Merge branch 'master' into otr

include/sf64math.h

@@ -5,6 +5,9 @@
 #include "libc/math.h"
 #include <math.h>
 
+#define MTXF_NEW 0
+#define MTXF_APPLY 1
+
 typedef struct {
     /* 0x0 */ f32 x;
     /* 0x4 */ f32 y;
@@ -22,6 +25,11 @@ typedef struct {
     /* 0x0C */ Vec3f rot;
 } PosRot; // size = 0x18
 
+typedef struct {
+    /* 0x00 */ Vec3f eye;
+    /* 0x0C */ Vec3f at;
+} CameraPoint; // size = 0x18
+
 typedef struct {
     /* 0x0 */ s16 vtx[3];
 } Triangle; // size = 0x6
@@ -73,24 +81,66 @@ s32 Math_PursueVec3f(Vec3f *pos, Vec3f *target, Vec3f *rot, f32 stepSize, f32 sc
 void Math_Vec3fFromAngles(Vec3f *step, f32 xRot, f32 yRot, f32 stepsize);
 f32 Math_RadToDeg(f32 rAngle);
 
-void Matrix_Copy(Matrix*, Matrix*);
+// Copies src Matrix into dst
+void Matrix_Copy(Matrix* dst, Matrix* src);
+
+// Makes a copy of the stack's current matrix and puts it on the top of the stack
 void Matrix_Push(Matrix** mtxStack);
+
+// Removes the top matrix of the stack
 void Matrix_Pop(Matrix** mtxStack);
-void Matrix_Mult(Matrix*, Matrix*, u8);
-void Matrix_Translate(Matrix*, f32, f32, f32, u8);
+
+// Copies tf into mtx (MTXF_NEW) or applies it to mtx (MTXF_APPLY)
+void Matrix_Mult(Matrix* mtx, Matrix* tf, u8 mode);
+
+// Creates a translation matrix in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY)
+void Matrix_Translate(Matrix* mtx, f32 x, f32 y, f32 z, u8 mode);
+
+// Creates a scale matrix in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY)
 void Matrix_Scale(Matrix* mtx, f32 xScale, f32 yScale, f32 zScale, u8 mode);
-void Matrix_RotateX(Matrix*, f32, u8);
-void Matrix_RotateY(Matrix*, f32, u8);
-void Matrix_RotateZ(Matrix*, f32, u8);
-void Matrix_RotateAxis(Matrix*, f32, f32, f32, f32, u8);
-void Matrix_ToMtx(Mtx *dest);
-void Matrix_FromMtx(Mtx *src, Matrix *dest);
+
+// Creates rotation matrix about the X axis in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY)
+void Matrix_RotateX(Matrix* mtx, f32 angle, u8 mode);
+
+// Creates rotation matrix about the Y axis in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY)
+void Matrix_RotateY(Matrix* mtx, f32 angle, u8 mode);
+
+// Creates rotation matrix about the Z axis in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY)
+void Matrix_RotateZ(Matrix* mtx, f32 angle, u8 mode);
+
+// Creates rotation matrix about a given vector axis in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY).
+// The vector specifying the axis does not need to be a unit vector.
+void Matrix_RotateAxis(Matrix* mtx, f32 angle, f32 axisX, f32 axisY, f32 axisZ, u8 mode);
+
+// Converts the current Gfx matrix to a Mtx
+void Matrix_ToMtx(Mtx* dest);
+
+// Converts the Mtx src to a Matrix, putting the result in dest
+void Matrix_FromMtx(Mtx* src, Matrix* dest);
+
+// Applies the transform matrix mtx to the vector src, putting the result in dest
 void Matrix_MultVec3f(Matrix* mtx, Vec3f* src, Vec3f* dest);
+
+// Applies the linear part of the transformation matrix mtx to the vector src, ignoring any translation that mtx might
+// have. Puts the result in dest.
 void Matrix_MultVec3fNoTranslate(Matrix* mtx, Vec3f* src, Vec3f* dest);
-void Matrix_GetYRPAngles(Matrix*, Vec3f*);
-void Matrix_GetXYZAngles(Matrix*, Vec3f*);
-void Matrix_LookAt(Matrix*, f32, f32, f32, f32, f32, f32, f32, f32, f32, u8);
-void Matrix_SetGfxMtx(Gfx**);
+
+// Expresses the rotational part of the transform mtx as Tait-Bryan angles, in the yaw-pitch-roll (intrinsic YXZ)
+// convention used in worldspace calculations
+void Matrix_GetYRPAngles(Matrix* mtx, Vec3f* rot);
+
+// Expresses the rotational part of the transform mtx as Tait-Bryan angles, in the extrinsic XYZ convention used in
+// modelspace calculations
+void Matrix_GetXYZAngles(Matrix* mtx, Vec3f* rot);
+
+// Creates a look-at matrix from Eye, At, and Up in mtx (MTXF_NEW) or applies one to mtx (MTXF_APPLY).
+// A look-at matrix is a rotation-translation matrix that maps y to Up, z to (At - Eye), and translates to Eye
+void Matrix_LookAt(Matrix* mtx, f32 xEye, f32 yEye, f32 zEye, f32 xAt, f32 yAt, f32 zAt, f32 xUp, f32 yUp, f32 zUp,
+                  u8 mode);
+
+// Converts the current Gfx matrix to a Mtx and sets it to the display list
+void Matrix_SetGfxMtx(Gfx** gfx);
+
 
 f32 Math_FAtanF(f32);
 f32 Math_FAtan2F(f32, f32);