Merge branch 'master' of github.com:taylor001/crown

README.md

@@ -4,6 +4,7 @@ Lightweight and flexible cross-platform game engine.
 I'm an independent developer and your contributions are invaluable to me. If you like the work I do, please consider supporting Crown development by means of a small contribution. I'm also available for hire to work on or with Crown or somewhat related technologies/projects.
 
 [![PayPal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=6FQMPUQQ8KQKW)
+[![Flattr](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/thing/4945485/Crown)
 
 ##What is it?
 

src/core/math/intersection.cpp

@@ -39,7 +39,7 @@ float ray_sphere_intersection(const Vector3& from, const Vector3& dir, const Sph
 		return -1.0f;
 	}
 
-	return b - sqrt(det);
+	return b - sqrtf(det);
 }
 
 // http://www.opengl-tutorial.org/miscellaneous/clicking-on-objects/picking-with-custom-ray-obb-function/

src/core/math/math_types.h

@@ -91,4 +91,29 @@ struct Sphere
 	float r;
 };
 
+const Vector2 VECTOR2_ZERO = { 0.0f, 0.0f };
+
+const Vector3 VECTOR3_ZERO     = {  0.0f,  0.0f,  0.0f };
+const Vector3 VECTOR3_XAXIS    = {  1.0f,  0.0f,  0.0f };
+const Vector3 VECTOR3_YAXIS    = {  0.0f,  1.0f,  0.0f };
+const Vector3 VECTOR3_ZAXIS    = {  0.0f,  0.0f,  1.0f };
+const Vector3 VECTOR3_FORWARD  = {  0.0f,  0.0f,  1.0f };
+const Vector3 VECTOR3_BACKWARD = {  0.0f,  0.0f, -1.0f };
+const Vector3 VECTOR3_LEFT     = { -1.0f,  0.0f,  0.0f };
+const Vector3 VECTOR3_RIGHT    = {  1.0f,  0.0f,  0.0f };
+const Vector3 VECTOR3_UP       = {  0.0f,  1.0f,  0.0f };
+const Vector3 VECTOR3_DOWN     = {  0.0f, -1.0f,  0.0f };
+
+const Vector4 VECTOR4_ZERO  = { 0.0f, 0.0f, 0.0f, 0.0f };
+const Vector4 VECTOR4_XAXIS = { 1.0f, 0.0f, 0.0f, 0.0f };
+const Vector4 VECTOR4_YAXIS = { 0.0f, 1.0f, 0.0f, 0.0f };
+const Vector4 VECTOR4_ZAXIS = { 0.0f, 0.0f, 1.0f, 0.0f };
+const Vector4 VECTOR4_WAXIS = { 0.0f, 0.0f, 0.0f, 1.0f };
+
+const Quaternion QUATERNION_IDENTITY = { 0.0f, 0.0f, 0.0f, 1.0f };
+
+const Matrix3x3 MATRIX3X3_IDENTITY = { VECTOR3_XAXIS, VECTOR3_YAXIS, VECTOR3_ZAXIS };
+
+const Matrix4x4 MATRIX4X4_IDENTITY = { VECTOR4_XAXIS, VECTOR4_YAXIS, VECTOR4_ZAXIS, VECTOR4_WAXIS };
+
 } // namespace crown

src/core/math/math_utils.h

@@ -71,66 +71,6 @@ inline bool is_pow_2(uint32_t x)
 	return !(x & (x - 1)) && x;
 }
 
-inline float ceil(float x)
-{
-	return ceilf(x);
-}
-
-inline float floor(float x)
-{
-	return floorf(x);
-}
-
-inline float sqrt(float x)
-{
-	return sqrtf(x);
-}
-
-inline float inv_sqrt(float x)
-{
-	return 1.0f / sqrt(x);
-}
-
-inline float sin(float x)
-{
-	return sinf(x);
-}
-
-inline float cos(float x)
-{
-	return cosf(x);
-}
-
-inline float asin(float x)
-{
-	return asinf(x);
-}
-
-inline float acos(float x)
-{
-	return acosf(x);
-}
-
-inline float tan(float x)
-{
-	return tanf(x);
-}
-
-inline float atan2(float y, float x)
-{
-	return atan2f(y, x);
-}
-
-inline float abs(float x)
-{
-	return fabs(x);
-}
-
-inline float fmod(float n, float d)
-{
-	return ::fmod(n, d);
-}
-
 /// Returns the linear interpolated value between @a p0 and @a p1 at time @a t
 template <typename T>
 inline T linear(const T& p0, const T& p1, float t)
@@ -143,7 +83,7 @@ template <typename T>
 inline T cosine(const T& p0, const T& p1, float t)
 {
 	const float f = t * PI;
-	const float g = (1.0f - cos(f)) * 0.5f;
+	const float g = (1.0f - cosf(f)) * 0.5f;
 
 	return p0 + (g * (p1 - p0));
 }

src/core/math/matrix3x3.h

@@ -7,15 +7,12 @@
 
 #include "math_types.h"
 #include "vector3.h"
-#include "quaternion.h"
 
 namespace crown
 {
 /// @addtogroup Math
 /// @{
 
-const Matrix3x3 MATRIX3X3_IDENTITY = { VECTOR3_XAXIS, VECTOR3_YAXIS, VECTOR3_ZAXIS };
-
 inline Matrix3x3 matrix3x3(const Vector3& x, const Vector3& y, const Vector3& z)
 {
 	Matrix3x3 m;
@@ -235,83 +232,6 @@ inline void set_identity(Matrix3x3& m)
 	m.z.z = 1.0f;
 }
 
-/// Returns the rotation portion of the matrix @a m as a Quaternion.
-inline Quaternion rotation(const Matrix3x3& m)
-{
-	const float ww = m.x.x + m.y.y + m.z.z;
-	const float xx = m.x.x - m.y.y - m.z.z;
-	const float yy = m.y.y - m.x.x - m.z.z;
-	const float zz = m.z.z - m.x.x - m.y.y;
-	float max = ww;
-	uint32_t index = 0;
-
-	if (xx > max)
-	{
-		max = xx;
-		index = 1;
-	}
-
-	if (yy > max)
-	{
-		max = yy;
-		index = 2;
-	}
-
-	if (zz > max)
-	{
-		max = zz;
-		index = 3;
-	}
-
-	const float biggest = sqrt(max + 1.0f) * 0.5f;
-	const float mult = 0.25f / biggest;
-
-	Quaternion tmp;
-	switch (index)
-	{
-		case 0:
-		{
-			tmp.w = biggest;
-			tmp.x = (m.y.z - m.z.y) * mult;
-			tmp.y = (m.z.x - m.x.z) * mult;
-			tmp.z = (m.x.y - m.y.x) * mult;
-			break;
-		}
-		case 1:
-		{
-			tmp.x = biggest;
-			tmp.w = (m.y.z - m.z.y) * mult;
-			tmp.y = (m.x.y + m.y.x) * mult;
-			tmp.z = (m.z.x + m.x.z) * mult;
-			break;
-		}
-		case 2:
-		{
-			tmp.y = biggest;
-			tmp.w = (m.z.x - m.x.z) * mult;
-			tmp.x = (m.x.y + m.y.x) * mult;
-			tmp.z = (m.y.z + m.z.y) * mult;
-			break;
-		}
-		case 3:
-		{
-			tmp.z = biggest;
-			tmp.w = (m.x.y - m.y.x) * mult;
-			tmp.x = (m.z.x + m.x.z) * mult;
-			tmp.y = (m.y.z + m.z.y) * mult;
-			break;
-		}
-		default:
-		{
-			CE_FATAL("You should not be here");
-			break;
-		}
-	}
-
-	normalize(tmp);
-	return tmp;
-}
-
 /// Returns the scale of the matrix @a m.
 inline Vector3 scale(const Matrix3x3& m)
 {

src/core/math/matrix4x4.h

@@ -15,8 +15,6 @@ namespace crown
 /// @addtogroup Math
 /// @{
 
-const Matrix4x4 MATRIX4X4_IDENTITY = { VECTOR4_XAXIS, VECTOR4_YAXIS, VECTOR4_ZAXIS, VECTOR4_WAXIS };
-
 inline Matrix4x4 matrix4x4(float r1c1, float r2c1, float r3c1, float r4c1,
 	float r1c2, float r2c2, float r3c2, float r4c2,
 	float r1c3, float r2c3, float r3c3, float r4c3,
@@ -276,7 +274,7 @@ inline Matrix4x4 operator*(Matrix4x4 a, const Matrix4x4& b)
 /// Sets the matrix @a m to perspective.
 inline void set_perspective(Matrix4x4& m, float fovy, float aspect, float near, float far)
 {
-	const float height = 1.0f / tan(fovy * ((float) PI / 180.0f) * 0.5f);
+	const float height = 1.0f / tanf(fovy * ((float) PI / 180.0f) * 0.5f);
 	const float width = height * 1.0f / aspect;
 	const float aa = far / (far - near);
 	const float bb = -near * aa;
@@ -582,7 +580,7 @@ inline Matrix3x3 to_matrix3x3(const Matrix4x4& m)
 /// Returns the rotation portion of the matrix @a m as a Quaternion.
 inline Quaternion rotation(const Matrix4x4& m)
 {
-	return rotation(to_matrix3x3(m));
+	return quaternion(to_matrix3x3(m));
 }
 
 /// Sets the rotation portion of the matrix @a m.
@@ -591,9 +589,11 @@ inline void set_rotation(Matrix4x4& m, const Matrix3x3& rot)
 	m.x.x = rot.x.x;
 	m.x.y = rot.x.y;
 	m.x.z = rot.x.z;
+
 	m.y.x = rot.y.x;
 	m.y.y = rot.y.y;
 	m.y.z = rot.y.z;
+
 	m.z.x = rot.z.x;
 	m.z.y = rot.z.y;
 	m.z.z = rot.z.z;

src/core/math/quaternion.cpp

@@ -0,0 +1,88 @@
+/*
+ * Copyright (c) 2012-2015 Daniele Bartolini and individual contributors.
+ * License: https://github.com/taylor001/crown/blob/master/LICENSE
+ */
+
+#include "quaternion.h"
+
+namespace crown
+{
+
+/// Returns the rotation portion of the matrix @a m as a Quaternion.
+Quaternion quaternion(const Matrix3x3& m)
+{
+	const float ww = m.x.x + m.y.y + m.z.z;
+	const float xx = m.x.x - m.y.y - m.z.z;
+	const float yy = m.y.y - m.x.x - m.z.z;
+	const float zz = m.z.z - m.x.x - m.y.y;
+	float max = ww;
+	uint32_t index = 0;
+
+	if (xx > max)
+	{
+		max = xx;
+		index = 1;
+	}
+
+	if (yy > max)
+	{
+		max = yy;
+		index = 2;
+	}
+
+	if (zz > max)
+	{
+		max = zz;
+		index = 3;
+	}
+
+	const float biggest = sqrtf(max + 1.0f) * 0.5f;
+	const float mult = 0.25f / biggest;
+
+	Quaternion tmp;
+	switch (index)
+	{
+		case 0:
+		{
+			tmp.w = biggest;
+			tmp.x = (m.y.z - m.z.y) * mult;
+			tmp.y = (m.z.x - m.x.z) * mult;
+			tmp.z = (m.x.y - m.y.x) * mult;
+			break;
+		}
+		case 1:
+		{
+			tmp.x = biggest;
+			tmp.w = (m.y.z - m.z.y) * mult;
+			tmp.y = (m.x.y + m.y.x) * mult;
+			tmp.z = (m.z.x + m.x.z) * mult;
+			break;
+		}
+		case 2:
+		{
+			tmp.y = biggest;
+			tmp.w = (m.z.x - m.x.z) * mult;
+			tmp.x = (m.x.y + m.y.x) * mult;
+			tmp.z = (m.y.z + m.z.y) * mult;
+			break;
+		}
+		case 3:
+		{
+			tmp.z = biggest;
+			tmp.w = (m.x.y - m.y.x) * mult;
+			tmp.x = (m.z.x + m.x.z) * mult;
+			tmp.y = (m.y.z + m.z.y) * mult;
+			break;
+		}
+		default:
+		{
+			CE_FATAL("You should not be here");
+			break;
+		}
+	}
+
+	normalize(tmp);
+	return tmp;
+}
+
+} // namespace crown

src/core/math/quaternion.h

@@ -6,16 +6,15 @@
 #pragma once
 
 #include "types.h"
-#include "vector3.h"
 #include "math_types.h"
+#include "math_utils.h"
+#include "matrix3x3.h"
 
 namespace crown
 {
 /// @addtogroup Math
 /// @{
 
-const Quaternion QUATERNION_IDENTITY = { 0.0f, 0.0f, 0.0f, 1.0f };
-
 inline Quaternion quaternion(float x, float y, float z, float w)
 {
 	Quaternion q;
@@ -29,13 +28,15 @@ inline Quaternion quaternion(float x, float y, float z, float w)
 inline Quaternion quaternion(const Vector3& axis, float angle)
 {
 	Quaternion q;
-	q.x = axis.x * sin(angle * 0.5f);
-	q.y = axis.y * sin(angle * 0.5f);
-	q.z = axis.z * sin(angle * 0.5f);
-	q.w = cos(angle * 0.5f);
+	q.x = axis.x * sinf(angle * 0.5f);
+	q.y = axis.y * sinf(angle * 0.5f);
+	q.z = axis.z * sinf(angle * 0.5f);
+	q.w = cosf(angle * 0.5f);
 	return q;
 }
 
+Quaternion quaternion(const Matrix3x3& m);
+
 inline Quaternion& operator*=(Quaternion& a, const Quaternion& b)
 {
 	const float t_w = a.w*b.w - a.x*b.x - a.y*b.y - a.z*b.z;
@@ -87,7 +88,7 @@ inline float dot(const Quaternion& a, const Quaternion& b)
 /// Returns the length of @a q.
 inline float length(const Quaternion& q)
 {
-	return sqrt(q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z);
+	return sqrtf(q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z);
 }
 
 /// Normalizes the quaternion @a q and returns the result.
@@ -121,13 +122,14 @@ inline Quaternion inverse(const Quaternion& q)
 /// Returns the quaternion @a q raised to the power of @a exp.
 inline Quaternion power(const Quaternion& q, float exp)
 {
-	if (abs(q.w) < 0.9999)
+	if (fabs(q.w) < 0.9999)
 	{
-		float alpha = acos(q.w); // alpha = theta/2
-		float new_alpha = alpha * exp;
-		float mult = sin(new_alpha) / sin(alpha);
+		const float alpha = acos(q.w); // alpha = theta/2
+		const float new_alpha = alpha * exp;
+		const float mult = sinf(new_alpha) / sinf(alpha);
+
 		Quaternion tmp;
-		tmp.w = cos(new_alpha);
+		tmp.w = cosf(new_alpha);
 		tmp.x = q.x * mult;
 		tmp.y = q.y * mult;
 		tmp.z = q.z * mult;
@@ -137,5 +139,35 @@ inline Quaternion power(const Quaternion& q, float exp)
 	return q;
 }
 
+inline Quaternion look(const Vector3& dir, const Vector3& up = VECTOR3_YAXIS)
+{
+	const Vector3 right = cross(dir, up);
+	const Vector3 nup = cross(right, dir);
+
+	Matrix3x3 m;
+	m.x = -right;
+	m.y = nup;
+	m.z = dir;
+	return quaternion(m);
+}
+
+inline Vector3 right(const Quaternion& q)
+{
+	const Matrix3x3 m = matrix3x3(q);
+	return m.x;
+}
+
+inline Vector3 up(const Quaternion& q)
+{
+	const Matrix3x3 m = matrix3x3(q);
+	return m.y;
+}
+
+inline Vector3 forward(const Quaternion& q)
+{
+	const Matrix3x3 m = matrix3x3(q);
+	return m.z;
+}
+
 // @}
 } // namespace crown

src/core/math/sphere.h

@@ -51,7 +51,7 @@ namespace sphere
 
 			const float dist = squared_length(*p - s.c);
 			if (dist > s.r*s.r)
-				s.r = sqrt(dist);
+				s.r = sqrtf(dist);
 
 			points = (const void*)((const char*)points + stride);
 		}
@@ -71,7 +71,7 @@ namespace sphere
 			if (dist < (spheres[i].r + s.r) * (spheres[i].r + s.r))
 			{
 				if (spheres[i].r * spheres[i].r > s.r * s.r)
-					s.r = sqrt(dist + spheres[i].r * spheres[i].r);
+					s.r = sqrtf(dist + spheres[i].r * spheres[i].r);
 			}
 		}
 	}

src/core/math/vector2.h

@@ -14,8 +14,6 @@ namespace crown
 /// @addtogroup Math
 /// @{
 
-const Vector2 VECTOR2_ZERO = { 0.0f, 0.0f };
-
 inline Vector2 vector2(float x, float y)
 {
 	Vector2 v;
@@ -113,7 +111,7 @@ inline float dot(const Vector2& a, const Vector2& b)
 /// Returns the lenght of @a a.
 inline float length(const Vector2& a)
 {
-	return sqrt(a.x * a.x + a.y * a.y);
+	return sqrtf(a.x * a.x + a.y * a.y);
 }
 
 /// Returns the squared length of @a a.

src/core/math/vector3.h

@@ -15,17 +15,6 @@ namespace crown
 /// @addtogroup Math
 /// @{
 
-const Vector3 VECTOR3_ZERO     = { 0.0f, 0.0f, 0.0f };
-const Vector3 VECTOR3_XAXIS    = { 1.0f, 0.0f, 0.0f };
-const Vector3 VECTOR3_YAXIS    = { 0.0f, 1.0f, 0.0f };
-const Vector3 VECTOR3_ZAXIS    = { 0.0f, 0.0f, 1.0f };
-const Vector3 VECTOR3_FORWARD  = { 0.0f, 0.0f, 1.0f };
-const Vector3 VECTOR3_BACKWARD = { 0.0f, 0.0f, -1.0f };
-const Vector3 VECTOR3_LEFT     = { -1.0f, 0.0f, 0.0f };
-const Vector3 VECTOR3_RIGHT    = { 1.0f, 0.0f, 0.0f };
-const Vector3 VECTOR3_UP       = { 0.0f, 1.0f, 0.0f };
-const Vector3 VECTOR3_DOWN     = { 0.0f, -1.0f, 0.0f };
-
 inline Vector3 vector3(float x, float y, float z)
 {
 	Vector3 v;
@@ -135,7 +124,7 @@ inline Vector3 cross(const Vector3& a, const Vector3& b)
 /// Returns the lenght of @a a.
 inline float length(const Vector3& a)
 {
-	return sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
+	return sqrtf(a.x * a.x + a.y * a.y + a.z * a.z);
 }
 
 /// Returns the squared length of @a a.

src/core/math/vector4.h

@@ -15,12 +15,6 @@ namespace crown
 /// @addtogroup Math
 /// @{
 
-const Vector4 VECTOR4_ZERO  = { 0.0f, 0.0f, 0.0f, 0.0f };
-const Vector4 VECTOR4_XAXIS = { 1.0f, 0.0f, 0.0f, 0.0f };
-const Vector4 VECTOR4_YAXIS = { 0.0f, 1.0f, 0.0f, 0.0f };
-const Vector4 VECTOR4_ZAXIS = { 0.0f, 0.0f, 1.0f, 0.0f };
-const Vector4 VECTOR4_WAXIS = { 0.0f, 0.0f, 0.0f, 1.0f };
-
 /// Returns the Vector3 portion of @a a. (i.e. truncates w)
 Vector3 to_vector3(const Vector4& a);
 
@@ -146,7 +140,7 @@ inline float dot(const Vector4& a, const Vector4& b)
 /// Returns the lenght of @a a.
 inline float length(const Vector4& a)
 {
-	return sqrt(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w);
+	return sqrtf(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w);
 }
 
 /// Returns the squared length of @a a.

src/lua/lua_math.cpp

@@ -646,6 +646,35 @@ static int quaternion_elements(lua_State* L)
 	return 4;
 }
 
+static int quaternion_look(lua_State* L)
+{
+	LuaStack stack(L);
+	const Vector3 up = stack.num_args() == 2 ? stack.get_vector3(2) : VECTOR3_YAXIS;
+	stack.push_quaternion(look(stack.get_vector3(1), up));
+	return 1;
+}
+
+static int quaternion_right(lua_State* L)
+{
+	LuaStack stack(L);
+	stack.push_vector3(right(stack.get_quaternion(1)));
+	return 1;
+}
+
+static int quaternion_up(lua_State* L)
+{
+	LuaStack stack(L);
+	stack.push_vector3(up(stack.get_quaternion(1)));
+	return 1;
+}
+
+static int quaternion_forward(lua_State* L)
+{
+	LuaStack stack(L);
+	stack.push_vector3(forward(stack.get_quaternion(1)));
+	return 1;
+}
+
 static int quaternionbox_new(lua_State* L)
 {
 	LuaStack stack(L);
@@ -889,6 +918,10 @@ void load_math(LuaEnvironment& env)
 	env.load_module_function("Quaternion", "inverse",            quaternion_inverse);
 	env.load_module_function("Quaternion", "power",              quaternion_power);
 	env.load_module_function("Quaternion", "elements",           quaternion_elements);
+	env.load_module_function("Quaternion", "look",               quaternion_look);
+	env.load_module_function("Quaternion", "right",              quaternion_right);
+	env.load_module_function("Quaternion", "up",                 quaternion_up);
+	env.load_module_function("Quaternion", "forward",            quaternion_forward);
 
 	env.load_module_constructor("Quaternion", quaternion_ctor);
 

src/renderers/debug_line.cpp

@@ -192,18 +192,18 @@ void DebugLine::add_sphere(const Vector3& center, const float radius, const Colo
 		const float rad1 = to_rad(float(deg + deg_step));
 
 		// XZ plane
-		const Vector3 start0 = vector3(cos(rad0)*radius, 0.0f, -sin(rad0)*radius);
-		const Vector3 end0   = vector3(cos(rad1)*radius, 0.0f, -sin(rad1)*radius);
+		const Vector3 start0 = vector3(cosf(rad0)*radius, 0.0f, -sinf(rad0)*radius);
+		const Vector3 end0   = vector3(cosf(rad1)*radius, 0.0f, -sinf(rad1)*radius);
 		add_line(center + start0, center + end0, color);
 
 		// XY plane
-		const Vector3 start1 = vector3(cos(rad0)*radius, sin(rad0)*radius, 0.0f);
-		const Vector3 end1   = vector3(cos(rad1)*radius, sin(rad1)*radius, 0.0f);
+		const Vector3 start1 = vector3(cosf(rad0)*radius, sinf(rad0)*radius, 0.0f);
+		const Vector3 end1   = vector3(cosf(rad1)*radius, sinf(rad1)*radius, 0.0f);
 		add_line(center + start1, center + end1, color);
 
 		// YZ plane
-		const Vector3 start2 = vector3(0.0f, sin(rad0)*radius, -cos(rad0)*radius);
-		const Vector3 end2   = vector3(0.0f, sin(rad1)*radius, -cos(rad1)*radius);
+		const Vector3 start2 = vector3(0.0f, sinf(rad0)*radius, -cosf(rad0)*radius);
+		const Vector3 end2   = vector3(0.0f, sinf(rad1)*radius, -cosf(rad1)*radius);
 		add_line(center + start2, center + end2, color);
 	}
 }

src/world/scene_graph.cpp

@@ -152,7 +152,7 @@ Vector3 SceneGraph::local_position(TransformInstance i) const
 
 Quaternion SceneGraph::local_rotation(TransformInstance i) const
 {
-	return rotation(_data.local[i.i].rotation);
+	return quaternion(_data.local[i.i].rotation);
 }
 
 Vector3 SceneGraph::local_scale(TransformInstance i) const
@@ -162,7 +162,7 @@ Vector3 SceneGraph::local_scale(TransformInstance i) const
 
 Matrix4x4 SceneGraph::local_pose(TransformInstance i) const
 {
-	Matrix4x4 tr = matrix4x4(rotation(_data.local[i.i].rotation), _data.local[i.i].position);
+	Matrix4x4 tr = matrix4x4(quaternion(_data.local[i.i].rotation), _data.local[i.i].position);
 	set_scale(tr, _data.local[i.i].scale);
 	return tr;
 }