From f5a87f1018db5225de2449aef83b718eda57164c Mon Sep 17 00:00:00 2001 From: CardealRusso Date: Tue, 29 Oct 2024 06:20:51 -0300 Subject: [PATCH] Add raycastlib demo --- examples/raycastlib-c/Makefile | 16 + examples/raycastlib-c/main.c | 673 +++++++++ examples/raycastlib-c/raycastlib.h | 2061 ++++++++++++++++++++++++++++ 3 files changed, 2750 insertions(+) create mode 100644 examples/raycastlib-c/Makefile create mode 100644 examples/raycastlib-c/main.c create mode 100644 examples/raycastlib-c/raycastlib.h diff --git a/examples/raycastlib-c/Makefile b/examples/raycastlib-c/Makefile new file mode 100644 index 0000000..b0e41e8 --- /dev/null +++ b/examples/raycastlib-c/Makefile @@ -0,0 +1,16 @@ +CFLAGS ?= -lm -O3 -flto -Wall -Wextra -std=c99 +CC = gcc + +ifeq ($(OS),Windows_NT) + LDFLAGS = -lgdi32 +else + UNAME_S := $(shell uname -s) + ifeq ($(UNAME_S),Darwin) + LDFLAGS = -framework Cocoa + else + LDFLAGS = -lX11 + endif +endif + +main: main.c ../../fenster.h + $(CC) main.c -I../.. -o $@ $(CFLAGS) $(LDFLAGS) diff --git a/examples/raycastlib-c/main.c b/examples/raycastlib-c/main.c new file mode 100644 index 0000000..ef77d25 --- /dev/null +++ b/examples/raycastlib-c/main.c @@ -0,0 +1,673 @@ +/* + Raycasting Fenster port based on SDL example + Original author: Miloslav Ciz + Adapted for Fenster +*/ + +#include "fenster.h" +#include +#include +#include + +#define RCL_COMPUTE_FLOOR_TEXCOORDS 1 +#define RCL_VERTICAL_FOV 380 +#define RCL_TEXTURE_VERTICAL_STRETCH 1 +#define RCL_PIXEL_FUNCTION pixelFunc + +#include "raycastlib.h" + +#define LEVEL_X_RES 29 +#define LEVEL_Y_RES 21 + +#define SCREEN_WIDTH 800 +#define SCREEN_HEIGHT 600 +#define MIDDLE_ROW (SCREEN_HEIGHT / 2) + +#define max(a,b) ((a) > (b) ? (a) : (b)) + +#define KEYS 8 +#define KEY_UP 17 // Fenster uses 17-20 for arrow keys +#define KEY_RIGHT 19 +#define KEY_DOWN 18 +#define KEY_LEFT 20 +#define KEY_Q 81 +#define KEY_W 87 +#define KEY_A 65 +#define KEY_S 83 + +unsigned long frame = 0; + +RCL_Camera camera; +uint32_t pixels[SCREEN_WIDTH * SCREEN_HEIGHT]; +uint32_t pixelCounter[SCREEN_WIDTH * SCREEN_HEIGHT]; +uint32_t palette[256]; + +typedef struct +{ + unsigned char *mImage; + RCL_Vector2D mPosition; + RCL_Unit mHeight; + RCL_Unit mPixelSize; +} Sprite; + +#define SPRITES 7 +#define SPRITE_MAX_DISTANCE 5 * RCL_UNITS_PER_SQUARE + +// For each level square says the texture index. +const unsigned char levelTexture[] = +{ +// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 + 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 3, 0, 3, 3, 2, 2, 2, 2, // 0 20 + 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 1, 1, 1, 2, // 1 19 + 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 2, // 2 18 + 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 1, 1, 1, 2, // 3 17 + 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 2, // 4 16 + 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 1, 1, 1, 2, // 5 15 + 1, 0, 1, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 6 14 + 1, 0, 1, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 2, // 7 13 + 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 8 12 + 1, 1, 1, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 9 11 + 1, 1, 1, 1, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 10 10 + 1, 1, 1, 1, 0, 0, 3, 3, 3, 3, 0, 0, 0, 0, 0, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 11 9 + 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, // 12 8 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 13 7 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, // 14 6 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 15 5 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 16 4 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 17 3 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 18 2 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 3, 3, // 19 1 + 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3 // 20 0 +}; + +// For each level square says the floor height. +const signed char levelFloor[] = +{ +// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 + 40,40,40,40,40,40,40,40,48,40,48,40,40,40,40,40,40,48,40,48,40,48,40,48,48,24,24,26,28, // 0 20 + 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,40, 2, 2, 2,40,32,32,32,32,32,32,32,48, 2, 2, 2,26, // 1 19 + 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,40, 2, 2, 2,40, 0, 0, 0, 0, 0,32,32,40, 2, 2, 2,26, // 2 18 + 40,16,12, 8, 4, 0,48, 0, 0, 0, 0, 0,24, 2,24, 8,24, 0, 0, 9, 9, 0,28,32,48, 2, 2, 2,24, // 3 17 + 40,20,48,48,48,48,48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 9, 0,24,32,40, 0, 0, 0,24, // 4 16 + 40,24,48,40,40,40,40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,20,32,48, 0, 0, 0,24, // 5 15 + 40,28,32,32,32,32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 8,12,16,32,40, 0, 0, 0,24, // 6 14 + 40,32,32,32,32,32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,32,32,32,32,32,32,48, 0, 0, 0,24, // 7 13 + 40, 0,48,40,40,40,40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,32,-3,-8,-8,-5,-2, 0, 0, 0, 0,24, // 8 12 + 40, 0,-3,-8,-8,-8,32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,32,-3,-8,-8, 0, 0, 0, 0, 0, 0,24, // 9 11 + 40, 0,-6,-8,-8,-8,32, 0, 0, 0,48,48, 0,48,48, 0, 0,36,32,36,-8,-8, 0, 0, 0, 0, 0, 0,24, // 10 10 + 40, 0,48,-8,-8,-8,32,32,32,32,40, 1, 0, 1,40,32,32,32,32,32,-8,-8, 0, 0, 0, 0, 0, 0,24, // 11 9 + 40, 0,48,-8,-8,-8,-8,-8,-8,-8,-8, 0, 0, 0,-8,-8,-8,36,32,36,-8,-8, 0, 0, 0, 0, 0, 0,24, // 12 8 + 40, 0,48,-8,-8,-8,-8,-8,-8,-8,-8, 0, 0, 0,-8,-8,-8,-8,-8,-8,-8,-8, 0, 0, 0, 0, 0, 0,24, // 13 7 + 40, 0,48, 0,-2,-2, 0,-8,-8,-8,-8, 0, 0, 0,-8,-8, 0, 0, 0, 0, 0, 0, 0, 0,24,24,10,24,24, // 14 6 + 40, 0, 0, 0,-2,-2, 0, 0, 0, 0, 8, 0, 0, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0,24, 0, 0, 0,24, // 15 5 + 40, 0, 0, 0,-2,-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24, 0, 0, 0,24, // 16 4 + 40,24,48,-2,-2,-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24, // 17 3 + 0,24,48,48,-2,-2,-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24, // 18 2 + 0,24,48,48,48,-2,-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24, 0, 0, 0,24, // 19 1 + 0,24,24,24,32,32,32,27,24,27,30,34,36,38,36,34,36,34,34,32,32,33,37,39,24,24,24,24,24 // 20 0 +}; + +#define XX 127 // helper to keep a big number two-characters, for formatting + +// For each level square says the ceiling height. +const signed char levelCeiling[] = +{ +// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 + 40,40,40,40,40,40,40,XX,XX,XX,XX,36,40,40,40,40,40,36,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 0 20 + 40,50,50,50,45,40,20,XX,XX,XX,XX,36,40,30,30,30,XX,36,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 1 19 + 40,50,50,50,45,40,20,XX,XX,XX,XX,36,40,30,30,30,XX,36,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 2 18 + 40,50,50,50,45,40,48,XX,XX,XX,XX,36,24,24,24,24,24,36,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 3 17 + 40,50,48,48,48,48,47,XX,XX,XX,XX,36,36,36,36,36,36,36,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 4 16 + 40,50,48,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 5 15 + 40,50,48,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 6 14 + 40,50,48,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 7 13 + 40,50,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 8 12 + 40,40,16,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 9 11 + 40,30,16,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 10 10 + 40,25,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 11 9 + 40,20,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX, // 12 8 + 40,18,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,24,24,24,24, // 13 7 + 40,18,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,24,24,24,24, // 14 6 + 40,18,16,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,25,27,29,24, // 15 5 + 40,18,16,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,25,27,29,24, // 16 4 + 40,24,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,25,27,29,24, // 17 3 + XX,24,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,25,27,29,24, // 18 2 + XX,24,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,25,27,29,24, // 19 1 + XX,24,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,XX,24,24,24,24,24,24 // 20 0 +}; + +#undef XX + +const unsigned char texture1[] = +{ 32, 32 // width, height + ,0x12,0x65,0x65,0x6d,0x24,0x64,0x5b,0x12,0x12,0x64,0x5b,0x5b,0x12,0x51 + ,0x12,0x09,0x00,0x6d,0x6d,0x6d,0x24,0x5b,0x5b,0x52,0x12,0x5b,0x52,0x5b + ,0x12,0x5b,0x52,0x09,0x12,0x5b,0x5b,0x5b,0x52,0x5b,0x5b,0x52,0x00,0x64 + ,0x64,0x52,0x52,0x52,0x5b,0x00,0x09,0x6d,0x5b,0x5a,0x5b,0x5b,0x5a,0x51 + ,0x12,0x64,0x5b,0x52,0x5b,0x52,0x5b,0x08,0x12,0x24,0x5b,0x5b,0x5b,0x5b + 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return image[2 + index]; +} + +uint8_t addIntensity(uint8_t color, int16_t intensity) +{ + uint8_t r = color & 7; + uint8_t g = (color & 56) >> 3; + uint8_t b = (color & 172) >> 6; + + if (intensity >= 0) + { + r += intensity; + r = r > 7 ? 7 : r; + + g += intensity; + g = g > 7 ? 7 : g; + + b += intensity / 2; + b = b > 3 ? 3 : b; + } + else + { + intensity *= -1; + r = (intensity > r) ? 0 : r - intensity; + g = (intensity > g) ? 0 : g - intensity; + intensity /= 2; + b = intensity > b ? 0 : b - intensity; + } + + return rgbToIndex(r,g,b); +} + +RCL_Unit textureAt(int16_t x, int16_t y) +{ + if (x >= 0 && x < LEVEL_X_RES && y >= 0 && y < LEVEL_Y_RES) + return levelTexture[(LEVEL_Y_RES - y -1) * LEVEL_X_RES + x]; + + return 0; +} + +RCL_Unit floorHeightAt(int16_t x, int16_t y) +{ + if (x == 6 && (y == 13 || y == 14)) // moving lift + return ((RCL_abs(-1 * (frame % 64) + 32)) * RCL_UNITS_PER_SQUARE) / 8; + + if (x >= 0 && x < LEVEL_X_RES && y >= 0 && y < LEVEL_Y_RES) + return (levelFloor[(LEVEL_Y_RES - y -1) * LEVEL_X_RES + x] * RCL_UNITS_PER_SQUARE) / 8; + + int a = RCL_abs(x - LEVEL_X_RES / 2) - LEVEL_X_RES / 2; + int b = RCL_abs(y - LEVEL_Y_RES / 2) - LEVEL_Y_RES / 2; + + return (a > b ? a : b) * RCL_UNITS_PER_SQUARE; +} + +RCL_Unit ceilingHeightAt(int16_t x, int16_t y) +{ + int v = 1024; + + if (x >= 0 && x < LEVEL_X_RES && y >= 0 && y < LEVEL_Y_RES) + v = levelCeiling[(LEVEL_Y_RES - y -1) * LEVEL_X_RES + x]; + + return (v * RCL_UNITS_PER_SQUARE) / 8; +} + +/** + Function for drawing a single pixel (like fragment shader). Bottleneck => + should be as fast as possible. +*/ +void pixelFunc(RCL_PixelInfo *pixel) +{ + uint8_t c; + + if (pixel->isWall) + c = sampleImage(textures[pixel->hit.type], pixel->texCoords.x, pixel->texCoords.y); + else + c = pixel->height == RCL_FLOOR_TEXCOORDS_HEIGHT ? + sampleImage(textures[0], pixel->texCoords.x, pixel->texCoords.y) : 0b00010001; + + int intensity = pixel->depth - 8 * RCL_UNITS_PER_SQUARE; + intensity = intensity < 0 ? 0 : intensity; + intensity = (intensity * 32) / RCL_UNITS_PER_SQUARE; + + int32_t color = palette[c]; + + int32_t r = ((color & 0xFF000000) >> 24) - intensity; + r = r > 0 ? r : 0; + + int32_t g = ((color & 0x00FF0000) >> 16) - intensity; + g = g > 0 ? g : 0; + + int32_t b = ((color & 0x0000FF00) >> 8) - intensity; + b = b > 0 ? b : 0; + + int32_t index = pixel->position.y * SCREEN_WIDTH + pixel->position.x; + + // Convert to Fenster's RGB format (24-bit) + pixels[index] = (r << 16) | (g << 8) | b; + pixelCounter[index]++; +} + +void draw() +{ + RCL_RayConstraints c; + c.maxHits = 32; + c.maxSteps = 32; + RCL_renderComplex(camera, floorHeightAt, ceilingHeightAt, textureAt, c); +} + +int main() +{ + // Initialize palette + for (uint8_t r = 0; r < 8; ++r) + for (uint8_t g = 0; g < 8; ++g) + for (uint8_t b = 0; b < 4; ++b) + palette[rgbToIndex(r,g,b)] = ((36 * r) << 24) | ((36 * g) << 16) | ((85 * b) << 8); + + // Initialize camera + camera.position.x = 11237; + camera.position.y = 12392; + camera.shear = -50; + camera.direction = -415; + camera.height = 4648; + camera.resolution.x = SCREEN_WIDTH; + camera.resolution.y = SCREEN_HEIGHT; + + // Initialize Fenster + struct fenster f = { + .title = "Raycasting Demo", + .width = SCREEN_WIDTH, + .height = SCREEN_HEIGHT, + .buf = pixels + }; + + if (fenster_open(&f) != 0) { + fprintf(stderr, "Failed to open window\n"); + return 1; + } + + int64_t lastTime = fenster_time(); + int fps = 0; + + // Main loop + while (fenster_loop(&f) == 0) { + draw(); + fps++; + + + int step = 1; + int step2 = 5; + + RCL_Vector2D direction = RCL_angleToDirection(camera.direction); + direction.x /= 10; + direction.y /= 10; + + // Handle input + if (f.keys[KEY_UP]) { + camera.position.x += step * direction.x; + camera.position.y += step * direction.y; + } + else if (f.keys[KEY_DOWN]) { + camera.position.x -= step * direction.x; + camera.position.y -= step * direction.y; + } + + if (f.keys[KEY_Q]) + camera.height += step * 100; + else if (f.keys[KEY_W]) + camera.height -= step * 100; + + if (f.keys[KEY_RIGHT]) + camera.direction += step2; + else if (f.keys[KEY_LEFT]) + camera.direction -= step2; + + const int shearAdd = 10; + + if (f.keys[KEY_A]) + camera.shear = camera.shear + shearAdd <= SCREEN_HEIGHT ? camera.shear + shearAdd : SCREEN_HEIGHT; + else if (f.keys[KEY_S]) + camera.shear = camera.shear - shearAdd >= -1 * SCREEN_HEIGHT ? camera.shear - shearAdd : -1 * SCREEN_HEIGHT; + + // Calculate and display FPS + int64_t currentTime = fenster_time(); + if (currentTime - lastTime >= 1000) { + printf("FPS: %d\n", fps); + fps = 0; + lastTime = currentTime; + } + + frame++; + } + + fenster_close(&f); + return 0; +} diff --git a/examples/raycastlib-c/raycastlib.h b/examples/raycastlib-c/raycastlib.h new file mode 100644 index 0000000..f5092a4 --- /dev/null +++ b/examples/raycastlib-c/raycastlib.h @@ -0,0 +1,2061 @@ +#ifndef RAYCASTLIB_H +#define RAYCASTLIB_H + +/** + raycastlib (RCL) - Small C header-only raycasting library for embedded and + low performance computers, such as Arduino. Only uses integer math and stdint + standard library. + + Check the defines below to fine-tune accuracy vs performance! Don't forget + to compile with optimizations. + + Before including the library define RCL_PIXEL_FUNCTION to the name of the + function (with RCL_PixelFunction signature) that will render your pixels! + + - All public (and most private) library identifiers start with RCL_. + - Game field's bottom left corner is at [0,0]. + - X axis goes right in the ground plane. + - Y axis goes up in the ground plane. + - Height means the Z (vertical) coordinate. + - Each game square is RCL_UNITS_PER_SQUARE * RCL_UNITS_PER_SQUARE points. + - Angles are in RCL_Units, 0 means pointing right (x+) and positively rotates + clockwise. A full angle has RCL_UNITS_PER_SQUARE RCL_Units. + - Most things are normalized with RCL_UNITS_PER_SQUARE (sin, cos, vector + unit length, texture coordinates etc.). + - Screen coordinates are normal: [0,0] = top left, x goes right, y goes down. + + author: Miloslav "drummyfish" Ciz + license: CC0 1.0 + version: 0.908d + + Version numbering: major.minor[d], id 'd' is appended, this is a + in-development version based on the previous stable major.minor version. Two + 'd' versions with the same version number, .e.g. 1.0d, may be different. +*/ + +#include + +#ifndef RCL_RAYCAST_TINY /** Turns on super efficient version of this library. + Only use if neccesarry, looks ugly. Also not done + yet. */ + #define RCL_UNITS_PER_SQUARE 1024 /**< Number of RCL_Units in a side of a + spatial square, i.e. the fixed point + scaling. */ + typedef int32_t RCL_Unit; /**< Smallest spatial unit, there is + RCL_UNITS_PER_SQUARE units in a square's + length. This effectively serves the purpose of + a fixed-point arithmetic. */ + #define RCL_INFINITY 2000000000 +#else + #define RCL_UNITS_PER_SQUARE 32 + typedef int16_t RCL_Unit; + #define RCL_INFINITY 30000 + #define RCL_USE_DIST_APPROX 2 +#endif + +#define RCL_U RCL_UNITS_PER_SQUARE ///< shorthand for RCL_UNITS_PER_SQUARE + +#ifndef RCL_COMPUTE_WALL_TEXCOORDS +#define RCL_COMPUTE_WALL_TEXCOORDS 1 +#endif + +#ifndef RCL_COMPUTE_FLOOR_TEXCOORDS +#define RCL_COMPUTE_FLOOR_TEXCOORDS 0 +#endif + +#ifndef RCL_FLOOR_TEXCOORDS_HEIGHT +#define RCL_FLOOR_TEXCOORDS_HEIGHT 0 /** If RCL_COMPUTE_FLOOR_TEXCOORDS == 1, + this says for what height level the + texture coords will be computed for + (for simplicity/performance only one + level is allowed). */ +#endif + +#ifndef RCL_USE_COS_LUT +#define RCL_USE_COS_LUT 0 /**< type of look up table for cos function: + 0: none (compute) + 1: 64 items + 2: 128 items */ +#endif + +#ifndef RCL_USE_DIST_APPROX +#define RCL_USE_DIST_APPROX 0 /**< What distance approximation to use: + 0: none (compute full Euclidean distance) + 1: accurate approximation + 2: octagonal approximation (LQ) */ +#endif + +#ifndef RCL_RECTILINEAR +#define RCL_RECTILINEAR 1 /**< Whether to use rectilinear perspective (normally + used), or curvilinear perspective (fish eye). */ +#endif + +#ifndef RCL_TEXTURE_VERTICAL_STRETCH +#define RCL_TEXTURE_VERTICAL_STRETCH 1 /**< Whether textures should be + stretched to wall height (possibly + slightly slower if on). */ +#endif + +#ifndef RCL_COMPUTE_FLOOR_DEPTH +#define RCL_COMPUTE_FLOOR_DEPTH 1 /**< Whether depth should be computed for + floor pixels - turns this off if not + needed. */ +#endif + +#ifndef RCL_COMPUTE_CEILING_DEPTH +#define RCL_COMPUTE_CEILING_DEPTH 1 /**< As RCL_COMPUTE_FLOOR_DEPTH but for + ceiling. */ +#endif + +#ifndef RCL_ROLL_TEXTURE_COORDS +#define RCL_ROLL_TEXTURE_COORDS 1 /**< Says whether rolling doors should also + roll the texture coordinates along (mostly + desired for doors). */ +#endif + +#ifndef RCL_VERTICAL_FOV +#define RCL_VERTICAL_FOV (RCL_UNITS_PER_SQUARE / 3) +#endif + +#define RCL_VERTICAL_FOV_TAN (RCL_VERTICAL_FOV * 4) ///< tan approximation + +#ifndef RCL_HORIZONTAL_FOV +#define RCL_HORIZONTAL_FOV (RCL_UNITS_PER_SQUARE / 4) +#endif + +#define RCL_HORIZONTAL_FOV_TAN (RCL_HORIZONTAL_FOV * 4) + +#define RCL_HORIZONTAL_FOV_HALF (RCL_HORIZONTAL_FOV / 2) + +#ifndef RCL_CAMERA_COLL_RADIUS +#define RCL_CAMERA_COLL_RADIUS RCL_UNITS_PER_SQUARE / 4 +#endif + +#ifndef RCL_CAMERA_COLL_HEIGHT_BELOW +#define RCL_CAMERA_COLL_HEIGHT_BELOW RCL_UNITS_PER_SQUARE +#endif + +#ifndef RCL_CAMERA_COLL_HEIGHT_ABOVE +#define RCL_CAMERA_COLL_HEIGHT_ABOVE (RCL_UNITS_PER_SQUARE / 3) +#endif + +#ifndef RCL_CAMERA_COLL_STEP_HEIGHT +#define RCL_CAMERA_COLL_STEP_HEIGHT (RCL_UNITS_PER_SQUARE / 2) +#endif + +#ifndef RCL_TEXTURE_INTERPOLATION_SCALE + #define RCL_TEXTURE_INTERPOLATION_SCALE 1024 /**< This says scaling of fixed + poit vertical texture coord + computation. This should be power + of two! Higher number can look more + accurate but may cause overflow. */ +#endif + +#define RCL_HORIZON_DEPTH (11 * RCL_UNITS_PER_SQUARE) /**< What depth the + horizon has (the floor + depth is only + approximated with the + help of this + constant). */ +#ifndef RCL_VERTICAL_DEPTH_MULTIPLY +#define RCL_VERTICAL_DEPTH_MULTIPLY 2 /**< Defines a multiplier of height + difference when approximating floor/ceil + depth. */ +#endif + +#define RCL_min(a,b) ((a) < (b) ? (a) : (b)) +#define RCL_max(a,b) ((a) > (b) ? (a) : (b)) +#define RCL_nonZero(v) ((v) + ((v) == 0)) ///< To prevent zero divisions. +#define RCL_zeroClamp(x) ((x) * ((x) >= 0)) +#define RCL_likely(cond) __builtin_expect(!!(cond),1) +#define RCL_unlikely(cond) __builtin_expect(!!(cond),0) + +#define RCL_logV2D(v)\ + printf("[%d,%d]\n",v.x,v.y); + +#define RCL_logRay(r){\ + printf("ray:\n");\ + printf(" start: ");\ + RCL_logV2D(r.start);\ + printf(" dir: ");\ + RCL_logV2D(r.direction);} + +#define RCL_logHitResult(h){\ + printf("hit:\n");\ + printf(" square: ");\ + RCL_logV2D(h.square);\ + printf(" pos: ");\ + RCL_logV2D(h.position);\ + printf(" dist: %d\n", h.distance);\ + printf(" dir: %d\n", h.direction);\ + printf(" texcoord: %d\n", h.textureCoord);} + +#define RCL_logPixelInfo(p){\ + printf("pixel:\n");\ + printf(" position: ");\ + RCL_logV2D(p.position);\ + printf(" texCoord: ");\ + RCL_logV2D(p.texCoords);\ + printf(" depth: %d\n", p.depth);\ + printf(" height: %d\n", p.height);\ + printf(" wall: %d\n", p.isWall);\ + printf(" hit: ");\ + RCL_logHitResult(p.hit);\ + } + +#define RCL_logCamera(c){\ + printf("camera:\n");\ + printf(" position: ");\ + RCL_logV2D(c.position);\ + printf(" height: %d\n",c.height);\ + printf(" direction: %d\n",c.direction);\ + printf(" shear: %d\n",c.shear);\ + printf(" resolution: %d x %d\n",c.resolution.x,c.resolution.y);\ + } + +/// Position in 2D space. +typedef struct +{ + RCL_Unit x; + RCL_Unit y; +} RCL_Vector2D; + +typedef struct +{ + RCL_Vector2D start; + RCL_Vector2D direction; +} RCL_Ray; + +typedef struct +{ + RCL_Unit distance; /**< Distance to the hit position, or -1 if no + collision happened. If RCL_RECTILINEAR != 0, then + the distance is perpendicular to the projection + plane (fish eye correction), otherwise it is + the straight distance to the ray start + position. */ + uint8_t direction; /**< Direction of hit. The convention for angle + units is explained above. */ + RCL_Unit textureCoord; /**< Normalized (0 to RCL_UNITS_PER_SQUARE - 1) + texture coordinate (horizontal). */ + RCL_Vector2D square; ///< Collided square coordinates. + RCL_Vector2D position; ///< Exact collision position in RCL_Units. + RCL_Unit arrayValue; /** Value returned by array function (most often + this will be the floor height). */ + RCL_Unit type; /**< Integer identifying type of square (number + returned by type function, e.g. texture + index).*/ + RCL_Unit doorRoll; ///< Holds value of door roll. +} RCL_HitResult; + +typedef struct +{ + RCL_Vector2D position; + RCL_Unit direction; // TODO: rename to "angle" to keep consistency + RCL_Vector2D resolution; + int16_t shear; /**< Shear offset in pixels (0 => no shear), can simulate + looking up/down. */ + RCL_Unit height; +} RCL_Camera; + +/** + Holds an information about a single rendered pixel (for a pixel function + that works as a fragment shader). +*/ +typedef struct +{ + RCL_Vector2D position; ///< On-screen position. + int8_t isWall; ///< Whether the pixel is a wall or a floor/ceiling. + int8_t isFloor; ///< Whether the pixel is floor or ceiling. + int8_t isHorizon; ///< If the pixel belongs to horizon segment. + RCL_Unit depth; ///< Corrected depth. + RCL_Unit wallHeight;///< Only for wall pixels, says its height. + RCL_Unit height; ///< World height (mostly for floor). + RCL_HitResult hit; ///< Corresponding ray hit. + RCL_Vector2D texCoords; /**< Normalized (0 to RCL_UNITS_PER_SQUARE - 1) + texture coordinates. */ +} RCL_PixelInfo; + +void RCL_PIXEL_FUNCTION (RCL_PixelInfo *pixel); + +typedef struct +{ + uint16_t maxHits; + uint16_t maxSteps; +} RCL_RayConstraints; + +/** + Function used to retrieve some information about cells of the rendered scene. + It should return a characteristic of given square as an integer (e.g. square + height, texture index, ...) - between squares that return different numbers + there is considered to be a collision. + + This function should be as fast as possible as it will typically be called + very often. +*/ +typedef RCL_Unit (*RCL_ArrayFunction)(int16_t x, int16_t y); +/* + TODO: maybe array functions should be replaced by defines of funtion names + like with pixelFunc? Could be more efficient than function pointers. +*/ + +/** + Function that renders a single pixel at the display. It is handed an info + about the pixel it should draw. + + This function should be as fast as possible as it will typically be called + very often. +*/ +typedef void (*RCL_PixelFunction)(RCL_PixelInfo *info); + +typedef void + (*RCL_ColumnFunction)(RCL_HitResult *hits, uint16_t hitCount, uint16_t x, + RCL_Ray ray); + +/** + Simple-interface function to cast a single ray. + + @return The first collision result. +*/ +RCL_HitResult RCL_castRay(RCL_Ray ray, RCL_ArrayFunction arrayFunc); + +/** + Casts a 3D ray in 3D environment with floor and optional ceiling + (ceilingHeightFunc can be 0). This can be useful for hitscan shooting, + visibility checking etc. + + @return normalized ditance (0 to RCL_UNITS_PER_SQUARE) along the ray at which + the environment was hit, RCL_UNITS_PER_SQUARE means nothing was hit +*/ +RCL_Unit RCL_castRay3D( + RCL_Vector2D pos1, RCL_Unit height1, RCL_Vector2D pos2, RCL_Unit height2, + RCL_ArrayFunction floorHeightFunc, RCL_ArrayFunction ceilingHeightFunc, + RCL_RayConstraints constraints); + +/** + Maps a single point in the world to the screen (2D position + depth). +*/ +RCL_PixelInfo RCL_mapToScreen(RCL_Vector2D worldPosition, RCL_Unit height, + RCL_Camera camera); + +/** + Casts a single ray and returns a list of collisions. + + @param ray ray to be cast, if RCL_RECTILINEAR != 0 then the computed hit + distance is divided by the ray direction vector length (to correct + the fish eye effect) + @param arrayFunc function that will be used to determine collisions (hits) + with the ray (squares for which this function returns different values + are considered to have a collision between them), this will typically + be a function returning floor height + @param typeFunc optional (can be 0) function - if provided, it will be used + to mark the hit result with the number returned by this function + (it can be e.g. a texture index) + @param hitResults array in which the hit results will be stored (has to be + preallocated with at space for at least as many hit results as + maxHits specified with the constraints parameter) + @param hitResultsLen in this variable the number of hit results will be + returned + @param constraints specifies constraints for the ray cast +*/ +void RCL_castRayMultiHit(RCL_Ray ray, RCL_ArrayFunction arrayFunc, + RCL_ArrayFunction typeFunc, RCL_HitResult *hitResults, + uint16_t *hitResultsLen, RCL_RayConstraints constraints); + +RCL_Vector2D RCL_angleToDirection(RCL_Unit angle); + +/** +Cos function. + +@param input to cos in RCL_Units (RCL_UNITS_PER_SQUARE = 2 * pi = 360 degrees) +@return RCL_normalized output in RCL_Units (from -RCL_UNITS_PER_SQUARE to + RCL_UNITS_PER_SQUARE) +*/ +RCL_Unit RCL_cos(RCL_Unit input); + +RCL_Unit RCL_sin(RCL_Unit input); + +RCL_Unit RCL_tan(RCL_Unit input); + +RCL_Unit RCL_ctg(RCL_Unit input); + +/// Normalizes given vector to have RCL_UNITS_PER_SQUARE length. +RCL_Vector2D RCL_normalize(RCL_Vector2D v); + +/// Computes a cos of an angle between two vectors. +RCL_Unit RCL_vectorsAngleCos(RCL_Vector2D v1, RCL_Vector2D v2); + +uint16_t RCL_sqrt(RCL_Unit value); +RCL_Unit RCL_dist(RCL_Vector2D p1, RCL_Vector2D p2); +RCL_Unit RCL_len(RCL_Vector2D v); + +/** + Converts an angle in whole degrees to an angle in RCL_Units that this library + uses. +*/ +RCL_Unit RCL_degreesToUnitsAngle(int16_t degrees); + +///< Computes the change in size of an object due to perspective (vertical FOV). +RCL_Unit RCL_perspectiveScaleVertical(RCL_Unit originalSize, RCL_Unit distance); + +RCL_Unit RCL_perspectiveScaleVerticalInverse(RCL_Unit originalSize, + RCL_Unit scaledSize); + +RCL_Unit + RCL_perspectiveScaleHorizontal(RCL_Unit originalSize, RCL_Unit distance); + +RCL_Unit RCL_perspectiveScaleHorizontalInverse(RCL_Unit originalSize, + RCL_Unit scaledSize); + +/** + Casts rays for given camera view and for each hit calls a user provided + function. +*/ +void RCL_castRaysMultiHit(RCL_Camera cam, RCL_ArrayFunction arrayFunc, + RCL_ArrayFunction typeFunction, RCL_ColumnFunction columnFunc, + RCL_RayConstraints constraints); + +/** + Using provided functions, renders a complete complex (multilevel) camera + view. + + This function should render each screen pixel exactly once. + + function rendering summary: + - performance: slower + - accuracy: higher + - wall textures: yes + - different wall heights: yes + - floor/ceiling textures: no + - floor geometry: yes, multilevel + - ceiling geometry: yes (optional), multilevel + - rolling door: no + - camera shearing: yes + - rendering order: left-to-right, not specifically ordered vertically + + @param cam camera whose view to render + @param floorHeightFunc function that returns floor height (in RCL_Units) + @param ceilingHeightFunc same as floorHeightFunc but for ceiling, can also be + 0 (no ceiling will be rendered) + @param typeFunction function that says a type of square (e.g. its texture + index), can be 0 (no type in hit result) + @param pixelFunc callback function to draw a single pixel on screen + @param constraints constraints for each cast ray +*/ +void RCL_renderComplex(RCL_Camera cam, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction ceilingHeightFunc, RCL_ArrayFunction typeFunction, + RCL_RayConstraints constraints); + +/** + Renders given camera view, with help of provided functions. This function is + simpler and faster than RCL_renderComplex(...) and is meant to be rendering + flat levels. + + function rendering summary: + - performance: faster + - accuracy: lower + - wall textures: yes + - different wall heights: yes + - floor/ceiling textures: yes (only floor, you can mirror it for ceiling) + - floor geometry: no (just flat floor, with depth information) + - ceiling geometry: no (just flat ceiling, with depth information) + - rolling door: yes + - camera shearing: no + - rendering order: left-to-right, top-to-bottom + + Additionally this function supports rendering rolling doors. + + This function should render each screen pixel exactly once. + + @param rollFunc function that for given square says its door roll in + RCL_Units (0 = no roll, RCL_UNITS_PER_SQUARE = full roll right, + -RCL_UNITS_PER_SQUARE = full roll left), can be zero (no rolling door, + rendering should also be faster as fewer intersections will be tested) +*/ +void RCL_renderSimple(RCL_Camera cam, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction typeFunc, RCL_ArrayFunction rollFunc, + RCL_RayConstraints constraints); + +/** + Function that moves given camera and makes it collide with walls and + potentially also floor and ceilings. It's meant to help implement player + movement. + + @param camera camera to move + @param planeOffset offset to move the camera in + @param heightOffset height offset to move the camera in + @param floorHeightFunc function used to retrieve the floor height + @param ceilingHeightFunc function for retrieving ceiling height, can be 0 + (camera won't collide with ceiling) + @param computeHeight whether to compute height - if false (0), floor and + ceiling functions won't be used and the camera will + only collide horizontally with walls (good for simpler + game, also faster) + @param force if true, forces to recompute collision even if position doesn't + change +*/ +void RCL_moveCameraWithCollision(RCL_Camera *camera, RCL_Vector2D planeOffset, + RCL_Unit heightOffset, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction ceilingHeightFunc, int8_t computeHeight, int8_t force); + +void RCL_initCamera(RCL_Camera *camera); +void RCL_initRayConstraints(RCL_RayConstraints *constraints); + +//============================================================================= +// privates + +#define _RCL_UNUSED(what) (void)(what); + +// global helper variables, for precomputing stuff etc. +RCL_Camera _RCL_camera; +RCL_Unit _RCL_horizontalDepthStep = 0; +RCL_Unit _RCL_startFloorHeight = 0; +RCL_Unit _RCL_startCeil_Height = 0; +RCL_Unit _RCL_camResYLimit = 0; +RCL_Unit _RCL_middleRow = 0; +RCL_ArrayFunction _RCL_floorFunction = 0; +RCL_ArrayFunction _RCL_ceilFunction = 0; +RCL_Unit _RCL_fHorizontalDepthStart = 0; +RCL_Unit _RCL_cHorizontalDepthStart = 0; +int16_t _RCL_cameraHeightScreen = 0; +RCL_ArrayFunction _RCL_rollFunction = 0; // says door rolling +RCL_Unit *_RCL_floorPixelDistances = 0; +RCL_Unit _RCL_fovCorrectionFactors[2] = {0,0}; //correction for hor/vert fov + +RCL_Unit RCL_clamp(RCL_Unit value, RCL_Unit valueMin, RCL_Unit valueMax) +{ + if (value >= valueMin) + { + if (value <= valueMax) + return value; + else + return valueMax; + } + else + return valueMin; +} + +static inline RCL_Unit RCL_abs(RCL_Unit value) +{ + return value * (((value >= 0) << 1) - 1); +} + +/// Like mod, but behaves differently for negative values. +static inline RCL_Unit RCL_wrap(RCL_Unit value, RCL_Unit mod) +{ + RCL_Unit cmp = value < 0; + return cmp * mod + (value % mod) - cmp; +} + +/// Performs division, rounding down, NOT towards zero. +static inline RCL_Unit RCL_divRoundDown(RCL_Unit value, RCL_Unit divisor) +{ + return value / divisor - ((value >= 0) ? 0 : 1); +} + +// Bhaskara's cosine approximation formula +#define trigHelper(x) (((RCL_Unit) RCL_UNITS_PER_SQUARE) *\ + (RCL_UNITS_PER_SQUARE / 2 * RCL_UNITS_PER_SQUARE / 2 - 4 * (x) * (x)) /\ + (RCL_UNITS_PER_SQUARE / 2 * RCL_UNITS_PER_SQUARE / 2 + (x) * (x))) + +#if RCL_USE_COS_LUT == 1 + + #ifdef RCL_RAYCAST_TINY + const RCL_Unit cosLUT[64] = + { + 16,14,11,6,0,-6,-11,-14,-15,-14,-11,-6,0,6,11,14 + }; + #else + const RCL_Unit cosLUT[64] = + { + 1024,1019,1004,979,946,903,851,791,724,649,568,482,391,297,199,100,0,-100, + -199,-297,-391,-482,-568,-649,-724,-791,-851,-903,-946,-979,-1004,-1019, + -1023,-1019,-1004,-979,-946,-903,-851,-791,-724,-649,-568,-482,-391,-297, + -199,-100,0,100,199,297,391,482,568,649,724,791,851,903,946,979,1004,1019 + }; + #endif + +#elif RCL_USE_COS_LUT == 2 +const RCL_Unit cosLUT[128] = +{ + 1024,1022,1019,1012,1004,993,979,964,946,925,903,878,851,822,791,758,724, + 687,649,609,568,526,482,437,391,344,297,248,199,150,100,50,0,-50,-100,-150, + -199,-248,-297,-344,-391,-437,-482,-526,-568,-609,-649,-687,-724,-758,-791, + -822,-851,-878,-903,-925,-946,-964,-979,-993,-1004,-1012,-1019,-1022,-1023, + -1022,-1019,-1012,-1004,-993,-979,-964,-946,-925,-903,-878,-851,-822,-791, + -758,-724,-687,-649,-609,-568,-526,-482,-437,-391,-344,-297,-248,-199,-150, + -100,-50,0,50,100,150,199,248,297,344,391,437,482,526,568,609,649,687,724, + 758,791,822,851,878,903,925,946,964,979,993,1004,1012,1019,1022 +}; +#endif + +RCL_Unit RCL_cos(RCL_Unit input) +{ + input = RCL_wrap(input,RCL_UNITS_PER_SQUARE); + +#if RCL_USE_COS_LUT == 1 + + #ifdef RCL_RAYCAST_TINY + return cosLUT[input]; + #else + return cosLUT[input / 16]; + #endif + +#elif RCL_USE_COS_LUT == 2 + return cosLUT[input / 8]; +#else + if (input < RCL_UNITS_PER_SQUARE / 4) + return trigHelper(input); + else if (input < RCL_UNITS_PER_SQUARE / 2) + return -1 * trigHelper(RCL_UNITS_PER_SQUARE / 2 - input); + else if (input < 3 * RCL_UNITS_PER_SQUARE / 4) + return -1 * trigHelper(input - RCL_UNITS_PER_SQUARE / 2); + else + return trigHelper(RCL_UNITS_PER_SQUARE - input); +#endif +} + +#undef trigHelper + +RCL_Unit RCL_sin(RCL_Unit input) +{ + return RCL_cos(input - RCL_UNITS_PER_SQUARE / 4); +} + +RCL_Unit RCL_tan(RCL_Unit input) +{ + return (RCL_sin(input) * RCL_UNITS_PER_SQUARE) / RCL_nonZero(RCL_cos(input) +); + + return (RCL_sin(input) * RCL_UNITS_PER_SQUARE) / RCL_nonZero(RCL_cos(input)); +} + +RCL_Unit RCL_ctg(RCL_Unit input) +{ + return (RCL_cos(input) * RCL_UNITS_PER_SQUARE) / RCL_sin(input); +} + +RCL_Vector2D RCL_angleToDirection(RCL_Unit angle) +{ + RCL_Vector2D result; + + result.x = RCL_cos(angle); + result.y = -1 * RCL_sin(angle); + + return result; +} + +uint16_t RCL_sqrt(RCL_Unit value) +{ +#ifdef RCL_RAYCAST_TINY + uint16_t result = 0; + uint16_t a = value; + uint16_t b = 1u << 14; +#else + uint32_t result = 0; + uint32_t a = value; + uint32_t b = 1u << 30; +#endif + + while (b > a) + b >>= 2; + + while (b != 0) + { + if (a >= result + b) + { + a -= result + b; + result = result + 2 * b; + } + + b >>= 2; + result >>= 1; + } + + return result; +} + +RCL_Unit RCL_dist(RCL_Vector2D p1, RCL_Vector2D p2) +{ + RCL_Unit dx = p2.x - p1.x; + RCL_Unit dy = p2.y - p1.y; + +#if RCL_USE_DIST_APPROX == 2 + // octagonal approximation + + dx = RCL_abs(dx); + dy = RCL_abs(dy); + + return dy > dx ? dx / 2 + dy : dy / 2 + dx; +#elif RCL_USE_DIST_APPROX == 1 + // more accurate approximation + + RCL_Unit a, b, result; + + dx = ((dx < 0) * 2 - 1) * dx; + dy = ((dy < 0) * 2 - 1) * dy; + + if (dx < dy) + { + a = dy; + b = dx; + } + else + { + a = dx; + b = dy; + } + + result = a + (44 * b) / 102; + + if (a < (b << 4)) + result -= (5 * a) / 128; + + return result; +#else + dx = dx * dx; + dy = dy * dy; + + return RCL_sqrt((RCL_Unit) (dx + dy)); +#endif +} + +RCL_Unit RCL_len(RCL_Vector2D v) +{ + RCL_Vector2D zero; + zero.x = 0; + zero.y = 0; + + return RCL_dist(zero,v); +} + +static inline int8_t RCL_pointIsLeftOfRay(RCL_Vector2D point, RCL_Ray ray) +{ + RCL_Unit dX = point.x - ray.start.x; + RCL_Unit dY = point.y - ray.start.y; + return (ray.direction.x * dY - ray.direction.y * dX) > 0; + // ^ Z component of cross-product +} + +void RCL_castRayMultiHit(RCL_Ray ray, RCL_ArrayFunction arrayFunc, + RCL_ArrayFunction typeFunc, RCL_HitResult *hitResults, + uint16_t *hitResultsLen, RCL_RayConstraints constraints) +{ + RCL_Vector2D currentPos = ray.start; + RCL_Vector2D currentSquare; + + currentSquare.x = RCL_divRoundDown(ray.start.x,RCL_UNITS_PER_SQUARE); + currentSquare.y = RCL_divRoundDown(ray.start.y,RCL_UNITS_PER_SQUARE); + + *hitResultsLen = 0; + + RCL_Unit squareType = arrayFunc(currentSquare.x,currentSquare.y); + + // DDA variables + RCL_Vector2D nextSideDist; // dist. from start to the next side in given axis + RCL_Vector2D delta; + RCL_Vector2D step; // -1 or 1 for each axis + int8_t stepHorizontal = 0; // whether the last step was hor. or vert. + + nextSideDist.x = 0; + nextSideDist.y = 0; + + RCL_Unit dirVecLengthNorm = RCL_len(ray.direction) * RCL_UNITS_PER_SQUARE; + + delta.x = RCL_abs(dirVecLengthNorm / RCL_nonZero(ray.direction.x)); + delta.y = RCL_abs(dirVecLengthNorm / RCL_nonZero(ray.direction.y)); + + // init DDA + + if (ray.direction.x < 0) + { + step.x = -1; + nextSideDist.x = (RCL_wrap(ray.start.x,RCL_UNITS_PER_SQUARE) * delta.x) / + RCL_UNITS_PER_SQUARE; + } + else + { + step.x = 1; + nextSideDist.x = + ((RCL_wrap(RCL_UNITS_PER_SQUARE - ray.start.x,RCL_UNITS_PER_SQUARE)) * + delta.x) / RCL_UNITS_PER_SQUARE; + } + + if (ray.direction.y < 0) + { + step.y = -1; + nextSideDist.y = (RCL_wrap(ray.start.y,RCL_UNITS_PER_SQUARE) * delta.y) / + RCL_UNITS_PER_SQUARE; + } + else + { + step.y = 1; + nextSideDist.y = + ((RCL_wrap(RCL_UNITS_PER_SQUARE - ray.start.y,RCL_UNITS_PER_SQUARE)) * + delta.y) / RCL_UNITS_PER_SQUARE; + } + + // DDA loop + + #define RECIP_SCALE 65536 + + RCL_Unit rayDirXRecip = RECIP_SCALE / RCL_nonZero(ray.direction.x); + RCL_Unit rayDirYRecip = RECIP_SCALE / RCL_nonZero(ray.direction.y); + // ^ we precompute reciprocals to avoid divisions in the loop + + for (uint16_t i = 0; i < constraints.maxSteps; ++i) + { + RCL_Unit currentType = arrayFunc(currentSquare.x,currentSquare.y); + + if (RCL_unlikely(currentType != squareType)) + { + // collision + + RCL_HitResult h; + + h.arrayValue = currentType; + h.doorRoll = 0; + h.position = currentPos; + h.square = currentSquare; + + if (stepHorizontal) + { + h.position.x = currentSquare.x * RCL_UNITS_PER_SQUARE; + h.direction = 3; + + if (step.x == -1) + { + h.direction = 1; + h.position.x += RCL_UNITS_PER_SQUARE; + } + + RCL_Unit diff = h.position.x - ray.start.x; + + h.position.y = // avoid division by multiplying with reciprocal + ray.start.y + (ray.direction.y * diff * rayDirXRecip) / RECIP_SCALE; + +#if RCL_RECTILINEAR + /* Here we compute the fish eye corrected distance (perpendicular to + the projection plane) as the Euclidean distance (of hit from camera + position) divided by the length of the ray direction vector. This can + be computed without actually computing Euclidean distances as a + hypothenuse A (distance) divided by hypothenuse B (length) is equal to + leg A (distance along principal axis) divided by leg B (length along + the same principal axis). */ + +#define CORRECT(dir1,dir2)\ + RCL_Unit tmp = diff / 4; /* 4 to prevent overflow */ \ + h.distance = ((tmp / 8) != 0) ? /* prevent a bug with small dists */ \ + ((tmp * RCL_UNITS_PER_SQUARE * rayDir ## dir1 ## Recip) / (RECIP_SCALE / 4)):\ + RCL_abs(h.position.dir2 - ray.start.dir2); + + CORRECT(X,y) + +#endif // RCL_RECTILINEAR + } + else + { + h.position.y = currentSquare.y * RCL_UNITS_PER_SQUARE; + h.direction = 2; + + if (step.y == -1) + { + h.direction = 0; + h.position.y += RCL_UNITS_PER_SQUARE; + } + + RCL_Unit diff = h.position.y - ray.start.y; + + h.position.x = + ray.start.x + (ray.direction.x * diff * rayDirYRecip) / RECIP_SCALE; + +#if RCL_RECTILINEAR + + CORRECT(Y,x) // same as above but for different axis + +#undef CORRECT + +#endif // RCL_RECTILINEAR + } + +#if !RCL_RECTILINEAR + h.distance = RCL_dist(h.position,ray.start); +#endif + if (typeFunc != 0) + h.type = typeFunc(currentSquare.x,currentSquare.y); + +#if RCL_COMPUTE_WALL_TEXCOORDS == 1 + switch (h.direction) + { + case 0: h.textureCoord = + RCL_wrap(-1 * h.position.x,RCL_UNITS_PER_SQUARE); break; + + case 1: h.textureCoord = + RCL_wrap(h.position.y,RCL_UNITS_PER_SQUARE); break; + + case 2: h.textureCoord = + RCL_wrap(h.position.x,RCL_UNITS_PER_SQUARE); break; + + case 3: h.textureCoord = + RCL_wrap(-1 * h.position.y,RCL_UNITS_PER_SQUARE); break; + + default: h.textureCoord = 0; break; + } + + if (_RCL_rollFunction != 0) + { + h.doorRoll = _RCL_rollFunction(currentSquare.x,currentSquare.y); + + if (h.direction == 0 || h.direction == 1) + h.doorRoll *= -1; + } + +#else + h.textureCoord = 0; +#endif + + hitResults[*hitResultsLen] = h; + + *hitResultsLen += 1; + + squareType = currentType; + + if (*hitResultsLen >= constraints.maxHits) + break; + } + + // DDA step + + if (nextSideDist.x < nextSideDist.y) + { + nextSideDist.x += delta.x; + currentSquare.x += step.x; + stepHorizontal = 1; + } + else + { + nextSideDist.y += delta.y; + currentSquare.y += step.y; + stepHorizontal = 0; + } + } +} + +RCL_HitResult RCL_castRay(RCL_Ray ray, RCL_ArrayFunction arrayFunc) +{ + RCL_HitResult result; + uint16_t len; + RCL_RayConstraints c; + + c.maxSteps = 1000; + c.maxHits = 1; + + RCL_castRayMultiHit(ray,arrayFunc,0,&result,&len,c); + + if (len == 0) + result.distance = -1; + + return result; +} + +void RCL_castRaysMultiHit(RCL_Camera cam, RCL_ArrayFunction arrayFunc, + RCL_ArrayFunction typeFunction, RCL_ColumnFunction columnFunc, + RCL_RayConstraints constraints) +{ + RCL_Vector2D dir1 = + RCL_angleToDirection(cam.direction - RCL_HORIZONTAL_FOV_HALF); + + RCL_Vector2D dir2 = + RCL_angleToDirection(cam.direction + RCL_HORIZONTAL_FOV_HALF); + + /* We scale the side distances so that the middle one is + RCL_UNITS_PER_SQUARE, which has to be this way. */ + + RCL_Unit cos = RCL_nonZero(RCL_cos(RCL_HORIZONTAL_FOV_HALF)); + + dir1.x = (dir1.x * RCL_UNITS_PER_SQUARE) / cos; + dir1.y = (dir1.y * RCL_UNITS_PER_SQUARE) / cos; + + dir2.x = (dir2.x * RCL_UNITS_PER_SQUARE) / cos; + dir2.y = (dir2.y * RCL_UNITS_PER_SQUARE) / cos; + + RCL_Unit dX = dir2.x - dir1.x; + RCL_Unit dY = dir2.y - dir1.y; + + RCL_HitResult hits[constraints.maxHits]; + uint16_t hitCount; + + RCL_Ray r; + r.start = cam.position; + + RCL_Unit currentDX = 0; + RCL_Unit currentDY = 0; + + for (int16_t i = 0; i < cam.resolution.x; ++i) + { + /* Here by linearly interpolating the direction vector its length changes, + which in result achieves correcting the fish eye effect (computing + perpendicular distance). */ + + r.direction.x = dir1.x + currentDX / cam.resolution.x; + r.direction.y = dir1.y + currentDY / cam.resolution.x; + + RCL_castRayMultiHit(r,arrayFunc,typeFunction,hits,&hitCount,constraints); + + columnFunc(hits,hitCount,i,r); + + currentDX += dX; + currentDY += dY; + } +} + +/** + Helper function that determines intersection with both ceiling and floor. +*/ +RCL_Unit _RCL_floorCeilFunction(int16_t x, int16_t y) +{ + RCL_Unit f = _RCL_floorFunction(x,y); + + if (_RCL_ceilFunction == 0) + return f; + + RCL_Unit c = _RCL_ceilFunction(x,y); + +#ifndef RCL_RAYCAST_TINY + return ((f & 0x0000ffff) << 16) | (c & 0x0000ffff); +#else + return ((f & 0x00ff) << 8) | (c & 0x00ff); +#endif +} + +RCL_Unit _floorHeightNotZeroFunction(int16_t x, int16_t y) +{ + return _RCL_floorFunction(x,y) == 0 ? 0 : + RCL_nonZero((x & 0x00FF) | ((y & 0x00FF) << 8)); + // ^ this makes collisions between all squares - needed for rolling doors +} + +RCL_Unit RCL_adjustDistance(RCL_Unit distance, RCL_Camera *camera, + RCL_Ray *ray) +{ + /* FIXME/TODO: The adjusted (=orthogonal, camera-space) distance could + possibly be computed more efficiently by not computing Euclidean + distance at all, but rather compute the distance of the collision + point from the projection plane (line). */ + + RCL_Unit result = + (distance * + RCL_vectorsAngleCos(RCL_angleToDirection(camera->direction), + ray->direction)) / RCL_UNITS_PER_SQUARE; + + return RCL_nonZero(result); + // ^ prevent division by zero +} + +/// Helper for drawing floor or ceiling. Returns the last drawn pixel position. +static inline int16_t _RCL_drawHorizontalColumn( + RCL_Unit yCurrent, + RCL_Unit yTo, + RCL_Unit limit1, // TODO: int16_t? + RCL_Unit limit2, + RCL_Unit verticalOffset, + int16_t increment, + int8_t computeDepth, + int8_t computeCoords, + int16_t depthIncrementMultiplier, + RCL_Ray *ray, + RCL_PixelInfo *pixelInfo +) +{ + _RCL_UNUSED(ray); + + RCL_Unit depthIncrement; + RCL_Unit dx; + RCL_Unit dy; + + pixelInfo->isWall = 0; + + int16_t limit = RCL_clamp(yTo,limit1,limit2); + + RCL_Unit depth = 0; /* TODO: this is for clamping depth to 0 so that we don't + have negative depths, but we should do it more + elegantly and efficiently */ + + _RCL_UNUSED(depth); + + /* for performance reasons have different version of the critical loop + to be able to branch early */ + #define loop(doDepth,doCoords)\ + {\ + if (doDepth) /*constant condition - compiler should optimize it out*/\ + {\ + depth = pixelInfo->depth + RCL_abs(verticalOffset) *\ + RCL_VERTICAL_DEPTH_MULTIPLY;\ + depthIncrement = depthIncrementMultiplier *\ + _RCL_horizontalDepthStep;\ + }\ + if (doCoords) /*constant condition - compiler should optimize it out*/\ + {\ + dx = pixelInfo->hit.position.x - _RCL_camera.position.x;\ + dy = pixelInfo->hit.position.y - _RCL_camera.position.y;\ + }\ + for (int16_t i = yCurrent + increment;\ + increment == -1 ? i >= limit : i <= limit; /* TODO: is efficient? */\ + i += increment)\ + {\ + pixelInfo->position.y = i;\ + if (doDepth) /*constant condition - compiler should optimize it out*/\ + {\ + depth += depthIncrement;\ + pixelInfo->depth = RCL_zeroClamp(depth); \ + /* ^ int comparison is fast, it is not braching! (= test instr.) */\ + }\ + if (doCoords) /*constant condition - compiler should optimize it out*/\ + {\ + RCL_Unit d = _RCL_floorPixelDistances[i];\ + RCL_Unit d2 = RCL_nonZero(pixelInfo->hit.distance);\ + pixelInfo->texCoords.x =\ + _RCL_camera.position.x + ((d * dx) / d2);\ + pixelInfo->texCoords.y =\ + _RCL_camera.position.y + ((d * dy) / d2);\ + }\ + RCL_PIXEL_FUNCTION(pixelInfo);\ + }\ + } + + if (computeDepth) // branch early + { + if (!computeCoords) + loop(1,0) + else + loop(1,1) + } + else + { + if (!computeCoords) + loop(0,0) + else + loop(1,1) + } + + #undef loop + + return limit; +} + +/// Helper for drawing walls. Returns the last drawn pixel position. +static inline int16_t _RCL_drawWall( + RCL_Unit yCurrent, + RCL_Unit yFrom, + RCL_Unit yTo, + RCL_Unit limit1, // TODO: int16_t? + RCL_Unit limit2, + RCL_Unit height, + int16_t increment, + RCL_PixelInfo *pixelInfo + ) +{ + _RCL_UNUSED(height) + + height = RCL_abs(height); + + pixelInfo->isWall = 1; + + RCL_Unit limit = RCL_clamp(yTo,limit1,limit2); + + RCL_Unit wallLength = RCL_nonZero(RCL_abs(yTo - yFrom - 1)); + + RCL_Unit wallPosition = RCL_abs(yFrom - yCurrent) - increment; + + RCL_Unit heightScaled = height * RCL_TEXTURE_INTERPOLATION_SCALE; + _RCL_UNUSED(heightScaled); + + RCL_Unit coordStepScaled = RCL_COMPUTE_WALL_TEXCOORDS ? +#if RCL_TEXTURE_VERTICAL_STRETCH == 1 + ((RCL_UNITS_PER_SQUARE * RCL_TEXTURE_INTERPOLATION_SCALE) / wallLength) +#else + (heightScaled / wallLength) +#endif + : 0; + + pixelInfo->texCoords.y = RCL_COMPUTE_WALL_TEXCOORDS ? + (wallPosition * coordStepScaled) : 0; + + if (increment < 0) + { + coordStepScaled *= -1; + pixelInfo->texCoords.y = +#if RCL_TEXTURE_VERTICAL_STRETCH == 1 + (RCL_UNITS_PER_SQUARE * RCL_TEXTURE_INTERPOLATION_SCALE) + - pixelInfo->texCoords.y; +#else + heightScaled - pixelInfo->texCoords.y; +#endif + } + else + { + // with floor wall, don't start under 0 + pixelInfo->texCoords.y = RCL_zeroClamp(pixelInfo->texCoords.y); + } + + RCL_Unit textureCoordScaled = pixelInfo->texCoords.y; + + for (RCL_Unit i = yCurrent + increment; + increment == -1 ? i >= limit : i <= limit; // TODO: is efficient? + i += increment) + { + pixelInfo->position.y = i; + +#if RCL_COMPUTE_WALL_TEXCOORDS == 1 + pixelInfo->texCoords.y = + textureCoordScaled / RCL_TEXTURE_INTERPOLATION_SCALE; + + textureCoordScaled += coordStepScaled; +#endif + + RCL_PIXEL_FUNCTION(pixelInfo); + } + + return limit; +} + +/// Fills a RCL_HitResult struct with info for a hit at infinity. +static inline void _RCL_makeInfiniteHit(RCL_HitResult *hit, RCL_Ray *ray) +{ + hit->distance = RCL_UNITS_PER_SQUARE * RCL_UNITS_PER_SQUARE; + /* ^ horizon is at infinity, but we can't use too big infinity + (RCL_INFINITY) because it would overflow in the following mult. */ + hit->position.x = (ray->direction.x * hit->distance) / RCL_UNITS_PER_SQUARE; + hit->position.y = (ray->direction.y * hit->distance) / RCL_UNITS_PER_SQUARE; + + hit->direction = 0; + hit->textureCoord = 0; + hit->arrayValue = 0; + hit->doorRoll = 0; + hit->type = 0; +} + +void _RCL_columnFunctionComplex(RCL_HitResult *hits, uint16_t hitCount, uint16_t x, + RCL_Ray ray) +{ + // last written Y position, can never go backwards + RCL_Unit fPosY = _RCL_camera.resolution.y; + RCL_Unit cPosY = -1; + + // world coordinates (relative to camera height though) + RCL_Unit fZ1World = _RCL_startFloorHeight; + RCL_Unit cZ1World = _RCL_startCeil_Height; + + RCL_PixelInfo p; + p.position.x = x; + p.height = 0; + p.wallHeight = 0; + p.texCoords.x = 0; + p.texCoords.y = 0; + + // we'll be simulatenously drawing the floor and the ceiling now + for (RCL_Unit j = 0; j <= hitCount; ++j) + { // ^ = add extra iteration for horizon plane + int8_t drawingHorizon = j == hitCount; + + RCL_HitResult hit; + RCL_Unit distance = 1; + + RCL_Unit fWallHeight = 0, cWallHeight = 0; + RCL_Unit fZ2World = 0, cZ2World = 0; + RCL_Unit fZ1Screen = 0, cZ1Screen = 0; + RCL_Unit fZ2Screen = 0, cZ2Screen = 0; + + if (!drawingHorizon) + { + hit = hits[j]; + distance = RCL_nonZero(hit.distance); + p.hit = hit; + + fWallHeight = _RCL_floorFunction(hit.square.x,hit.square.y); + fZ2World = fWallHeight - _RCL_camera.height; + fZ1Screen = _RCL_middleRow - RCL_perspectiveScaleVertical( + (fZ1World * _RCL_camera.resolution.y) / + RCL_UNITS_PER_SQUARE,distance); + fZ2Screen = _RCL_middleRow - RCL_perspectiveScaleVertical( + (fZ2World * _RCL_camera.resolution.y) / + RCL_UNITS_PER_SQUARE,distance); + + if (_RCL_ceilFunction != 0) + { + cWallHeight = _RCL_ceilFunction(hit.square.x,hit.square.y); + cZ2World = cWallHeight - _RCL_camera.height; + cZ1Screen = _RCL_middleRow - RCL_perspectiveScaleVertical( + (cZ1World * _RCL_camera.resolution.y) / + RCL_UNITS_PER_SQUARE,distance); + cZ2Screen = _RCL_middleRow - RCL_perspectiveScaleVertical( + (cZ2World * _RCL_camera.resolution.y) / + RCL_UNITS_PER_SQUARE,distance); + } + } + else + { + fZ1Screen = _RCL_middleRow; + cZ1Screen = _RCL_middleRow + 1; + _RCL_makeInfiniteHit(&p.hit,&ray); + } + + RCL_Unit limit; + + p.isWall = 0; + p.isHorizon = drawingHorizon; + + // draw floor until wall + p.isFloor = 1; + p.height = fZ1World + _RCL_camera.height; + p.wallHeight = 0; + +#if RCL_COMPUTE_FLOOR_DEPTH == 1 + p.depth = (_RCL_fHorizontalDepthStart - fPosY) * _RCL_horizontalDepthStep; +#else + p.depth = 0; +#endif + + limit = _RCL_drawHorizontalColumn(fPosY,fZ1Screen,cPosY + 1, + _RCL_camera.resolution.y,fZ1World,-1,RCL_COMPUTE_FLOOR_DEPTH, + // ^ purposfully allow outside screen bounds + RCL_COMPUTE_FLOOR_TEXCOORDS && p.height == RCL_FLOOR_TEXCOORDS_HEIGHT, + 1,&ray,&p); + + if (fPosY > limit) + fPosY = limit; + + if (_RCL_ceilFunction != 0 || drawingHorizon) + { + // draw ceiling until wall + p.isFloor = 0; + p.height = cZ1World + _RCL_camera.height; + +#if RCL_COMPUTE_CEILING_DEPTH == 1 + p.depth = (cPosY - _RCL_cHorizontalDepthStart) * + _RCL_horizontalDepthStep; +#endif + + limit = _RCL_drawHorizontalColumn(cPosY,cZ1Screen, + -1,fPosY - 1,cZ1World,1,RCL_COMPUTE_CEILING_DEPTH,0,1,&ray,&p); + // ^ purposfully allow outside screen bounds here + + if (cPosY < limit) + cPosY = limit; + } + + if (!drawingHorizon) // don't draw walls for horizon plane + { + p.isWall = 1; + p.depth = distance; + p.isFloor = 1; + p.texCoords.x = hit.textureCoord; + p.height = fZ1World + _RCL_camera.height; + p.wallHeight = fWallHeight; + + // draw floor wall + + if (fPosY > 0) // still pixels left? + { + p.isFloor = 1; + + limit = _RCL_drawWall(fPosY,fZ1Screen,fZ2Screen,cPosY + 1, + _RCL_camera.resolution.y, + // ^ purposfully allow outside screen bounds here +#if RCL_TEXTURE_VERTICAL_STRETCH == 1 + RCL_UNITS_PER_SQUARE +#else + fZ2World - fZ1World +#endif + ,-1,&p); + + + if (fPosY > limit) + fPosY = limit; + + fZ1World = fZ2World; // for the next iteration + } // ^ purposfully allow outside screen bounds here + + // draw ceiling wall + + if (_RCL_ceilFunction != 0 && cPosY < _RCL_camResYLimit) // pixels left? + { + p.isFloor = 0; + p.height = cZ1World + _RCL_camera.height; + p.wallHeight = cWallHeight; + + limit = _RCL_drawWall(cPosY,cZ1Screen,cZ2Screen, + -1,fPosY - 1, + // ^ puposfully allow outside screen bounds here +#if RCL_TEXTURE_VERTICAL_STRETCH == 1 + RCL_UNITS_PER_SQUARE +#else + cZ1World - cZ2World +#endif + ,1,&p); + + if (cPosY < limit) + cPosY = limit; + + cZ1World = cZ2World; // for the next iteration + } // ^ puposfully allow outside screen bounds here + } + } +} + +void _RCL_columnFunctionSimple(RCL_HitResult *hits, uint16_t hitCount, + uint16_t x, RCL_Ray ray) +{ + RCL_Unit y = 0; + RCL_Unit wallHeightScreen = 0; + RCL_Unit wallStart = _RCL_middleRow; + + RCL_Unit dist = 1; + + RCL_PixelInfo p; + p.position.x = x; + p.wallHeight = RCL_UNITS_PER_SQUARE; + + if (hitCount > 0) + { + RCL_HitResult hit = hits[0]; + + uint8_t goOn = 1; + + if (_RCL_rollFunction != 0 && RCL_COMPUTE_WALL_TEXCOORDS == 1) + { + if (hit.arrayValue == 0) + { + // standing inside door square, looking out => move to the next hit + + if (hitCount > 1) + hit = hits[1]; + else + goOn = 0; + } + else + { + // normal hit, check the door roll + + RCL_Unit texCoordMod = hit.textureCoord % RCL_UNITS_PER_SQUARE; + + int8_t unrolled = hit.doorRoll >= 0 ? + (hit.doorRoll > texCoordMod) : + (texCoordMod > RCL_UNITS_PER_SQUARE + hit.doorRoll); + + if (unrolled) + { + goOn = 0; + + if (hitCount > 1) /* should probably always be true (hit on square + exit) */ + { + if (hit.direction % 2 != hits[1].direction % 2) + { + // hit on the inner side + hit = hits[1]; + goOn = 1; + } + else if (hitCount > 2) + { + // hit on the opposite side + hit = hits[2]; + goOn = 1; + } + } + } + } + } + + p.hit = hit; + + if (goOn) + { + dist = hit.distance; + + RCL_Unit wallHeightWorld = _RCL_floorFunction(hit.square.x,hit.square.y); + + if (wallHeightWorld < 0) + { + /* We can't just do wallHeightWorld = max(0,wallHeightWorld) because + we would be processing an actual hit with height 0, which shouldn't + ever happen, so we assign some arbitrary height. */ + + wallHeightWorld = RCL_UNITS_PER_SQUARE; + } + + RCL_Unit worldPointTop = wallHeightWorld - _RCL_camera.height; + RCL_Unit worldPointBottom = -1 * _RCL_camera.height; + + wallStart = _RCL_middleRow - + (RCL_perspectiveScaleVertical(worldPointTop,dist) + * _RCL_camera.resolution.y) / RCL_UNITS_PER_SQUARE; + + int16_t wallEnd = _RCL_middleRow - + (RCL_perspectiveScaleVertical(worldPointBottom,dist) + * _RCL_camera.resolution.y) / RCL_UNITS_PER_SQUARE; + + wallHeightScreen = wallEnd - wallStart; + + if (wallHeightScreen <= 0) // can happen because of rounding errors + wallHeightScreen = 1; + } + } + else + { + _RCL_makeInfiniteHit(&p.hit,&ray); + } + + // draw ceiling + + p.isWall = 0; + p.isFloor = 0; + p.isHorizon = 1; + p.depth = 1; + p.height = RCL_UNITS_PER_SQUARE; + + y = _RCL_drawHorizontalColumn(-1,wallStart,-1,_RCL_middleRow,_RCL_camera.height,1, + RCL_COMPUTE_CEILING_DEPTH,0,1,&ray,&p); + + // draw wall + + p.isWall = 1; + p.isFloor = 1; + p.depth = dist; + p.height = 0; + +#if RCL_ROLL_TEXTURE_COORDS == 1 && RCL_COMPUTE_WALL_TEXCOORDS == 1 + p.hit.textureCoord -= p.hit.doorRoll; +#endif + + p.texCoords.x = p.hit.textureCoord; + p.texCoords.y = 0; + + RCL_Unit limit = _RCL_drawWall(y,wallStart,wallStart + wallHeightScreen - 1, + -1,_RCL_camResYLimit,p.hit.arrayValue,1,&p); + + y = RCL_max(y,limit); // take max, in case no wall was drawn + y = RCL_max(y,wallStart); + + // draw floor + + p.isWall = 0; + +#if RCL_COMPUTE_FLOOR_DEPTH == 1 + p.depth = (_RCL_camera.resolution.y - y) * _RCL_horizontalDepthStep + 1; +#endif + + _RCL_drawHorizontalColumn(y,_RCL_camResYLimit,-1,_RCL_camResYLimit, + _RCL_camera.height,1,RCL_COMPUTE_FLOOR_DEPTH,RCL_COMPUTE_FLOOR_TEXCOORDS, + -1,&ray,&p); +} + +/** + Precomputes a distance from camera to the floor at each screen row into an + array (must be preallocated with sufficient (camera.resolution.y) length). +*/ +static inline void _RCL_precomputeFloorDistances(RCL_Camera camera, + RCL_Unit *dest, uint16_t startIndex) +{ + RCL_Unit camHeightScreenSize = + (camera.height * camera.resolution.y) / RCL_UNITS_PER_SQUARE; + + for (uint16_t i = startIndex; i < camera.resolution.y; ++i) + dest[i] = RCL_perspectiveScaleVerticalInverse(camHeightScreenSize, + RCL_abs(i - _RCL_middleRow)); +} + +void RCL_renderComplex(RCL_Camera cam, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction ceilingHeightFunc, RCL_ArrayFunction typeFunction, + RCL_RayConstraints constraints) +{ + _RCL_floorFunction = floorHeightFunc; + _RCL_ceilFunction = ceilingHeightFunc; + _RCL_camera = cam; + _RCL_camResYLimit = cam.resolution.y - 1; + + uint16_t halfResY = cam.resolution.y / 2; + + _RCL_middleRow = halfResY + cam.shear; + + _RCL_fHorizontalDepthStart = _RCL_middleRow + halfResY; + _RCL_cHorizontalDepthStart = _RCL_middleRow - halfResY; + + _RCL_startFloorHeight = floorHeightFunc( + RCL_divRoundDown(cam.position.x,RCL_UNITS_PER_SQUARE), + RCL_divRoundDown(cam.position.y,RCL_UNITS_PER_SQUARE)) -1 * cam.height; + + _RCL_startCeil_Height = + ceilingHeightFunc != 0 ? + ceilingHeightFunc( + RCL_divRoundDown(cam.position.x,RCL_UNITS_PER_SQUARE), + RCL_divRoundDown(cam.position.y,RCL_UNITS_PER_SQUARE)) -1 * cam.height + : RCL_INFINITY; + + _RCL_horizontalDepthStep = RCL_HORIZON_DEPTH / cam.resolution.y; + +#if RCL_COMPUTE_FLOOR_TEXCOORDS == 1 + RCL_Unit floorPixelDistances[cam.resolution.y]; + _RCL_precomputeFloorDistances(cam,floorPixelDistances,0); + _RCL_floorPixelDistances = floorPixelDistances; // pass to column function +#endif + + RCL_castRaysMultiHit(cam,_RCL_floorCeilFunction,typeFunction, + _RCL_columnFunctionComplex,constraints); +} + +void RCL_renderSimple(RCL_Camera cam, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction typeFunc, RCL_ArrayFunction rollFunc, + RCL_RayConstraints constraints) +{ + _RCL_floorFunction = floorHeightFunc; + _RCL_camera = cam; + _RCL_camResYLimit = cam.resolution.y - 1; + _RCL_middleRow = cam.resolution.y / 2; + _RCL_rollFunction = rollFunc; + + _RCL_cameraHeightScreen = + (_RCL_camera.resolution.y * (_RCL_camera.height - RCL_UNITS_PER_SQUARE)) / + RCL_UNITS_PER_SQUARE; + + _RCL_horizontalDepthStep = RCL_HORIZON_DEPTH / cam.resolution.y; + + constraints.maxHits = + _RCL_rollFunction == 0 ? + 1 : // no door => 1 hit is enough + 3; // for correctly rendering rolling doors we'll need 3 hits (NOT 2) + +#if RCL_COMPUTE_FLOOR_TEXCOORDS == 1 + RCL_Unit floorPixelDistances[cam.resolution.y]; + _RCL_precomputeFloorDistances(cam,floorPixelDistances,_RCL_middleRow); + _RCL_floorPixelDistances = floorPixelDistances; // pass to column function +#endif + + RCL_castRaysMultiHit(cam,_floorHeightNotZeroFunction,typeFunc, + _RCL_columnFunctionSimple, constraints); + +#if RCL_COMPUTE_FLOOR_TEXCOORDS == 1 + _RCL_floorPixelDistances = 0; +#endif +} + +RCL_Vector2D RCL_normalize(RCL_Vector2D v) +{ + RCL_Vector2D result; + RCL_Unit l = RCL_len(v); + l = RCL_nonZero(l); + + result.x = (v.x * RCL_UNITS_PER_SQUARE) / l; + result.y = (v.y * RCL_UNITS_PER_SQUARE) / l; + + return result; +} + +RCL_Unit RCL_vectorsAngleCos(RCL_Vector2D v1, RCL_Vector2D v2) +{ + v1 = RCL_normalize(v1); + v2 = RCL_normalize(v2); + + return (v1.x * v2.x + v1.y * v2.y) / RCL_UNITS_PER_SQUARE; +} + + +RCL_PixelInfo RCL_mapToScreen(RCL_Vector2D worldPosition, RCL_Unit height, + RCL_Camera camera) +{ + RCL_PixelInfo result; + + RCL_Vector2D toPoint; + + toPoint.x = worldPosition.x - camera.position.x; + toPoint.y = worldPosition.y - camera.position.y; + + RCL_Unit middleColumn = camera.resolution.x / 2; + + // rotate the point to camera space (y left/right, x forw/backw) + + RCL_Unit cos = RCL_cos(camera.direction); + RCL_Unit sin = RCL_sin(camera.direction); + + RCL_Unit tmp = toPoint.x; + + toPoint.x = (toPoint.x * cos - toPoint.y * sin) / RCL_UNITS_PER_SQUARE; + toPoint.y = (tmp * sin + toPoint.y * cos) / RCL_UNITS_PER_SQUARE; + + result.depth = toPoint.x; + + result.position.x = middleColumn - + (RCL_perspectiveScaleHorizontal(toPoint.y,result.depth) * middleColumn) / + RCL_UNITS_PER_SQUARE; + + result.position.y = + (RCL_perspectiveScaleVertical(height - camera.height,result.depth) + * camera.resolution.y) / RCL_UNITS_PER_SQUARE; + + result.position.y = camera.resolution.y / 2 - result.position.y + camera.shear; + + return result; +} + +RCL_Unit RCL_degreesToUnitsAngle(int16_t degrees) +{ + return (degrees * RCL_UNITS_PER_SQUARE) / 360; +} + +/** + Ugly temporary hack to solve mapping to screen. This function computes + (approximately, usin a table) a divisor needed for FOV correction. +*/ +RCL_Unit _RCL_fovCorrectionFactor(RCL_Unit fov) +{ + uint16_t table[9] = + {1,208,408,692,1024,1540,2304,5376,30000}; + + fov = RCL_min(RCL_UNITS_PER_SQUARE / 2 - 1,fov); + + uint8_t index = fov / 64; + uint32_t t = ((fov - index * 64) * RCL_UNITS_PER_SQUARE) / 64; + uint32_t v1 = table[index]; + uint32_t v2 = table[index + 1]; + + return v1 + ((v2 - v1) * t) / RCL_UNITS_PER_SQUARE; +} + +RCL_Unit RCL_perspectiveScaleVertical(RCL_Unit originalSize, RCL_Unit distance) +{ + if (_RCL_fovCorrectionFactors[1] == 0) + _RCL_fovCorrectionFactors[1] = _RCL_fovCorrectionFactor(RCL_VERTICAL_FOV); + + return distance != 0 ? ((originalSize * RCL_UNITS_PER_SQUARE) / + RCL_nonZero((_RCL_fovCorrectionFactors[1] * distance) / RCL_UNITS_PER_SQUARE) + ) : 0; +} + +RCL_Unit RCL_perspectiveScaleVerticalInverse(RCL_Unit originalSize, + RCL_Unit scaledSize) +{ + if (_RCL_fovCorrectionFactors[1] == 0) + _RCL_fovCorrectionFactors[1] = _RCL_fovCorrectionFactor(RCL_VERTICAL_FOV); + + return scaledSize != 0 ? + + ((originalSize * RCL_UNITS_PER_SQUARE) / + RCL_nonZero((_RCL_fovCorrectionFactors[1] * scaledSize) + / RCL_UNITS_PER_SQUARE)) : RCL_INFINITY; +} + +RCL_Unit + RCL_perspectiveScaleHorizontal(RCL_Unit originalSize, RCL_Unit distance) +{ + if (_RCL_fovCorrectionFactors[0] == 0) + _RCL_fovCorrectionFactors[0] = _RCL_fovCorrectionFactor(RCL_HORIZONTAL_FOV); + + return distance != 0 ? + ((originalSize * RCL_UNITS_PER_SQUARE) / + RCL_nonZero((_RCL_fovCorrectionFactors[0] * distance) / RCL_UNITS_PER_SQUARE) + ) : 0; +} + +RCL_Unit RCL_perspectiveScaleHorizontalInverse(RCL_Unit originalSize, + RCL_Unit scaledSize) +{ + // TODO: probably doesn't work + + return scaledSize != 0 ? + (originalSize * RCL_UNITS_PER_SQUARE + RCL_UNITS_PER_SQUARE / 2) / + ((RCL_HORIZONTAL_FOV_TAN * 2 * scaledSize) / RCL_UNITS_PER_SQUARE) + : RCL_INFINITY; +} + +RCL_Unit RCL_castRay3D( + RCL_Vector2D pos1, RCL_Unit height1, RCL_Vector2D pos2, RCL_Unit height2, + RCL_ArrayFunction floorHeightFunc, RCL_ArrayFunction ceilingHeightFunc, + RCL_RayConstraints constraints) +{ + RCL_HitResult hits[constraints.maxHits]; + uint16_t numHits; + + RCL_Ray ray; + + ray.start = pos1; + + RCL_Unit distance; + + ray.direction.x = pos2.x - pos1.x; + ray.direction.y = pos2.y - pos1.y; + + distance = RCL_len(ray.direction); + + ray.direction = RCL_normalize(ray.direction); + + RCL_Unit heightDiff = height2 - height1; + + RCL_castRayMultiHit(ray,floorHeightFunc,0,hits,&numHits,constraints); + + RCL_Unit result = RCL_UNITS_PER_SQUARE; + + int16_t squareX = RCL_divRoundDown(pos1.x,RCL_UNITS_PER_SQUARE); + int16_t squareY = RCL_divRoundDown(pos1.y,RCL_UNITS_PER_SQUARE); + + RCL_Unit startHeight = floorHeightFunc(squareX,squareY); + + #define checkHits(comp,res) \ + { \ + RCL_Unit currentHeight = startHeight; \ + for (uint16_t i = 0; i < numHits; ++i) \ + { \ + if (hits[i].distance > distance) \ + break;\ + RCL_Unit h = hits[i].arrayValue; \ + if ((currentHeight comp h ? currentHeight : h) \ + comp (height1 + (hits[i].distance * heightDiff) / distance)) \ + { \ + res = (hits[i].distance * RCL_UNITS_PER_SQUARE) / distance; \ + break; \ + } \ + currentHeight = h; \ + } \ + } + + checkHits(>,result) + + if (ceilingHeightFunc != 0) + { + RCL_Unit result2 = RCL_UNITS_PER_SQUARE; + + startHeight = ceilingHeightFunc(squareX,squareY); + + RCL_castRayMultiHit(ray,ceilingHeightFunc,0,hits,&numHits,constraints); + + checkHits(<,result2) + + if (result2 < result) + result = result2; + } + + #undef checkHits + + return result; +} + +void RCL_moveCameraWithCollision(RCL_Camera *camera, RCL_Vector2D planeOffset, + RCL_Unit heightOffset, RCL_ArrayFunction floorHeightFunc, + RCL_ArrayFunction ceilingHeightFunc, int8_t computeHeight, int8_t force) +{ + int8_t movesInPlane = planeOffset.x != 0 || planeOffset.y != 0; + + if (movesInPlane || force) + { + int16_t xSquareNew, ySquareNew; + + RCL_Vector2D corner; // BBox corner in the movement direction + RCL_Vector2D cornerNew; + + int16_t xDir = planeOffset.x > 0 ? 1 : -1; + int16_t yDir = planeOffset.y > 0 ? 1 : -1; + + corner.x = camera->position.x + xDir * RCL_CAMERA_COLL_RADIUS; + corner.y = camera->position.y + yDir * RCL_CAMERA_COLL_RADIUS; + + int16_t xSquare = RCL_divRoundDown(corner.x,RCL_UNITS_PER_SQUARE); + int16_t ySquare = RCL_divRoundDown(corner.y,RCL_UNITS_PER_SQUARE); + + cornerNew.x = corner.x + planeOffset.x; + cornerNew.y = corner.y + planeOffset.y; + + xSquareNew = RCL_divRoundDown(cornerNew.x,RCL_UNITS_PER_SQUARE); + ySquareNew = RCL_divRoundDown(cornerNew.y,RCL_UNITS_PER_SQUARE); + + RCL_Unit bottomLimit = -1 * RCL_INFINITY; + RCL_Unit topLimit = RCL_INFINITY; + + RCL_Unit currCeilHeight = RCL_INFINITY; + + if (computeHeight) + { + bottomLimit = camera->height - RCL_CAMERA_COLL_HEIGHT_BELOW + + RCL_CAMERA_COLL_STEP_HEIGHT; + + topLimit = camera->height + RCL_CAMERA_COLL_HEIGHT_ABOVE; + + if (ceilingHeightFunc != 0) + currCeilHeight = ceilingHeightFunc(xSquare,ySquare); + } + + // checks a single square for collision against the camera + #define collCheck(dir,s1,s2)\ + if (computeHeight)\ + {\ + RCL_Unit height = floorHeightFunc(s1,s2);\ + if (height > bottomLimit || \ + currCeilHeight - height < \ + RCL_CAMERA_COLL_HEIGHT_BELOW + RCL_CAMERA_COLL_HEIGHT_ABOVE)\ + dir##Collides = 1;\ + else if (ceilingHeightFunc != 0)\ + {\ + RCL_Unit height2 = ceilingHeightFunc(s1,s2);\ + if ((height2 < topLimit) || ((height2 - height) < \ + (RCL_CAMERA_COLL_HEIGHT_ABOVE + RCL_CAMERA_COLL_HEIGHT_BELOW)))\ + dir##Collides = 1;\ + }\ + }\ + else\ + dir##Collides = floorHeightFunc(s1,s2) > RCL_CAMERA_COLL_STEP_HEIGHT; + + // check collision against non-diagonal square + #define collCheckOrtho(dir,dir2,s1,s2,x)\ + if (dir##SquareNew != dir##Square)\ + {\ + collCheck(dir,s1,s2)\ + }\ + if (!dir##Collides)\ + { /* now also check for coll on the neighbouring square */ \ + int16_t dir2##Square2 = RCL_divRoundDown(corner.dir2 - dir2##Dir *\ + RCL_CAMERA_COLL_RADIUS * 2,RCL_UNITS_PER_SQUARE);\ + if (dir2##Square2 != dir2##Square)\ + {\ + if (x)\ + collCheck(dir,dir##SquareNew,dir2##Square2)\ + else\ + collCheck(dir,dir2##Square2,dir##SquareNew)\ + }\ + } + + int8_t xCollides = 0; + collCheckOrtho(x,y,xSquareNew,ySquare,1) + + int8_t yCollides = 0; + collCheckOrtho(y,x,xSquare,ySquareNew,0) + + if (xCollides || yCollides) + { + if (movesInPlane) + { + #define collHandle(dir)\ + if (dir##Collides)\ + cornerNew.dir = (dir##Square) * RCL_UNITS_PER_SQUARE +\ + RCL_UNITS_PER_SQUARE / 2 + dir##Dir * (RCL_UNITS_PER_SQUARE / 2) -\ + dir##Dir;\ + + collHandle(x) + collHandle(y) + + #undef collHandle + } + else + { + /* Player collides without moving in the plane; this can happen e.g. on + elevators due to vertical only movement. This code can get executed + when force == 1. */ + + RCL_Vector2D squarePos; + RCL_Vector2D newPos; + + squarePos.x = xSquare * RCL_UNITS_PER_SQUARE; + squarePos.y = ySquare * RCL_UNITS_PER_SQUARE; + + newPos.x = + RCL_max(squarePos.x + RCL_CAMERA_COLL_RADIUS + 1, + RCL_min(squarePos.x + RCL_UNITS_PER_SQUARE - RCL_CAMERA_COLL_RADIUS - 1, + camera->position.x)); + + newPos.y = + RCL_max(squarePos.y + RCL_CAMERA_COLL_RADIUS + 1, + RCL_min(squarePos.y + RCL_UNITS_PER_SQUARE - RCL_CAMERA_COLL_RADIUS - 1, + camera->position.y)); + + cornerNew.x = corner.x + (newPos.x - camera->position.x); + cornerNew.y = corner.y + (newPos.y - camera->position.y); + } + } + else + { + /* If no non-diagonal collision is detected, a diagonal/corner collision + can still happen, check it here. */ + + if (xSquare != xSquareNew && ySquare != ySquareNew) + { + int8_t xyCollides = 0; + collCheck(xy,xSquareNew,ySquareNew) + + if (xyCollides) + { + // normally should slide, but let's KISS and simply stop any movement + cornerNew = corner; + } + } + } + + #undef collCheck + + camera->position.x = cornerNew.x - xDir * RCL_CAMERA_COLL_RADIUS; + camera->position.y = cornerNew.y - yDir * RCL_CAMERA_COLL_RADIUS; + } + + if (computeHeight && (movesInPlane || (heightOffset != 0) || force)) + { + camera->height += heightOffset; + + int16_t xSquare1 = RCL_divRoundDown(camera->position.x - + RCL_CAMERA_COLL_RADIUS,RCL_UNITS_PER_SQUARE); + + int16_t xSquare2 = RCL_divRoundDown(camera->position.x + + RCL_CAMERA_COLL_RADIUS,RCL_UNITS_PER_SQUARE); + + int16_t ySquare1 = RCL_divRoundDown(camera->position.y - + RCL_CAMERA_COLL_RADIUS,RCL_UNITS_PER_SQUARE); + + int16_t ySquare2 = RCL_divRoundDown(camera->position.y + + RCL_CAMERA_COLL_RADIUS,RCL_UNITS_PER_SQUARE); + + RCL_Unit bottomLimit = floorHeightFunc(xSquare1,ySquare1); + RCL_Unit topLimit = ceilingHeightFunc != 0 ? + ceilingHeightFunc(xSquare1,ySquare1) : RCL_INFINITY; + + RCL_Unit height; + + #define checkSquares(s1,s2)\ + {\ + height = floorHeightFunc(xSquare##s1,ySquare##s2);\ + bottomLimit = RCL_max(bottomLimit,height);\ + height = ceilingHeightFunc != 0 ?\ + ceilingHeightFunc(xSquare##s1,ySquare##s2) : RCL_INFINITY;\ + topLimit = RCL_min(topLimit,height);\ + } + + if (xSquare2 != xSquare1) + checkSquares(2,1) + + if (ySquare2 != ySquare1) + checkSquares(1,2) + + if (xSquare2 != xSquare1 && ySquare2 != ySquare1) + checkSquares(2,2) + + camera->height = RCL_clamp(camera->height, + bottomLimit + RCL_CAMERA_COLL_HEIGHT_BELOW, + topLimit - RCL_CAMERA_COLL_HEIGHT_ABOVE); + + #undef checkSquares + } +} + +void RCL_initCamera(RCL_Camera *camera) +{ + camera->position.x = 0; + camera->position.y = 0; + camera->direction = 0; + camera->resolution.x = 20; + camera->resolution.y = 15; + camera->shear = 0; + camera->height = RCL_UNITS_PER_SQUARE; +} + +void RCL_initRayConstraints(RCL_RayConstraints *constraints) +{ + constraints->maxHits = 1; + constraints->maxSteps = 20; +} + +#endif +