ludic/packages/ludic.render3d/fmath.ludic

# ============================================================================
# fmath.ludic — IEEE single-precision math for the renderer.
#
# Ludic's own numbers are Q16.16; a renderer wants the floats the GPU eats. A
# float lives here as its bit pattern in an `int`, arithmetic goes through the
# f_* helpers Gl.* provides (gl.ll), and vectors / matrices are `words` buffers
# of those bit patterns — which is exactly the memory layout glUniform* and
# glBufferData expect, so nothing is converted at upload.
#
#   fl(x)         a fixed literal as a float          fr(n, d)   n/d as a float
#   v3_*          3-vectors at an index of a words buffer (x, y, z consecutive)
#   m4_*          4x4 column-major matrices in a 16-word buffer
# ============================================================================

const F_ZERO: int = 0x00000000
const F_ONE:  int = 0x3F800000
const F_TWO:  int = 0x40000000
const F_HALF: int = 0x3F000000
const PI: float = 3.1415927
const F_PI:   int = 0x40490FDB

# the n 4x4 matrices laid end to end in `m`, a view of each. Views are made once, where their
# buffer is: a view is a small allocation, and one per matrix per frame is one nobody frees.
@alloc_ok("views over a skeleton's matrices: made once per skeleton, with it")
function m4_views(m: floats, n: int) -> [][]float {
  let out = new [][]float
  var i = 0
  while i < n {
    push(out, view(m, i * 16, 16))
    i += 1
  }
  return out
}
function fl(x: fixed) -> float { return float(x) }
function fi(n: int) -> float { return float(n) }
function fr(n: int, d: int) -> float { return float(n) / float(d) }
function f_neg1() -> float { return -1.0 }
function f_clamp(x: float, lo: float, hi: float) -> float { return Math.min(Math.max(x, lo), hi) }
function f_lerp(a: float, b: float, t: float) -> float { return a + (b - a) * t }
function f_rad(deg: float) -> float { return deg * (PI / 180.0) }
function f_fx(x: float) -> fixed { return fixed(x) }

# ---- vectors ----------------------------------------------------------------
@alloc_ok("a constructor: what it makes is its caller's (records made at start-up or once per figure)")
function v3_new(x: float, y: float, z: float) -> floats {
  let v = floats(3)
  v[0] = x
  v[1] = y
  v[2] = z
  return v
}
function v3_set(v: floats, x: float, y: float, z: float) -> void { v[0] = x;  v[1] = y;  v[2] = z }
function v3_copy(o: floats, a: floats) -> void { o[0] = a[0];  o[1] = a[1];  o[2] = a[2] }
function v3_add(o: floats, a: floats, b: floats) -> void {
  o[0] = a[0] + b[0];  o[1] = a[1] + b[1];  o[2] = a[2] + b[2]
}
function v3_sub(o: floats, a: floats, b: floats) -> void {
  o[0] = a[0] - b[0];  o[1] = a[1] - b[1];  o[2] = a[2] - b[2]
}
function v3_scale(o: floats, a: floats, s: float) -> void {
  o[0] = a[0] * s;  o[1] = a[1] * s;  o[2] = a[2] * s
}
function v3_madd(o: floats, a: floats, b: floats, s: float) -> void {   # o = a + b*s
  o[0] = a[0] + b[0] * s;  o[1] = a[1] + b[1] * s;  o[2] = a[2] + b[2] * s
}
function v3_dot(a: floats, b: floats) -> float {
  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]
}
function v3_cross(o: floats, a: floats, b: floats) -> void {
  let x = a[1] * b[2] - a[2] * b[1]
  let y = a[2] * b[0] - a[0] * b[2]
  let z = a[0] * b[1] - a[1] * b[0]
  o[0] = x;  o[1] = y;  o[2] = z
}
function v3_len(a: floats) -> float { return Math.sqrt(v3_dot(a, a)) }
function v3_normalize(o: floats, a: floats) -> void {
  let l = v3_len(a)
  if l == 0.0 { o[0] = 0.0;  o[1] = 0.0;  o[2] = 0.0;  return }
  let inv = 1.0 / l
  v3_scale(o, a, inv)
}
function v3_dist(a: floats, b: floats) -> float {
  let dx = a[0] - b[0]
  let dy = a[1] - b[1]
  let dz = a[2] - b[2]
  let d = Math.sqrt(dx * dx + dy * dy + dz * dz)
  return d
}

# ---- matrices (column-major, m[col*4 + row]) ------------------------------------
@alloc_ok("a constructor: what it makes is its caller's (records made at start-up or once per figure)")
function m4_new() -> floats { let m = floats(16);  m4_identity(m);  return m }
function m4_identity(m: floats) -> void {
  for i in 0 .. 16 { m[i] = 0.0 }
  m[0] = 1.0;  m[5] = 1.0;  m[10] = 1.0;  m[15] = 1.0
}
function m4_copy(o: floats, a: floats) -> void { for i in 0 .. 16 { o[i] = a[i] } }
# o = a * b (o may not alias a or b)
function m4_mul(o: floats, a: floats, b: floats) -> void {
  for c in 0 .. 4 {
    for r in 0 .. 4 {
      var s = 0.0
      for k in 0 .. 4 { s = s + a[k * 4 + r] * b[c * 4 + k] }
      o[c * 4 + r] = s
    }
  }
}
function m4_mul_into(a: floats, b: floats) -> void {    # a = a * b
  let t = floats(16)
  m4_mul(t, a, b)
  m4_copy(a, t)
  free(t)
}
function m4_translation(m: floats, x: float, y: float, z: float) -> void {
  m4_identity(m)
  m[12] = x;  m[13] = y;  m[14] = z
}
function m4_scaling(m: floats, x: float, y: float, z: float) -> void {
  m4_identity(m)
  m[0] = x;  m[5] = y;  m[10] = z
}
function m4_rotation_y(m: floats, angle: float) -> void {
  m4_identity(m)
  let c = Math.cos(angle);  let s = Math.sin(angle)
  m[0] = c;  m[2] = -s;  m[8] = s;  m[10] = c
}
function m4_rotation_x(m: floats, angle: float) -> void {
  m4_identity(m)
  let c = Math.cos(angle);  let s = Math.sin(angle)
  m[5] = c;  m[6] = s;  m[9] = -s;  m[10] = c
}
function m4_rotation_z(m: floats, angle: float) -> void {
  m4_identity(m)
  let c = Math.cos(angle);  let s = Math.sin(angle)
  m[0] = c;  m[1] = s;  m[4] = -s;  m[5] = c
}
# a model matrix: translate * rotate_y * uniform scale
function m4_trs(m: floats, x: float, y: float, z: float, yaw: float, s: float) -> void {
  m4_rotation_y(m, yaw)
  for i in 0 .. 12 { m[i] = m[i] * s }
  m[12] = x;  m[13] = y;  m[14] = z
}
# OpenGL clip space (z in [-1, 1]); fovy in radians
function m4_perspective(m: floats, fovy: float, aspect: float, near: float, far: float) -> void {
  for i in 0 .. 16 { m[i] = 0.0 }
  let f = 1.0 / Math.tan(fovy * 0.5)
  m[0] = f / aspect
  m[5] = f
  m[10] = (far + near) / (near - far)
  m[11] = -1.0
  m[14] = 2.0 * far * near / (near - far)
}
function m4_ortho(m: floats, l: float, r: float, b: float, t: float, n: float, f: float) -> void {
  m4_identity(m)
  m[0] = 2.0 / (r - l)
  m[5] = 2.0 / (t - b)
  m[10] = -2.0 / (f - n)
  m[12] = -((r + l) / (r - l))
  m[13] = -((t + b) / (t - b))
  m[14] = -((f + n) / (f - n))
}
function m4_look_at(m: floats, eye: floats, at: floats, up: floats) -> void {
  m4_look_at_xyz(m, eye[0], eye[1], eye[2], at[0], at[1], at[2], up[0], up[1], up[2])
}
# the same from nine numbers, on scalars: the camera asks it every frame, and four scratch vectors
# made and freed per call were churn
function m4_look_at_xyz(m: floats, ex: float, ey: float, ez: float, ax: float, ay: float, az: float, ux: float, uy: float, uz: float) -> void {
  var fx = ax - ex
  var fy = ay - ey
  var fz = az - ez
  var fl = Math.sqrt(fx * fx + fy * fy + fz * fz)
  if fl > 0.0 { fx = fx / fl;  fy = fy / fl;  fz = fz / fl }
  var sx = fy * uz - fz * uy
  var sy = fz * ux - fx * uz
  var sz = fx * uy - fy * ux
  let sl = Math.sqrt(sx * sx + sy * sy + sz * sz)
  if sl > 0.0 { sx = sx / sl;  sy = sy / sl;  sz = sz / sl }
  let vx = sy * fz - sz * fy
  let vy = sz * fx - sx * fz
  let vz = sx * fy - sy * fx
  m4_identity(m)
  m[0] = sx;  m[4] = sy;  m[8] = sz
  m[1] = vx;  m[5] = vy;  m[9] = vz
  m[2] = -fx;  m[6] = -fy;  m[10] = -fz
  m[12] = -(sx * ex + sy * ey + sz * ez)
  m[13] = -(vx * ex + vy * ey + vz * ez)
  m[14] = fx * ex + fy * ey + fz * ez
}
# general 4x4 inverse (cofactor expansion); o may not alias a
function m4_inverse(o: floats, a: floats) -> bool {
  let i0 = a[5] * (a[10] * a[15]) + -(a[5] * (a[11] * a[14])) - a[9] * (a[6] * a[15]) + (a[9] * (a[7] * a[14]) + (a[13] * (a[6] * a[11]) - a[13] * (a[7] * a[10])))
  let i4 = -(a[4] * (a[10] * a[15])) + a[4] * (a[11] * a[14]) - a[8] * (a[7] * a[14]) + (a[8] * (a[6] * a[15]) + (a[12] * (a[7] * a[10]) - a[12] * (a[6] * a[11])))
  let i8 = a[4] * (a[9] * a[15]) + -(a[4] * (a[11] * a[13])) - a[8] * (a[5] * a[15]) + (a[8] * (a[7] * a[13]) + (a[12] * (a[5] * a[11]) - a[12] * (a[7] * a[9])))
  let i12 = -(a[4] * (a[9] * a[14])) + a[4] * (a[10] * a[13]) - a[8] * (a[6] * a[13]) + (a[8] * (a[5] * a[14]) + (a[12] * (a[6] * a[9]) - a[12] * (a[5] * a[10])))
  let i1 = -(a[1] * (a[10] * a[15])) + a[1] * (a[11] * a[14]) - a[9] * (a[3] * a[14]) + (a[9] * (a[2] * a[15]) + (a[13] * (a[3] * a[10]) - a[13] * (a[2] * a[11])))
  let i5 = a[0] * (a[10] * a[15]) + -(a[0] * (a[11] * a[14])) - a[8] * (a[2] * a[15]) + (a[8] * (a[3] * a[14]) + (a[12] * (a[2] * a[11]) - a[12] * (a[3] * a[10])))
  let i9 = -(a[0] * (a[9] * a[15])) + a[0] * (a[11] * a[13]) - a[8] * (a[3] * a[13]) + (a[8] * (a[1] * a[15]) + (a[12] * (a[3] * a[9]) - a[12] * (a[1] * a[11])))
  let i13 = a[0] * (a[9] * a[14]) + -(a[0] * (a[10] * a[13])) - a[8] * (a[1] * a[14]) + (a[8] * (a[2] * a[13]) + (a[12] * (a[1] * a[10]) - a[12] * (a[2] * a[9])))
  let i2 = a[1] * (a[6] * a[15]) + -(a[1] * (a[7] * a[14])) - a[5] * (a[2] * a[15]) + (a[5] * (a[3] * a[14]) + (a[13] * (a[2] * a[7]) - a[13] * (a[3] * a[6])))
  let i6 = -(a[0] * (a[6] * a[15])) + a[0] * (a[7] * a[14]) - a[4] * (a[3] * a[14]) + (a[4] * (a[2] * a[15]) + (a[12] * (a[3] * a[6]) - a[12] * (a[2] * a[7])))
  let i10 = a[0] * (a[5] * a[15]) + -(a[0] * (a[7] * a[13])) - a[4] * (a[1] * a[15]) + (a[4] * (a[3] * a[13]) + (a[12] * (a[1] * a[7]) - a[12] * (a[3] * a[5])))
  let i14 = -(a[0] * (a[5] * a[14])) + a[0] * (a[6] * a[13]) - a[4] * (a[2] * a[13]) + (a[4] * (a[1] * a[14]) + (a[12] * (a[2] * a[5]) - a[12] * (a[1] * a[6])))
  let i3 = -(a[1] * (a[6] * a[11])) + a[1] * (a[7] * a[10]) - a[5] * (a[3] * a[10]) + (a[5] * (a[2] * a[11]) + (a[9] * (a[3] * a[6]) - a[9] * (a[2] * a[7])))
  let i7 = a[0] * (a[6] * a[11]) + -(a[0] * (a[7] * a[10])) - a[4] * (a[2] * a[11]) + (a[4] * (a[3] * a[10]) + (a[8] * (a[2] * a[7]) - a[8] * (a[3] * a[6])))
  let i11 = -(a[0] * (a[5] * a[11])) + a[0] * (a[7] * a[9]) - a[4] * (a[3] * a[9]) + (a[4] * (a[1] * a[11]) + (a[8] * (a[3] * a[5]) - a[8] * (a[1] * a[7])))
  let i15 = a[0] * (a[5] * a[10]) + -(a[0] * (a[6] * a[9])) - a[4] * (a[1] * a[10]) + (a[4] * (a[2] * a[9]) + (a[8] * (a[1] * a[6]) - a[8] * (a[2] * a[5])))
  let det = a[0] * i0 + a[1] * i4 + (a[2] * i8 + a[3] * i12)
  if det == 0.0 { return false }
  let id = 1.0 / det
  o[0] = i0 * id;  o[1] = i1 * id;  o[2] = i2 * id;  o[3] = i3 * id;  o[4] = i4 * id;  o[5] = i5 * id;  o[6] = i6 * id;  o[7] = i7 * id
  o[8] = i8 * id;  o[9] = i9 * id;  o[10] = i10 * id;  o[11] = i11 * id;  o[12] = i12 * id;  o[13] = i13 * id;  o[14] = i14 * id;  o[15] = i15 * id
  return true
}
# transform a point (w = 1) by m: o = m * (x, y, z, 1), returns w
function m4_xform_point(o: floats, m: floats, x: float, y: float, z: float) -> float {
  o[0] = m[0] * x + m[4] * y + (m[8] * z + m[12])
  o[1] = m[1] * x + m[5] * y + (m[9] * z + m[13])
  o[2] = m[2] * x + m[6] * y + (m[10] * z + m[14])
  return m[3] * x + m[7] * y + (m[11] * z + m[15])
}

# ---- uniforms: see gpu.ludic (gpu_uniform and the u_* setters) ----