#include <libdragon.h>

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Data Structures
struct	T3DVec4FP

struct	__attribute__

struct	T3DFrustum

Macros
#define	T3D_DEG_TO_RAD(deg)

#define	T3D_F32_TO_FIXED(val)

#define	T3D_PI 3.14159265358979f

Typedefs
typedef fm_vec3_t	T3DVec3

typedef fm_vec4_t	T3DVec4

typedef fm_quat_t	T3DQuat

typedef fm_mat4_t	T3DMat4

Functions
static float	s1616_to_float (int16_t partI, uint16_t partF)
	Converts a 16.16 fixed-point number to a float.

static float	t3d_lerp (float a, float b, float t)
	Interpolates between two floats by 't'.

static float	t3d_lerp_angle (float a, float b, float t)
	Interpolates between two angles (radians) by 't'.

static void	t3d_vec3_add (T3DVec3 res, const T3DVec3 a, const T3DVec3 *b)
	Sets 'res' to 'a + b'.

static void	t3d_vec3_mul (T3DVec3 res, const T3DVec3 a, const T3DVec3 *b)
	Sets 'res' to 'a + b'.

static void	t3d_vec3_scale (T3DVec3 res, const T3DVec3 a, float s)
	Sets 'res' to 'a * s'.

static void	t3d_vec3_diff (T3DVec3 res, const T3DVec3 a, const T3DVec3 *b)
	Set 'res' to 'a - b'.

static float	t3d_vec3_len2 (const T3DVec3 *vec)
	Returns the squared length of 'v'.

static float	t3d_vec3_len (const T3DVec3 *vec)
	Returns the length of 'v'.

static float	t3d_vec3_distance2 (const T3DVec3 vecA, const T3DVec3 vecB)
	Returns the squared distance between 'vecA' and 'vecB'.

static float	t3d_vec3_distance (const T3DVec3 vecA, const T3DVec3 vecB)
	Returns the distance between 'vecA' and 'vecB'.

static void	t3d_vec3_norm (T3DVec3 *res)
	Normalizes 'res', this does NOT check for a zero-length vector.

static void	t3d_vec3_cross (T3DVec3 res, const T3DVec3 a, const T3DVec3 *b)
	Crosses 'a' with 'b' and stores it in 'res'.

static float	t3d_vec3_dot (const T3DVec3 a, const T3DVec3 b)
	Returns the dot product of 'a' and 'b'.

static void	t3d_vec3_lerp (T3DVec3 res, const T3DVec3 a, const T3DVec3 *b, float t)
	Linearly interpolates between 'a' and 'b' by 't' and stores it in 'res'.

static void	t3d_quat_identity (T3DQuat *quat)

static void	t3d_quat_from_euler (T3DQuat *quat, const float rotEuler[3])

static void	t3d_quat_from_rotation (T3DQuat *quat, float axis[3], float angleRad)

static void	t3d_quat_mul (T3DQuat res, T3DQuat a, T3DQuat *b)

static void	t3d_quat_rotate_euler (T3DQuat *quat, float axis[3], float angleRad)

static float	t3d_quat_dot (const T3DQuat a, const T3DQuat b)

static void	t3d_quat_normalize (T3DQuat *quat)

void	t3d_quat_nlerp (T3DQuat res, const T3DQuat a, const T3DQuat *b, float t)

void	t3d_quat_slerp (T3DQuat res, const T3DQuat a, const T3DQuat *b, float t)

static void	t3d_mat4_identity (T3DMat4 *mat)
	Initializes a matrix to the identity matrix.

static void	t3d_mat4_scale (T3DMat4 *mat, float scaleX, float scaleY, float scaleZ)

static void	t3d_mat4_translate (T3DMat4 *mat, float offsetX, float offsetY, float offsetZ)

void	t3d_mat4_rotate (T3DMat4 mat, const T3DVec3 axis, float angleRad)

void	t3d_mat4_from_srt (T3DMat4 *mat, const float scale[3], const float quat[4], const float translate[3])

void	t3d_mat4_from_srt_euler (T3DMat4 *mat, const float scale[3], const float rot[3], const float translate[3])

void	t3d_mat4_rot_from_dir (T3DMat4 mat, const T3DVec3 dir, const T3DVec3 *up)

void	t3d_mat4fp_from_srt_euler (T3DMat4FP *mat, const float scale[3], const float rot[3], const float translate[3])

void	t3d_mat4fp_from_srt (T3DMat4FP *mat, const float scale[3], const float rotQuat[4], const float translate[3])

static void	t3d_mat4fp_set_float (T3DMat4FP *mat, uint32_t column, uint32_t row, float val)
	Sets a value in a fixed-point matrix.

static void	t3d_mat4fp_set_pos (T3DMat4FP *mat, const float pos[3])

static float	t3d_mat4fp_get_float (const T3DMat4FP *mat, uint32_t y, uint32_t x)
	Gets a value from a fixed-point matrix.

static void	t3d_mat4fp_identity (T3DMat4FP *mat)

void	t3d_mat4_to_fixed (T3DMat4FP matOut, const T3DMat4 matIn)

void	t3d_mat4_to_fixed_3x4 (T3DMat4FP matOut, const T3DMat4 matIn)

void	t3d_mat4_perspective (T3DMat4 *mat, float fov, float aspect, float near, float far)

void	t3d_mat4_ortho (T3DMat4 *mat, float left, float right, float bottom, float top, float near, float far)

void	t3d_mat4_look_at (T3DMat4 mat, const T3DVec3 eye, const T3DVec3 target, const T3DVec3 up)
	Creates a look-at matrix from an eye and target vector.

void	t3d_mat4_to_frustum (T3DFrustum frustum, const T3DMat4 mat)

void	t3d_frustum_scale (T3DFrustum *frustum, float scale)

bool	t3d_frustum_vs_aabb (const T3DFrustum frustum, const T3DVec3 min, const T3DVec3 *max)

bool	t3d_frustum_vs_aabb_s16 (const T3DFrustum *frustum, const int16_t min[3], const int16_t max[3])

bool	t3d_frustum_vs_sphere (const T3DFrustum frustum, const T3DVec3 center, const float radius)

static void	t3d_mat4_mul (T3DMat4 matRes, const T3DMat4 matA, const T3DMat4 *matB)
	Multiplies the matrices 'matA' and 'matB' and stores it in 'matRes'.

static void	t3d_mat3_mul_vec3 (T3DVec3 vecOut, const T3DMat4 mat, const T3DVec3 *vec)

static void	t3d_mat4_mul_vec3 (T3DVec4 vecOut, const T3DMat4 mat, const T3DVec3 *vec)

Detailed Description

Copyright: 2023 - Max Bebök @license MIT

Macro Definition Documentation

◆ T3D_DEG_TO_RAD

#define T3D_DEG_TO_RAD ( deg )

Value:

(deg * 0.01745329252f)

◆ T3D_F32_TO_FIXED

#define T3D_F32_TO_FIXED ( val )

Value:

(int32_t)((val) * (float)(1<<16))

Function Documentation

◆ t3d_frustum_scale()

void t3d_frustum_scale	(	T3DFrustum *	frustum,
		float	scale )

Scales a frustum by a given factor. This can be used if you need to check scaled objects without having to transform the AABBs

Parameters

frustum	frustum to scale
scale	scale factor (use the same as the model scale)

◆ t3d_frustum_vs_aabb()

bool t3d_frustum_vs_aabb	(	const T3DFrustum *	frustum,
		const T3DVec3 *	min,
		const T3DVec3 *	max )

Checks if an AABB is inside a frustum. Note that this function may choose to return false positives in favor of speed. So it should only be used where this is acceptable (e.g. culling) and not for collision detection.

Parameters

frustum	frustum
min	AABB min
max	AABB max

Returns: true if the AABB is inside the frustum

◆ t3d_frustum_vs_aabb_s16()

bool t3d_frustum_vs_aabb_s16	(	const T3DFrustum *	frustum,
		const int16_t	min[3],
		const int16_t	max[3] )

Checks if an s16 AABB is inside a frustum. Note that this function may choose to return false positives in favor of speed. So it should only be used where this is acceptable (e.g. culling) and not for collision detection.

Parameters

frustum	frustum
min	AABB min
max	AABB max

Returns: true if the AABB is inside the frustum

◆ t3d_frustum_vs_sphere()

bool t3d_frustum_vs_sphere	(	const T3DFrustum *	frustum,
		const T3DVec3 *	center,
		const float	radius )

Checks if a Sphere is inside a frustum. Note that this function may choose to return false positives in favor of speed. So it should only be used where this is acceptable (e.g. culling) and not for collision detection.

Parameters

frustum	frustum
center	Sphere center
radius	Sphere radius

Returns: true if the Sphere is inside the frustum

◆ t3d_mat3_mul_vec3()

static void t3d_mat3_mul_vec3	(	T3DVec3 *	vecOut,
		const T3DMat4 *	mat,
		const T3DVec3 *	vec )

inlinestatic

Multiplies a 3x3 matrix with a 3D vector

Parameters

vecOut	result
mat	matrix
vec	input-vector

◆ t3d_mat4_from_srt()

void t3d_mat4_from_srt	(	T3DMat4 *	mat,
		const float	scale[3],
		const float	quat[4],
		const float	translate[3] )

Directly constructs a matrix from scale, rotation (quaternion) and translation For a euler version, see 't3d_mat4_from_srt_euler'.

Parameters

mat	result
scale	scale factors
rot	rotation quaternion
translate	offsets

◆ t3d_mat4_from_srt_euler()

void t3d_mat4_from_srt_euler	(	T3DMat4 *	mat,
		const float	scale[3],
		const float	rot[3],
		const float	translate[3] )

Directly constructs a matrix from scale, rotation (euler) and translation For a quaternion version, see 't3d_mat4_from_srt'.

Parameters

mat
scale
rot
translate

◆ t3d_mat4_identity()

static void t3d_mat4_identity ( T3DMat4 * mat )

inlinestatic

Initializes a matrix to the identity matrix.

Parameters

mat	matrix to be changed

◆ t3d_mat4_look_at()

void t3d_mat4_look_at	(	T3DMat4 *	mat,
		const T3DVec3 *	eye,
		const T3DVec3 *	target,
		const T3DVec3 *	up )

Creates a look-at matrix from an eye and target vector.

Parameters

mat	destination matrix
eye	camera position
target	camera target/focus point
up	camera up vector, expected to be {0,1,0} by default

◆ t3d_mat4_mul_vec3()

static void t3d_mat4_mul_vec3	(	T3DVec4 *	vecOut,
		const T3DMat4 *	mat,
		const T3DVec3 *	vec )

inlinestatic

Multiplies a 4x4 matrix with a 3D vector. The W component of the vector is assumed to be 1.

Parameters

vecOut	result
mat	matrix
vec	input-vector

◆ t3d_mat4_ortho()

void t3d_mat4_ortho	(	T3DMat4 *	mat,
		float	left,
		float	right,
		float	bottom,
		float	top,
		float	near,
		float	far )

Constructs an orthographic projection matrix

Parameters

mat	result
left
right
bottom
top
near	near plane distance
far	far plane distance

◆ t3d_mat4_perspective()

void t3d_mat4_perspective	(	T3DMat4 *	mat,
		float	fov,
		float	aspect,
		float	near,
		float	far )

Constructs a perspective projection matrix

Parameters

mat	result
fov	fov in radians
aspect	aspect ratio
near	near plane distance
far	far plane distance

◆ t3d_mat4_rot_from_dir()

void t3d_mat4_rot_from_dir	(	T3DMat4 *	mat,
		const T3DVec3 *	dir,
		const T3DVec3 *	up )

Constructs a matrix from a direction and up vector. This will only create a rotation matrix, the translation part will be identity.

Parameters

mat	result
dir	direction vector
up	up vector

◆ t3d_mat4_rotate()

void t3d_mat4_rotate	(	T3DMat4 *	mat,
		const T3DVec3 *	axis,
		float	angleRad )

Rotates a matrix around an axis

Parameters

mat	result
axis	axis to rotate around
angleRad	angle in radians

◆ t3d_mat4_scale()

static void t3d_mat4_scale	(	T3DMat4 *	mat,
		float	scaleX,
		float	scaleY,
		float	scaleZ )

inlinestatic

Scales a matrix by the given factors

Parameters

mat	result
scaleX
scaleY
scaleZ

◆ t3d_mat4_to_fixed()

void t3d_mat4_to_fixed	(	T3DMat4FP *	matOut,
		const T3DMat4 *	matIn )

Converts a float matrix to a fixed-point matrix.

Parameters

matOut	result
matIn	input

◆ t3d_mat4_to_fixed_3x4()

void t3d_mat4_to_fixed_3x4	(	T3DMat4FP *	matOut,
		const T3DMat4 *	matIn )

Converts a float 4x4 matrix to a fixed-point 4x4 matrix. The last row of the matrix is assumed to be {0,0,0,1}. This should be preferred over 't3d_mat4_to_fixed' when possible as it is faster.

Parameters

matOut	result
matIn	input

◆ t3d_mat4_to_frustum()

void t3d_mat4_to_frustum	(	T3DFrustum *	frustum,
		const T3DMat4 *	mat )

Extracts the frustum planes from a 4x4 view/camera matrix

Parameters

frustum	result
mat	view/camera matrix

◆ t3d_mat4_translate()

static void t3d_mat4_translate	(	T3DMat4 *	mat,
		float	offsetX,
		float	offsetY,
		float	offsetZ )

inlinestatic

Translates a matrix by the given offsets

Parameters

mat	result
offsetX
offsetY
offsetZ

◆ t3d_mat4fp_from_srt()

void t3d_mat4fp_from_srt	(	T3DMat4FP *	mat,
		const float	scale[3],
		const float	rotQuat[4],
		const float	translate[3] )

Directly constructs a matrix from scale, rotation (quaternion) and translation Same as 't3d_mat4_from_srt', but instead directly writes to a fixed-point matrix.

Parameters

mat
scale
rot
translate

◆ t3d_mat4fp_from_srt_euler()

void t3d_mat4fp_from_srt_euler	(	T3DMat4FP *	mat,
		const float	scale[3],
		const float	rot[3],
		const float	translate[3] )

Directly constructs a matrix from scale, rotation (euler) and translation Same as 't3d_mat4_from_srt_euler', but instead directly writes to a fixed-point matrix.

Parameters

mat
scale
rot
translate

◆ t3d_mat4fp_get_float()

static float t3d_mat4fp_get_float	(	const T3DMat4FP *	mat,
		uint32_t	y,
		uint32_t	x )

inlinestatic

Gets a value from a fixed-point matrix.

Parameters

mat	matrix to be read
y	row
x	column

Returns: value as a float

◆ t3d_mat4fp_set_float()

static void t3d_mat4fp_set_float	(	T3DMat4FP *	mat,
		uint32_t	column,
		uint32_t	row,
		float	val )

inlinestatic

Sets a value in a fixed-point matrix.

Parameters

mat	matrix to be changed
column
row
val	value to be set as a float

◆ t3d_mat4fp_set_pos()

static void t3d_mat4fp_set_pos	(	T3DMat4FP *	mat,
		const float	pos[3] )

inlinestatic

Sets the position of a fixed-point matrix. Note: that this will just set the values without any further checks/calculations.

Parameters

mat	matrix to be changed
pos	position as a float[3]

◆ t3d_quat_dot()

static float t3d_quat_dot	(	const T3DQuat *	a,
		const T3DQuat *	b )

inlinestatic

Dot product of a quaternion as a vec4

Parameters

a	quaternion
b	quaternion

Returns: dot product

◆ t3d_quat_from_euler()

static void t3d_quat_from_euler	(	T3DQuat *	quat,
		const float	rotEuler[3] )

inlinestatic

Creates a quaternion from euler angles (radians)

Parameters

quat	result (in XYZW order)
rotEuler

◆ t3d_quat_from_rotation()

static void t3d_quat_from_rotation	(	T3DQuat *	quat,
		float	axis[3],
		float	angleRad )

inlinestatic

Creates a quaternion from a rotation (radians) around an axis

Parameters

quat	result
axis	rotation axis
angleRad	angle in radians

◆ t3d_quat_mul()

static void t3d_quat_mul	(	T3DQuat *	res,
		T3DQuat *	a,
		T3DQuat *	b )

inlinestatic

Multiplies two quaternions and stores the result in 'res'. NOTE: if 'a' or 'b' point to the same quat. as 'res', the result will be incorrect.

Parameters

res	result
a	first quaternion
b	second quaternion

◆ t3d_quat_nlerp()

void t3d_quat_nlerp	(	T3DQuat *	res,
		const T3DQuat *	a,
		const T3DQuat *	b,
		float	t )

Interpolates between two quaternions using a normalized linear interpolation.

Parameters

res	interpolated quaternion
a	first quaternion
b	second quaternion
t	interpolation factor

◆ t3d_quat_normalize()

static void t3d_quat_normalize ( T3DQuat * quat )

inlinestatic

Normalizes a quaternion

Parameters

quat

◆ t3d_quat_rotate_euler()

static void t3d_quat_rotate_euler	(	T3DQuat *	quat,
		float	axis[3],
		float	angleRad )

inlinestatic

Rotates a quaternion around an axis

Parameters

quat	quat to modify
axis	rotation axis
angleRad	angle in radians

Data Structures

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ T3D_DEG_TO_RAD

◆ T3D_F32_TO_FIXED

Function Documentation

◆ t3d_frustum_scale()

◆ t3d_frustum_vs_aabb()

◆ t3d_frustum_vs_aabb_s16()

◆ t3d_frustum_vs_sphere()

◆ t3d_mat3_mul_vec3()

◆ t3d_mat4_from_srt()

◆ t3d_mat4_from_srt_euler()

◆ t3d_mat4_identity()

◆ t3d_mat4_look_at()

◆ t3d_mat4_mul_vec3()

◆ t3d_mat4_ortho()

◆ t3d_mat4_perspective()

◆ t3d_mat4_rot_from_dir()

◆ t3d_mat4_rotate()

◆ t3d_mat4_scale()

◆ t3d_mat4_to_fixed()

◆ t3d_mat4_to_fixed_3x4()

◆ t3d_mat4_to_frustum()

◆ t3d_mat4_translate()

◆ t3d_mat4fp_from_srt()

◆ t3d_mat4fp_from_srt_euler()

◆ t3d_mat4fp_get_float()

◆ t3d_mat4fp_set_float()

◆ t3d_mat4fp_set_pos()

◆ t3d_quat_dot()

◆ t3d_quat_from_euler()

◆ t3d_quat_from_rotation()

◆ t3d_quat_mul()

◆ t3d_quat_nlerp()

◆ t3d_quat_normalize()

◆ t3d_quat_rotate_euler()