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Prepping for: resolve_look_at impl.

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ed
2026-08-08 23:13:18 -04:00
parent b045856dd6
commit 69f2c0d036
11 changed files with 164 additions and 75 deletions
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code/duffle/psyq.h
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@@ -103,13 +103,19 @@ void gte_matrix_set_rotation (MT3_S2S4* mat) asm("SetRotMatrix");
void gte_matrix_set_translation(MT3_S2S4* mat) asm("SetTransMatrix");
// Einheit, Metrication to unit vector. "Normalization", not Orthogonal "Normal, Normalis". Directionalization.
// RGA(Lengyel): Normalize the bulk of a zero-weight direction. This is not finite-point unitization (which forces w=1).
S4 normalize_v3s4(V3_S4* v0, V3_S4* v1) asm("VectorNormal");
// RGA(Lengyel): Apply the matrix expansion of a rigid transformation.
// Motor antiproduct is equivalent for unitized points; LA form is what GTE consumes.
V3_S4* mul_m3s2_v3s4(MT3_S2S4* m, V3_S4* v, V3_S4* result) asm("ApplyMatrixLV");
// RGA(Lengyel): Store the full translation column. The motor translator would store half this displacement in m.xyz.
MT3_S2S4* trans_m3s2(MT3_S2S4* m, V3_S4* off) asm("TransMatrix");
MT3_S2S4* gte_comp_coord_m3s2(MT3_S2S4* m0, MT3_S2S4* m1, MT3_S2S4* result) asm("CompMatrixLV");
// TODO(Ed): Want to interpret this under the lens of Eric Lengyel's geometric algebra
// RGA(Lengyel): Complement(Wedge(a,b)), i.e. the Euclidean 3D complement of the exterior product, stored as a V3_S4.
// The underlying GTE OP is a specialized signed-16-bit D x IR command; the wedge interpretation is a 3D dual of the same 3 scalars.
void cross_v3s4(V3_S4* v0, V3_S4* v1, V3_S4* result) asm("OuterProduct12");