaternion *q) {
+ q->x = -q->x;
+ q->y = -q->y;
+ q->z = -q->z;
+}
+
+_RS_STATIC float
+rsQuaternionDot(const rs_quaternion *q0, const rs_quaternion *q1) {
+ return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
+}
+
+_RS_STATIC void
+rsQuaternionNormalize(rs_quaternion *q) {
+ const float len = rsQuaternionDot(q, q);
+ if (len != 1) {
+ const float recipLen = 1.f / sqrt(len);
+ rsQuaternionMultiply(q, recipLen);
+ }
+}
+
+_RS_STATIC void
+rsQuaternionSlerp(rs_quaternion *q, const rs_quaternion *q0, const rs_quaternion *q1, float t) {
+ if (t <= 0.0f) {
+ rsQuaternionSet(q, q0);
+ return;
+ }
+ if (t >= 1.0f) {
+ rsQuaternionSet(q, q1);
+ return;
+ }
+
+ rs_quaternion tempq0, tempq1;
+ rsQuaternionSet(&tempq0, q0);
+ rsQuaternionSet(&tempq1, q1);
+
+ float angle = rsQuaternionDot(q0, q1);
+ if (angle < 0) {
+ rsQuaternionMultiply(&tempq0, -1.0f);
+ angle *= -1.0f;
+ }
+
+ float scale, invScale;
+ if (angle + 1.0f > 0.05f) {
+ if (1.0f - angle >= 0.05f) {
+ float theta = acos(angle);
+ float invSinTheta = 1.0f / sin(theta);
+ scale = sin(theta * (1.0f - t)) * invSinTheta;
+ invScale = sin(theta * t) * invSinTheta;
+ } else {
+ scale = 1.0f - t;
+ invScale = t;
+ }
+ } else {
+ rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
+ scale = sin(M_PI * (0.5f - t));
+ invScale = sin(M_PI * t);
+ }
+
+ rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
+ tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
+}
+
+_RS_STATIC void rsQuaternionGetMatrixUnit(rs_matrix4x4 *m, const rs_quaternion *q) {
+ float x2 = 2.0f * q->x * q->x;
+ float y2 = 2.0f * q->y * q->y;
+ float z2 = 2.0f * q->z * q->z;
+ float xy = 2.0f * q->x * q->y;
+ float wz = 2.0f * q->w * q->z;
+ float xz = 2.0f * q->x * q->z;
+ float wy = 2.0f * q->w * q->y;
+ float wx = 2.0f * q->w * q->x;
+ float yz = 2.0f * q->y * q->z;
+
+ m->m[0] = 1.0f - y2 - z2;
+ m->m[1] = xy - wz;
+ m->m[2] = xz + wy;
+ m->m[3] = 0.0f;
+
+ m->m[4] = xy + wz;
+ m->m[5] = 1.0f - x2 - z2;
+ m->m[6] = yz - wx;
+ m->m[7] = 0.0f;
+
+ m->m[8] = xz - wy;
+ m->m[9] = yz - wx;
+ m->m[10] = 1.0f - x2 - y2;
+ m->m[11] = 0.0f;
+
+ m->m[12] = 0.0f;
+ m->m[13] = 0.0f;
+ m->m[14] = 0.0f;
+ m->m[15] = 1.0f;
+}
+
+/////////////////////////////////////////////////////
+// utility funcs
+/////////////////////////////////////////////////////
+__inline__ _RS_STATIC void __attribute__((overloadable, always_inline))
+rsExtractFrustumPlanes(const rs_matrix4x4 *modelViewProj,
+ float4 *left, float4 *right,
+ float4 *top, float4 *bottom,
+ float4 *near, float4 *far) {
+ // x y z w = a b c d in the plane equation
+ left->x = modelViewProj->m[3] + modelViewProj->m[0];
+ left->y = modelViewProj->m[7] + modelViewProj->m[4];
+ left->z = modelViewProj->m[11] + modelViewProj->m[8];
+ left->w = modelViewProj->m[15] + modelViewProj->m[12];
+
+ right->x = modelViewProj->m[3] - modelViewProj->m[0];
+ right->y = modelViewProj->m[7] - modelViewProj->m[4];
+ right->z = modelViewProj->m[11] - modelViewProj->m[8];
+ right->w = modelViewProj->m[15] - modelViewProj->m[12];
+
+ top->x = modelViewProj->m[3] - modelViewProj->m[1];
+ top->y = modelViewProj->m[7] - modelViewProj->m[5];
+ top->z = modelViewProj->m[11] - modelViewProj->m[9];
+ top->w = modelViewProj->m[15] - modelViewProj->m[13];
+
+ bottom->x = modelViewProj->m[3] + modelViewProj->m[1];
+ bottom->y = modelViewProj->m[7] + modelViewProj->m[5];
+ bottom->z = modelViewProj->m[11] + modelViewProj->m[9];
+ bottom->w = modelViewProj->m[15] + modelViewProj->m[13];
+
+ near->x = modelViewProj->m[3] + modelViewProj->m[2];
+ near->y = modelViewProj->m[7] + modelViewProj->m[6];
+ near->z = modelViewProj->m[11] + modelViewProj->m[10];
+ near->w = modelViewProj->m[15] + modelViewProj->m[14];
+
+ far->x = modelViewProj->m[3] - modelViewProj->m[2];
+ far->y = modelViewProj->m[7] - modelViewProj->m[6];
+ far->z = modelViewProj->m[11] - modelViewProj->m[10];
+ far->w = modelViewProj->m[15] - modelViewProj->m[14];
+
+ float len = length(left->xyz);
+ *left /= len;
+ len = length(right->xyz);
+ *right /= len;
+ len = length(top->xyz);
+ *top /= len;
+ len = length(bottom->xyz);
+ *bottom /= len;
+ len = length(near->xyz);
+ *near /= len;
+ len = length(far->xyz);
+ *far /= len;
+}
+
+__inline__ _RS_STATIC bool __attribute__((overloadable, always_inline))
+rsIsSphereInFrustum(float4 *sphere,
+ float4 *left, float4 *right,
+ float4 *top, float4 *bottom,
+ float4 *near, float4 *far) {
+
+ float distToCenter = dot(left->xyz, sphere->xyz) + left->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ distToCenter = dot(right->xyz, sphere->xyz) + right->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ distToCenter = dot(top->xyz, sphere->xyz) + top->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ distToCenter = dot(bottom->xyz, sphere->xyz) + bottom->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ distToCenter = dot(near->xyz, sphere->xyz) + near->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ distToCenter = dot(far->xyz, sphere->xyz) + far->w;
+ if (distToCenter < -sphere->w) {
+ return false;
+ }
+ return true;
+}
+
+
+/////////////////////////////////////////////////////
// int ops
/////////////////////////////////////////////////////
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