ref: c175fd8cdf3b905bb27b2bbc7d09db825d7c1516
parent: b257bd831900953f00ac4540a4538210851f9d25
author: MHS <gek@katherine>
date: Tue Mar 16 11:18:51 EDT 2021
Automatic commit.
--- a/SDL_Examples/model.c
+++ b/SDL_Examples/model.c
@@ -621,7 +621,12 @@
// glDisable(GL_COLOR_MATERIAL);
for (unsigned int i = 0; i < count; i++) {glPushMatrix();
- glTranslatef((float)(i % 10) * 8.0, (float)(i / 10) * 8.0, -10);
+ mat4 horiz_translation = translate((vec3){{8.0 * (i%10),0.0,0.0}});+ mat4 vert_translation = translate((vec3){{0.0,8.0 * (i/10),0.0}});+ const mat4 ztranslation = translate((vec3){{0,0,-10}});+ mat4 total_translation = multm4(multm4(horiz_translation, vert_translation),ztranslation);
+ glMultMatrixf(total_translation.d);
+ //glTranslatef((float)(i % 10) * 8.0, (float)(i / 10) * 8.0, -10);
glBegin(GL_TRIANGLES);
for(uint j = 0; j < ModelArray.npoints; j++)
glArrayElement(j);
@@ -639,7 +644,12 @@
// glDisable(GL_COLOR_MATERIAL);
for (unsigned int i = 0; i < count; i++) {glPushMatrix();
- glTranslatef((float)(i % 10) * 8.0, (float)(i / 10) * 8.0, -10);
+ mat4 horiz_translation = translate((vec3){{8.0 * (i%10),0.0,0.0}});+ mat4 vert_translation = translate((vec3){{0.0,8.0 * (i/10),0.0}});+ const mat4 ztranslation = translate((vec3){{0,0,-10}});+ mat4 total_translation = multm4(multm4(horiz_translation, vert_translation),ztranslation);
+ glMultMatrixf(total_translation.d);
+ //glTranslatef((float)(i % 10) * 8.0, (float)(i / 10) * 8.0, -10);
glCallList(modelDisplayList);
// drawModel(
// m.d, m.npoints,
--- a/include-demo/3dMath.h
+++ b/include-demo/3dMath.h
@@ -36,37 +36,7 @@
-static inline vec4 getrow( mat4 a, uint index){- return (vec4){- .d[0]=a.d[0*4+index],
- .d[1]=a.d[1*4+index],
- .d[2]=a.d[2*4+index],
- .d[3]=a.d[3*4+index]
- };
-}
-static inline mat4 swapRowColumnMajor( mat4 in){- mat4 result;
- vec4 t;
- int i = 0;
- t = getrow(in,i);
- memcpy(result.d+i*4, t.d, 4*4);i++;
- t = getrow(in,i);
- memcpy(result.d+i*4, t.d, 4*4);i++;
- t = getrow(in,i);
- memcpy(result.d+i*4, t.d, 4*4);i++;
- t = getrow(in,i);
- memcpy(result.d+i*4, t.d, 4*4);
- return result;
-}
-static inline vec4 getcol( mat4 a, uint index){- return (vec4){- .d[0]=a.d[index*4+0],
- .d[1]=a.d[index*4+1],
- .d[2]=a.d[index*4+2],
- .d[3]=a.d[index*4+3]
- };
-}
static inline mat4 scalemat4( vec4 s){mat4 ret;
for(int i = 1; i < 16; i++)
@@ -305,38 +275,69 @@
static inline f_ dotv4( vec4 a, vec4 b){return a.d[0] * b.d[0] + a.d[1] * b.d[1] + a.d[2] * b.d[2] + a.d[3] * b.d[3];
}
+static inline vec4 getrow( mat4 a, uint index){+ return (vec4){+ .d[0]=a.d[index],
+ .d[1]=a.d[4+index],
+ .d[2]=a.d[8+index],
+ .d[3]=a.d[12+index]
+ };
+}
+static inline mat4 swapRowColumnMajor( mat4 in){+ mat4 result;
+ vec4 t;
+ int i = 0;
+ t = getrow(in,i);
+ memcpy(result.d+i*4, t.d, 4*4);i++;
+ t = getrow(in,i);
+ memcpy(result.d+i*4, t.d, 4*4);i++;
+ t = getrow(in,i);
+ memcpy(result.d+i*4, t.d, 4*4);i++;
+ t = getrow(in,i);
+ memcpy(result.d+i*4, t.d, 4*4);
+ return result;
+}
+
+static inline vec4 getcol( mat4 a, uint index){+ return (vec4){+ .d[0]=a.d[index*4],
+ .d[1]=a.d[index*4+1],
+ .d[2]=a.d[index*4+2],
+ .d[3]=a.d[index*4+3]
+ };
+}
static inline mat4 multm4( mat4 a, mat4 b){mat4 ret;
+#pragma omp simd
for(int i = 0; i < 4; i++)
for(int j = 0; j < 4; j++)
- ret.d[i*4 + j] = dotv4(
- getrow(a, j),
- getcol(b, i)
+ ret.d[i*4 + j] = dotv4( //j is the ROW of the target, i is the COLUMN.
+ getrow(a, j), //we retrieve the same ROW as our ROW INDEX.
+ getcol(b, i) //we retrieve the same COLUMN as our COLUMN INDEX.
);
return ret;
}
static inline vec4 mat4xvec4( mat4 t, vec4 v){- uint i = 0;
vec4 vr;
- vr.d[0] = t.d[0*4+i] * v.d[0] +
- t.d[1*4+i] * v.d[1] +
- t.d[2*4+i] * v.d[2] +
- t.d[3*4+i] * v.d[3];
- i++;
- vr.d[1] = t.d[0*4+i] * v.d[0] +
- t.d[1*4+i] * v.d[1] +
- t.d[2*4+i] * v.d[2] +
- t.d[3*4+i] * v.d[3];
- i++;
- vr.d[2] = t.d[0*4+i] * v.d[0] +
- t.d[1*4+i] * v.d[1] +
- t.d[2*4+i] * v.d[2] +
- t.d[3*4+i] * v.d[3];
- i++;
- vr.d[3] = t.d[0*4+i] * v.d[0] +
- t.d[1*4+i] * v.d[1] +
- t.d[2*4+i] * v.d[2] +
- t.d[3*4+i] * v.d[3];
+ //Getting a ROW of the matrix and dotting it with the COLUMN VECTOR to get
+ // ONE ROW of the output COLUMN VECTOR- one float.
+ vr.d[0] = t.d[0*4] * v.d[0] +
+ t.d[1*4] * v.d[1] +
+ t.d[2*4] * v.d[2] +
+ t.d[3*4] * v.d[3];
+ //The next one.
+ vr.d[1] = t.d[0*4+1] * v.d[0] +
+ t.d[1*4+1] * v.d[1] +
+ t.d[2*4+1] * v.d[2] +
+ t.d[3*4+1] * v.d[3];
+ vr.d[2] = t.d[0*4+2] * v.d[0] +
+ t.d[1*4+2] * v.d[1] +
+ t.d[2*4+2] * v.d[2] +
+ t.d[3*4+2] * v.d[3];
+ vr.d[3] = t.d[0*4+3] * v.d[0] +
+ t.d[1*4+3] * v.d[1] +
+ t.d[2*4+3] * v.d[2] +
+ t.d[3*4+3] * v.d[3];
return vr;
}
static inline vec3 crossv3( vec3 a, vec3 b){--- a/include-demo/chadphys.h
+++ b/include-demo/chadphys.h
@@ -1,9 +1,6 @@
#ifndef CHAD_PHYS_H
#define CHAD_PHYS_H
-#ifdef CHAD_PHYS_IMPL
-#define CHAD_MATH_IMPL
-#endif
#include "3dMath.h"
typedef struct {aabb shape; //c.d[3] is sphere radius.
@@ -12,7 +9,7 @@
f_ bounciness; //default 0, put portion of displacement into velocity.
f_ airfriction; //default 1, multiplied by velocity every time timestep.
f_ friction; //default 0.1
- vec3 r; //Rotation, Used for rendering only
+ mat4 localt; //Local Transform.
vec3 v; //velocity
vec3 a; //Body specific acceleration, combined with gravity
void* d; //User defined pointer.
@@ -36,8 +33,14 @@
body->friction = 0.1;
body->airfriction = 1.0;
body->a = (vec3){.d[0] = 0,.d[1] = 0,.d[2] = 0};- body->r = (vec3){.d[0] = 0,.d[1] = 0,.d[2] = 0};+ body->localt = identitymat4();
body->d = NULL;
+}
+static inline mat4 getPhysBodyRenderTransform(phys_body* body){+ return multm4(
+ translate(downv4(body->shape.c)),
+ body->localt
+ );
}
//Check for and, if necessary, resolve colliding bodies.