From a00c0aab1eb5a7a55bef8ca08115bdd722ab5699 Mon Sep 17 00:00:00 2001
From: Matthew Kosarek <mattkae@protonmail.com>
Date: Sun, 16 May 2021 19:50:15 -0400
Subject: Moved the frontend directory up so that it no longer exists
---
shared_cpp/MainLoop.cpp | 31 +++++
shared_cpp/MainLoop.h | 29 +++++
shared_cpp/OrthographicRenderer.cpp | 87 ++++++++++++++
shared_cpp/OrthographicRenderer.h | 43 +++++++
shared_cpp/Shader.cpp | 61 ++++++++++
shared_cpp/Shader.h | 63 ++++++++++
shared_cpp/WebglContext.h | 39 +++++++
shared_cpp/WebglHelper.h | 6 +
shared_cpp/mathlib.cpp | 11 ++
shared_cpp/mathlib.h | 227 ++++++++++++++++++++++++++++++++++++
shared_cpp/types.h | 18 +++
11 files changed, 615 insertions(+)
create mode 100644 shared_cpp/MainLoop.cpp
create mode 100644 shared_cpp/MainLoop.h
create mode 100644 shared_cpp/OrthographicRenderer.cpp
create mode 100644 shared_cpp/OrthographicRenderer.h
create mode 100644 shared_cpp/Shader.cpp
create mode 100644 shared_cpp/Shader.h
create mode 100644 shared_cpp/WebglContext.h
create mode 100644 shared_cpp/WebglHelper.h
create mode 100644 shared_cpp/mathlib.cpp
create mode 100644 shared_cpp/mathlib.h
create mode 100644 shared_cpp/types.h
(limited to 'shared_cpp')
diff --git a/shared_cpp/MainLoop.cpp b/shared_cpp/MainLoop.cpp
new file mode 100644
index 0000000..09aa643
--- /dev/null
+++ b/shared_cpp/MainLoop.cpp
@@ -0,0 +1,31 @@
+#include "MainLoop.h"
+#include <cstdio>
+#include <cstdlib>
+
+EM_BOOL loop(double time, void* loop) {
+ MainLoop* mainLoop = (MainLoop*) loop;
+ if (!mainLoop->isRunning) {
+ return false;
+ }
+
+ if (mainLoop->lastTime == 0) {
+ mainLoop->lastTime = time;
+ return true;
+ }
+
+ long deltaTime = time - mainLoop->lastTime;
+ mainLoop->lastTime = time;
+ mainLoop->elapsedTime += deltaTime;
+ mainLoop->numFrames++;
+ float deltaTimeSeconds = static_cast<float>(deltaTime) / 1000.f;
+
+ if (mainLoop->elapsedTime >= 1000.0) {
+ printf("FPS: %d\n", mainLoop->numFrames);
+
+ mainLoop->elapsedTime = 0.0;
+ mainLoop->numFrames = 0;
+ }
+
+ mainLoop->updateFunc(deltaTimeSeconds, NULL);
+ return true;
+}
\ No newline at end of file
diff --git a/shared_cpp/MainLoop.h b/shared_cpp/MainLoop.h
new file mode 100644
index 0000000..2573bb8
--- /dev/null
+++ b/shared_cpp/MainLoop.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <emscripten.h>
+#include <emscripten/html5.h>
+#include <GLES2/gl2.h>
+#include <EGL/egl.h>
+
+EM_BOOL loop(double time, void* loop);
+
+struct MainLoop {
+ bool isRunning = false;
+ double lastTime = 0, elapsedTime = 0;
+ int numFrames = 0;
+ void (*updateFunc)(float dtSeconds, void *userData);
+
+ void run(void (*cb)(float dtSeconds, void *userData)) {
+ isRunning = true;
+ lastTime = 0;
+ elapsedTime = 0;
+ numFrames = 0;
+ updateFunc = cb;
+
+ emscripten_request_animation_frame_loop(loop, this);
+ }
+
+ void stop() {
+ isRunning = false;
+ }
+};
\ No newline at end of file
diff --git a/shared_cpp/OrthographicRenderer.cpp b/shared_cpp/OrthographicRenderer.cpp
new file mode 100644
index 0000000..21c13a1
--- /dev/null
+++ b/shared_cpp/OrthographicRenderer.cpp
@@ -0,0 +1,87 @@
+#include "OrthographicRenderer.h"
+#include "WebglContext.h"
+#include "mathlib.h"
+
+const char* orthographicVertex =
+"attribute vec2 position; \n"
+"attribute vec4 color; \n"
+"uniform mat4 projection; \n"
+"uniform mat4 model; \n"
+"varying lowp vec4 VertexColor; \n"
+"void main() { \n"
+" vec4 fragmentPosition = projection * model * vec4(position, 1, 1); \n"
+" gl_Position = fragmentPosition; \n"
+" VertexColor = color; \n"
+"}";
+
+const char* orthographicFragment =
+"varying lowp vec4 VertexColor; \n"
+"void main() { \n"
+" gl_FragColor = VertexColor; \n"
+"}";
+
+void OrthographicRenderer::load(WebglContext* context) {
+ printf("Compiling orthographic shader...\n");
+ shader = loadShader(orthographicVertex, orthographicFragment);
+
+ useShader(shader);
+ attributes.position = getShaderAttribute(shader, "position");
+ attributes.color = getShaderAttribute(shader, "color");
+ uniforms.projection = getShaderUniform(shader, "projection");
+ uniforms.model = getShaderUniform(shader, "model");
+ projection = Mat4x4().getOrthographicMatrix(0, context->width, 0, context->height);
+
+ printf("Orthographic shader compiled.\n");
+}
+
+void OrthographicRenderer::render() {
+ glEnable(GL_DEPTH_TEST);
+ glDepthFunc(GL_LEQUAL);
+ glDepthMask(GL_TRUE);
+ glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
+ glClearDepth(1.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
+ useShader(shader);
+ setShaderMat4(uniforms.projection, projection);
+}
+
+void OrthographicRenderer::unload() {
+ glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
+ glDeleteProgram(shader);
+}
+
+
+void OrthographicShape::load(OrthographicVertex* inVertices, uint32 inNumVertices, OrthographicRenderer* renderer) {
+ numVertices = inNumVertices;
+ useShader(renderer->shader);
+
+ glGenVertexArrays(1, &vao);
+ glBindVertexArray(vao);
+
+ glGenBuffers(1, &vbo);
+ glBindBuffer(GL_ARRAY_BUFFER, vbo);
+ glBufferData(GL_ARRAY_BUFFER, inNumVertices * sizeof(OrthographicVertex), &inVertices[0], GL_STATIC_DRAW);
+
+ glEnableVertexAttribArray(renderer->attributes.position);
+ glVertexAttribPointer(renderer->attributes.position, 2, GL_FLOAT, GL_FALSE, sizeof(OrthographicVertex), (GLvoid *)0);
+
+ glEnableVertexAttribArray(renderer->attributes.color);
+ glVertexAttribPointer(renderer->attributes.color, 4, GL_FLOAT, GL_FALSE, sizeof(OrthographicVertex), (GLvoid *)offsetof(OrthographicVertex, color));
+
+ glBindBuffer(GL_ARRAY_BUFFER, 0);
+ glBindVertexArray(0);
+}
+
+void OrthographicShape::render(OrthographicRenderer* renderer, GLenum drawType) {
+ setShaderMat4(renderer->uniforms.model, model);
+
+ glBindVertexArray(vao);
+ glDrawArrays(drawType, 0, numVertices);
+ glBindVertexArray(0);
+}
+
+void OrthographicShape::unload() {
+ glDeleteVertexArrays(1, &vao);
+ glDeleteBuffers(1, &vbo);
+}
\ No newline at end of file
diff --git a/shared_cpp/OrthographicRenderer.h b/shared_cpp/OrthographicRenderer.h
new file mode 100644
index 0000000..cef5305
--- /dev/null
+++ b/shared_cpp/OrthographicRenderer.h
@@ -0,0 +1,43 @@
+#pragma once
+
+#include "WebglContext.h"
+#include "types.h"
+#include "Shader.h"
+#include "mathlib.h"
+
+struct WebglContext;
+
+struct OrthographicRenderer {
+ Mat4x4 projection;
+ uint32 shader;
+
+ struct {
+ int32 position;
+ int32 color;
+ } attributes;
+
+ struct {
+ int32 projection;
+ int32 model;
+ } uniforms;
+
+ void load(WebglContext* context);
+ void render();
+ void unload();
+};
+
+struct OrthographicVertex {
+ Vector2 position;
+ Vector4 color;
+};
+
+struct OrthographicShape {
+ uint32 vao;
+ uint32 vbo;
+ uint32 numVertices = 0;
+ Mat4x4 model;
+
+ void load(OrthographicVertex* vertices, uint32 numVertices, OrthographicRenderer* renderer);
+ void render(OrthographicRenderer* renderer, GLenum drawType = GL_TRIANGLES);
+ void unload();
+};
\ No newline at end of file
diff --git a/shared_cpp/Shader.cpp b/shared_cpp/Shader.cpp
new file mode 100644
index 0000000..5f2b00e
--- /dev/null
+++ b/shared_cpp/Shader.cpp
@@ -0,0 +1,61 @@
+#include "Shader.h"
+#include <string>
+
+GLuint loadIndividualShader(GLenum shaderType, const GLchar* cCode) {
+ GLuint shader = glCreateShader(shaderType);
+ glShaderSource(shader, 1, &cCode, 0);
+ glCompileShader(shader);
+ GLint success;
+ glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
+ if (!success) {
+ GLchar infoLog[512];
+ glGetShaderInfoLog(shader, 512, 0, infoLog);
+ printf("Failed to load shader: %s, Shader =%s\n", infoLog, cCode);
+ return 0;
+ }
+
+ return shader;
+}
+
+void attachShaders(Shader& retVal, const GLchar* vertexShader, const GLchar* fragmentShader) {
+ GLuint vertex = 0, fragment = 0, geometry = 0;
+ if (vertexShader) {
+ vertex = loadIndividualShader(GL_VERTEX_SHADER, vertexShader);
+ glAttachShader(retVal, vertex);
+ }
+
+ if (fragmentShader) {
+ fragment = loadIndividualShader(GL_FRAGMENT_SHADER, fragmentShader);
+ glAttachShader(retVal, fragment);
+ }
+
+ glLinkProgram(retVal);
+ GLint isLinked = 0;
+ glGetProgramiv(retVal, GL_LINK_STATUS, (int*)&isLinked);
+ if (isLinked == GL_FALSE) {
+ GLint maxLength = 0;
+ glGetProgramiv(retVal, GL_INFO_LOG_LENGTH, &maxLength);
+
+ // The maxLength includes the NULL character
+ GLchar* infoLog = new GLchar[maxLength];
+ glGetProgramInfoLog(retVal, maxLength, &maxLength, infoLog);
+ glDeleteProgram(retVal);
+ printf("Error. Could not initialize shader with vertex=%s, error=%s\n", vertexShader, infoLog);
+ delete []infoLog;
+ }
+
+ if (vertexShader)
+ glDeleteShader(vertex);
+ if (fragmentShader)
+ glDeleteShader(fragment);
+}
+
+Shader loadShader(const GLchar* vertexShader, const GLchar* fragmentShader) {
+ Shader retVal;
+ retVal = glCreateProgram();
+
+ attachShaders(retVal, vertexShader, fragmentShader);
+ useShader(retVal);
+
+ return retVal;
+}
diff --git a/shared_cpp/Shader.h b/shared_cpp/Shader.h
new file mode 100644
index 0000000..6ee9981
--- /dev/null
+++ b/shared_cpp/Shader.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <GL/glew.h>
+#include <string>
+#include <vector>
+#include "mathlib.h"
+
+typedef GLuint Shader;
+
+Shader loadShader(const GLchar* vertexShader, const GLchar* fragmentShader);
+
+inline GLint getShaderUniform(const Shader& shader, const GLchar *name) {
+ GLint uid = glGetUniformLocation(shader, name);
+ if (uid < 0) {
+ return -1;
+ }
+ return uid;
+}
+
+inline GLint getShaderAttribute(const Shader& shader, const GLchar *name) {
+ printf("Getting attribute for shader, name: %d, %s\n", shader, name);
+ GLint uid = glGetAttribLocation(shader, name);
+ if (uid < 0) {
+ return -1;
+ }
+ return uid;
+}
+
+inline void useShader(const Shader& shader) {
+ glUseProgram(shader);
+}
+
+inline void setShaderFloat(GLint location, GLfloat value) {
+ glUniform1f(location, value);
+}
+
+inline void setShaderInt(GLint location, GLint value) {
+ glUniform1i(location, value);
+}
+
+inline void setShaderUint(GLint location, GLuint value) {
+ glUniform1ui(location, value);
+}
+
+inline void setShaderVec2(GLint location, const Vector2& value) {
+ glUniform2f(location, value.x, value.y);
+}
+
+inline void setShaderMat4(GLint location, const Mat4x4& matrix) {
+ glUniformMatrix4fv(location, 1, GL_FALSE, matrix.m);
+}
+
+inline void setShaderBVec3(GLint location, bool first, bool second, bool third) {
+ glUniform3i(location, first, second, third);
+}
+
+inline void setShaderBVec4(GLint location, bool first, bool second, bool third, bool fourth) {
+ glUniform4i(location, first, second, third, fourth);
+}
+
+inline void setShaderBool(GLint location, bool value) {
+ glUniform1i(location, value);
+}
\ No newline at end of file
diff --git a/shared_cpp/WebglContext.h b/shared_cpp/WebglContext.h
new file mode 100644
index 0000000..017498f
--- /dev/null
+++ b/shared_cpp/WebglContext.h
@@ -0,0 +1,39 @@
+#pragma once
+#include "types.h"
+#include <emscripten.h>
+#include <emscripten/html5.h>
+#include <GLES2/gl2.h>
+#include <EGL/egl.h>
+
+struct WebglContext {
+ EMSCRIPTEN_WEBGL_CONTEXT_HANDLE context;
+ int width = 640;
+ int height = 480;
+
+ void init(const char* query, int inWidth = 640, int inHeight = 480) {
+ width = inWidth;
+ height = inHeight;
+ emscripten_set_canvas_element_size( query, width, height);
+
+ EmscriptenWebGLContextAttributes attrs;
+ emscripten_webgl_init_context_attributes(&attrs);
+
+ attrs.enableExtensionsByDefault = 1;
+ attrs.majorVersion = 3;
+ attrs.minorVersion = 0;
+
+ context = emscripten_webgl_create_context(query, &attrs);
+ makeCurrentContext();
+
+ glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
+ };
+
+ void makeCurrentContext() {
+ emscripten_webgl_make_context_current(context);
+ };
+
+ void destroy() {
+ emscripten_webgl_destroy_context(context);
+ }
+};
\ No newline at end of file
diff --git a/shared_cpp/WebglHelper.h b/shared_cpp/WebglHelper.h
new file mode 100644
index 0000000..dbdb23f
--- /dev/null
+++ b/shared_cpp/WebglHelper.h
@@ -0,0 +1,6 @@
+#pragma once
+#include "mathlib.h"
+
+struct OrthographicRenderer;
+
+void render2DArrow(Vector2 start, Vector2 end, OrthographicRenderer* renderer);
diff --git a/shared_cpp/mathlib.cpp b/shared_cpp/mathlib.cpp
new file mode 100644
index 0000000..8222d00
--- /dev/null
+++ b/shared_cpp/mathlib.cpp
@@ -0,0 +1,11 @@
+#include "mathlib.h"
+#include <cstdlib>
+
+Vector2 getRandomNormalVector2() {
+ Vector2 retval = {
+ static_cast<float>(rand()) / static_cast<float>(RAND_MAX),
+ static_cast<float>(rand()) / static_cast<float>(RAND_MAX)
+ };
+
+ return retval.normalize();
+}
diff --git a/shared_cpp/mathlib.h b/shared_cpp/mathlib.h
new file mode 100644
index 0000000..3ed61cd
--- /dev/null
+++ b/shared_cpp/mathlib.h
@@ -0,0 +1,227 @@
+#pragma once
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cmath>
+
+#define MAX(x, y) (((x) > (y)) ? (x) : (y))
+#define MIN(x, y) (((x) < (y)) ? (x) : (y))
+#define ABS(x) (x < 0 ? -x : x)
+
+struct Vector2 {
+ float x = 0;
+ float y = 0;
+
+ Vector2 operator+(Vector2 other) {
+ return { x + other.x, y + other.y };
+ }
+
+ Vector2& operator+=(Vector2 other) {
+ x += other.x;
+ y += other.y;
+ return *this;
+ }
+
+ Vector2 operator-(Vector2 other) {
+ return { x - other.x, y - other.y };
+ }
+
+ Vector2 operator*(float s) {
+ return { x * s, y * s };
+ }
+
+ Vector2 operator/(float s) {
+ return { x / s, y / s };
+ }
+
+ float dot(Vector2 other) {
+ return x * other.x + y * other.y;
+ }
+
+ float length() {
+ return sqrtf(x * x + y * y);
+ }
+
+ Vector2 normalize() {
+ float len = length();
+ float inverseLength = len == 0 ? 1.0 : 1.0 / len;
+
+ return { x * inverseLength, y * inverseLength };
+ }
+
+ Vector2 negate() {
+ return { -x, -y };
+ }
+
+ Vector2 getPerp() {
+ return { y, -x };
+ }
+
+ Vector2 rotate(float angle) {
+ return {
+ x * cosf(angle) - y * sinf(angle),
+ x * sinf(angle) + y * cosf(angle)
+ };
+ }
+
+ void printDebug(const char* name) {
+ printf("%s=Vector2(%f, %f)\n", name, x, y);
+ }
+
+ float determinant(Vector2 other) {
+ //
+ // [ a b ]
+ // [ c d ]
+ //
+ // [ x other.x ]
+ // [ y other.y ]
+ //
+ // det = a * d - b * c
+ // det = x * other.y - other.x * y
+ //
+ return x * other.y - other.x * y;
+ }
+};
+
+struct Vector3 {
+ float x = 0.f;
+ float y = 0.f;
+ float z = 0.f;
+};
+
+struct Vector4 {
+ float x = 0.f;
+ float y = 0.f;
+ float z = 0.f;
+ float w = 0.f;
+
+ float length() {
+ return sqrtf(x * x + y * y + z * z + w * w);
+ }
+
+ Vector4 normalize() {
+ float len = length();
+ float inverseLength = len == 0 ? 1.0 : 1.0 / len;
+
+ return { x * inverseLength, y * inverseLength, z * inverseLength, w * inverseLength };
+ }
+
+ Vector4 fromColor(float r, float g, float b, float a) {
+ float scale = 1.f / 255.f;
+ return { r * scale, g * scale, b * scale, a * scale };
+ }
+
+ Vector4 toNormalizedColor() {
+ return fromColor(x, y, z, w);
+ }
+};
+
+struct Mat4x4 {
+ float m[16] = {
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1
+ };
+
+ Mat4x4 copy() {
+ Mat4x4 result;
+ memcpy(result.m, m, sizeof(float) * 16);
+ return result;
+ }
+
+ Mat4x4 scale(Vector3 v) {
+ Mat4x4 result = copy();
+ result.m[0] = result.m[0] * v.x;
+ result.m[5] = result.m[5] *v.y;
+ result.m[10] = result.m[10] * v.z;
+ return result;
+ }
+
+ Mat4x4 translate(Vector3 v) {
+ Mat4x4 result = copy();
+ result.m[12] += v.x;
+ result.m[13] += v.y;
+ result.m[14] += v.z;
+ return result;
+ }
+
+ Mat4x4 translateByVec2(Vector2 v) {
+ Mat4x4 result = copy();
+ result.m[12] += v.x;
+ result.m[13] += v.y;
+ return result;
+ }
+
+ Mat4x4 rotate2D(float angle) {
+ Mat4x4 result = copy();
+ result.m[0] = cos(angle);
+ result.m[1] = -sin(angle);
+ result.m[4] = sin(angle);
+ result.m[5] = cos(angle);
+ return result;
+ }
+
+ Vector2 multByVec2(Vector2 v) {
+ Vector4 vec4 = { v.x, v.y, 0.0, 1.0 };
+ return {
+ vec4.x * m[0] + vec4.y * m[4] + vec4.z * m[8] + vec4.w * m[12],
+ vec4.x * m[1] + vec4.y * m[5] + vec4.z * m[9] + vec4.w * m[13]
+ };
+ }
+
+ Vector2 operator*(Vector2 v) {
+ return multByVec2(v);
+ }
+
+ Mat4x4 getOrthographicMatrix(float left, float right, float bottom, float top) {
+ Mat4x4 result;
+ result.m[0] = 2.0 / (right - left);
+ result.m[5] = 2.0 / (top - bottom);
+ result.m[10] = 1.0;
+ result.m[12] = -(right + left) / (right - left);
+ result.m[13] = -(top + bottom) / (top - bottom);
+ return result;
+ }
+
+ Mat4x4 inverse() {
+ Mat4x4 inv;
+
+ inv.m[0] = m[5] * m[10] * m[15] - m[5] * m[11] * m[14] - m[9] * m[6] * m[15] + m[9] * m[7] * m[14] + m[13] * m[6] * m[11] - m[13] * m[7] * m[10];
+ inv.m[4] = -m[4] * m[10] * m[15] + m[4] * m[11] * m[14] + m[8] * m[6] * m[15] - m[8] * m[7] * m[14] - m[12] * m[6] * m[11] + m[12] * m[7] * m[10];
+ inv.m[8] = m[4] * m[9] * m[15] - m[4] * m[11] * m[13] - m[8] * m[5] * m[15] + m[8] * m[7] * m[13] + m[12] * m[5] * m[11] - m[12] * m[7] * m[9];
+ inv.m[12] = -m[4] * m[9] * m[14] + m[4] * m[10] * m[13] + m[8] * m[5] * m[14] - m[8] * m[6] * m[13] - m[12] * m[5] * m[10] + m[12] * m[6] * m[9];
+ inv.m[1] = -m[1] * m[10] * m[15] + m[1] * m[11] * m[14] + m[9] * m[2] * m[15] - m[9] * m[3] * m[14] - m[13] * m[2] * m[11] + m[13] * m[3] * m[10];
+ inv.m[5] = m[0] * m[10] * m[15] - m[0] * m[11] * m[14] - m[8] * m[2] * m[15] + m[8] * m[3] * m[14] + m[12] * m[2] * m[11] - m[12] * m[3] * m[10];
+ inv.m[9] = -m[0] * m[9] * m[15] + m[0] * m[11] * m[13] + m[8] * m[1] * m[15] - m[8] * m[3] * m[13] - m[12] * m[1] * m[11] + m[12] * m[3] * m[9];
+ inv.m[13] = m[0] * m[9] * m[14] - m[0] * m[10] * m[13] - m[8] * m[1] * m[14] + m[8] * m[2] * m[13] + m[12] * m[1] * m[10] - m[12] * m[2] * m[9];
+ inv.m[2] = m[1] * m[6] * m[15] - m[1] * m[7] * m[14] - m[5] * m[2] * m[15] + m[5] * m[3] * m[14] + m[13] * m[2] * m[7] - m[13] * m[3] * m[6];
+ inv.m[6] = -m[0] * m[6] * m[15] + m[0] * m[7] * m[14] + m[4] * m[2] * m[15] - m[4] * m[3] * m[14] - m[12] * m[2] * m[7] + m[12] * m[3] * m[6];
+ inv.m[10] = m[0] * m[5] * m[15] - m[0] * m[7] * m[13] - m[4] * m[1] * m[15] + m[4] * m[3] * m[13] + m[12] * m[1] * m[7] - m[12] * m[3] * m[5];
+ inv.m[14] = -m[0] * m[5] * m[14] + m[0] * m[6] * m[13] + m[4] * m[1] * m[14] - m[4] * m[2] * m[13] - m[12] * m[1] * m[6] + m[12] * m[2] * m[5];
+ inv.m[3] = -m[1] * m[6] * m[11] + m[1] * m[7] * m[10] + m[5] * m[2] * m[11] - m[5] * m[3] * m[10] - m[9] * m[2] * m[7] + m[9] * m[3] * m[6];
+ inv.m[7] = m[0] * m[6] * m[11] - m[0] * m[7] * m[10] - m[4] * m[2] * m[11] + m[4] * m[3] * m[10] + m[8] * m[2] * m[7] - m[8] * m[3] * m[6];
+ inv.m[11] = -m[0] * m[5] * m[11] + m[0] * m[7] * m[9] + m[4] * m[1] * m[11] - m[4] * m[3] * m[9] - m[8] * m[1] * m[7] + m[8] * m[3] * m[5];
+ inv.m[15] = m[0] * m[5] * m[10] - m[0] * m[6] * m[9] - m[4] * m[1] * m[10] + m[4] * m[2] * m[9] + m[8] * m[1] * m[6] - m[8] * m[2] * m[5];
+
+ float det = m[0] * inv.m[0] + m[1] * inv.m[4] + m[2] * inv.m[8] + m[3] * inv.m[12];
+
+ if (det == 0)
+ return Mat4x4();
+
+ det = 1.f / det;
+
+ for (int i = 0; i < 16; i++)
+ inv.m[i] = inv.m[i] * det;
+
+ return inv;
+ }
+
+ void print() {
+ printf("[ ");
+ for (int idx = 0; idx < 16; idx++) {
+ printf("%f, ", m[idx]);
+ }
+ printf(" ]\n");
+ }
+};
diff --git a/shared_cpp/types.h b/shared_cpp/types.h
new file mode 100644
index 0000000..3739699
--- /dev/null
+++ b/shared_cpp/types.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+
+typedef int8_t int8;
+typedef int16_t int16;
+typedef int32_t int32;
+typedef int64_t int64;
+
+typedef uint8_t uint8;
+typedef uint16_t uint16;
+typedef uint32_t uint32;
+typedef unsigned long uint64;
+
+typedef float float32;
+typedef double float64;
+
+#define PI 3.14159265358979323846
\ No newline at end of file
--
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