Add my own math library

GLM works only for C++ and I plan on moving to back to C. There is
a C port, but it would be good for me to figure out vertex math myself.
Hence, my own library has been created.

cmake/Findglm.cmake

@@ -1,9 +0,0 @@
-set(GLM_DIR "${PROJECT_SOURCE_DIR}/third_party/GLM/")
-
-find_library(
-    glm
-    NAMES glm glm_shared
-    HINTS ${GLM_DIR}/build/glm
-)
-
-set(glm_INCLUDE_DIR "${GLM_DIR}/include")

dependencies.dep

@@ -1,8 +1,3 @@
-[GLM]
-git_url = https://github.com/g-truc/glm.git
-tag = 0.9.9.8
-custom_commands = cd GLM && mkdir build && cd build && cmake .. -D BUILD_SHARED_LIBS=ON && make && cd .. && mkdir include && mv glm include
-
 [GLFW]
 git_url = https://github.com/glfw/glfw.git
 tag = 3.3.8

graphics/CMakeLists.txt

@@ -1,7 +1,6 @@
 find_package(Vulkan REQUIRED)
 find_package(vma REQUIRED)
 find_package(glfw3 REQUIRED)
-find_package(glm REQUIRED)
 
 find_package(Vulkan COMPONENTS glslc)
 find_program(glslc_executable NAMES glslc HINTS ${Vulkan_GLSLC_EXECUTABLE}/..)
@@ -43,24 +42,23 @@ ${CMAKE_SOURCE_DIR}
     ${Vulkan_INCLUDE_DIR}
     ${vma_INCLUDE_DIR}
     ${glfw3_INCLUDE_DIR}
-    ${glm_INCLUDE_DIR}
 )
 
 message("Vulkan_INCLUDE_DIR: ${Vulkan_INCLUDE_DIR}")
 target_sources(rse_graphics PRIVATE
-    src/window.cpp
-    src/vulkan_base.cpp
-    src/vulkan_pipeline.cpp
-    src/vulkan_buffers.cpp
-    src/vulkan_descriptors.cpp
-    src/rse_graphics.cpp
-    src/mesh_controller.cpp
-    src/vulkan_commons.cpp
+src/window.cpp
+src/vulkan_base.cpp
+src/vulkan_pipeline.cpp
+src/vulkan_buffers.cpp
+src/vulkan_descriptors.cpp
+src/rse_graphics.cpp
+src/rse_math.c
+src/mesh_controller.cpp
+src/vulkan_commons.cpp
 )
 
 target_link_libraries(rse_graphics PRIVATE
     rse_utilities
     ${Vulkan_LIBRARIES}
     ${glfw}
-    ${glm}
 )

graphics/rse_graphics.hpp

@@ -2,11 +2,10 @@
 #define RSE_GRAPHICS_HPP
 
 #include <cstdint>
+
+struct VulkanState;
 namespace rse::graphics
 {
-namespace vulkanbase {
-    struct VulkanState;
-};
 class RseGraphics {
     public:
     RseGraphics();
@@ -24,7 +23,7 @@ class RseGraphics {
 
     private:
     /* Hold vulkan state. It is modified by function initializing and communicating with Vulkan API */
-    vulkanbase::VulkanState* vulkan_state;
+    VulkanState* vulkan_state;
 };
 
 

graphics/src/locale_vulkan.h

@@ -9,15 +9,10 @@
  *
  */
 
-#pragma once
+#ifndef LOCALE_VULKAN_H
+#define LOCALE_VULKAN_H
 
-#include <array>
-#include <vector>
-
-#include "utilities/localization.hpp"
-
-namespace rse::locale::vulkan
-{
+#include "utilities/localization.h"
 
 #define vulkanErrorMesssages vulkanErrorMesssages_nolocale[SELECTED_LANGUAGE]
 
@@ -53,7 +48,7 @@ enum Errors
     LAST_MESSAGE
 };
 
-inline std::array<std::array<const char*, LAST_MESSAGE>, rse::utils::locale::LAST_LANGUAGE> vulkanErrorMesssages_nolocale = {
+const char vulkanErrorMesssages_nolocale[LAST_LANGUAGE][LAST_MESSAGE][MAX_MESSAGE_LENGHT] = {
     {/* EN_US */
     /* VULKAN_LAYER_NOT_SUPPORTED */
     "Selected layer is not supported: ",
@@ -112,4 +107,4 @@ inline std::array<std::array<const char*, LAST_MESSAGE>, rse::utils::locale::LAS
     }
 };
 
-}  // namespace rse::locale::vulkan
+#endif /* LOCALE_VULKAN_H */

graphics/src/locale_window.h

@@ -13,11 +13,7 @@
 
 #include <array>
 
-#include "utilities/localization.hpp"
-
-
-namespace rse::locale::window
-{
+#include "utilities/localization.h"
 
 #define windowErrorMesssages windowErrorMesssages_nolocale[SELECTED_LANGUAGE]
 
@@ -29,15 +25,13 @@ enum Errors
     LAST_MESSAGE
 };
 
-std::array<std::array<const char*, rse::utils::locale::LAST_LANGUAGE>, LAST_MESSAGE> windowErrorMesssages_nolocale = {
+const char windowErrorMesssages_nolocale[LAST_LANGUAGE][LAST_MESSAGE][MAX_MESSAGE_LENGHT] = {
     {/* EN_US */
      /* WINDOW_GLFW_INIT_FAILED */
-     "GLFW init failed!"
+     "GLFW init failed!",
      /* WINDOW_VULKAN_NOT_SUPPORTED */
-     "Unable to load Vulkan"
+     "Unable to load Vulkan",
      /*WINDOW_NOT_CREATED*/
      "Window context creation failed"
     }
-};
-
-}  // namespace rse::locale::window
+};

graphics/src/mesh_controller.cpp

@@ -1,20 +1,16 @@
-#include "mesh_controller.hpp"
-
-#include <map>
-#include <queue>
-#include <memory>
+#include "mesh_controller.h"
 
 #include "vulkan_buffers.hpp"
 
-namespace rse::graphics::mesh
-{
+#include <map>
+#include <queue>
 
 std::map<uint16_t, struct Mesh> g_meshes;
 std::queue<uint16_t> free_ids;
 
 std::map<uint16_t, std::queue<uint16_t>> instance_free_ids;
 
-uint16_t create_mesh(std::vector<rse::graphics::vulkanbase::Vertex> vertices,
+uint16_t create_mesh(std::vector<Vertex> vertices,
                      std::vector<uint16_t> indices)
 {
     static uint16_t last_id = 0U;
@@ -72,12 +68,10 @@ std::vector<InstanceData> get_instance_data_for_mesh(uint16_t mesh_id) {
 }
 
 
-std::vector<rse::graphics::vulkanbase::Vertex> get_mesh_vertices(uint16_t mesh_id) {
+std::vector<Vertex> get_mesh_vertices(uint16_t mesh_id) {
     return g_meshes[mesh_id].vertices;
 }
 
 std::vector<uint16_t> get_mesh_indices(uint16_t mesh_id) {
     return g_meshes[mesh_id].indices;
-}
-
-} // namespace rse::graphics::mesh
+}

graphics/src/mesh_controller.h

@@ -1,5 +1,5 @@
 /**
- * @file mesh_controller.hpp
+ * @file mesh_controller.h
  * @author Piotr Krygier (piotr.krygier@meshsystems.com)
  * @brief
  * @version 0.1
@@ -9,19 +9,15 @@
  *
  */
 
-#ifndef RSE_MESH_CONTROLLER_HPP
-#define RSE_MESH_CONTROLLER_HPP
+#ifndef RSE_MESH_CONTROLLER_H
+#define RSE_MESH_CONTROLLER_H
 
+#include "vulkan_commons.h"
+
+#include <map>
+#include <vector>
 #include <cstdint>
 #include <memory>
-#include <vector>
-#include <map>
-
-#include "vulkan_commons.hpp"
-
-namespace rse::graphics::mesh
-{
-
 /* Forward declarations */
 struct MeshInstance;
 
@@ -34,7 +30,7 @@ struct MeshInstance
 struct Mesh
 {
     uint32_t unique_id;
-    const std::vector<rse::graphics::vulkanbase::Vertex> vertices;
+    const std::vector<Vertex> vertices;
     std::vector<uint16_t> indices;
     std::map<uint16_t, std::unique_ptr<MeshInstance>> instances;
 };
@@ -47,7 +43,7 @@ struct Mesh
  * @param indices indices for mesh
  * @return uint16_t Mesh identifier. Can be useful for getting vertices, indices and instances
  */
-uint16_t create_mesh(std::vector<rse::graphics::vulkanbase::Vertex> vertices,
+uint16_t create_mesh(std::vector<Vertex> vertices,
                      std::vector<uint16_t> indices);
 
 /**
@@ -59,13 +55,9 @@ uint16_t create_mesh(std::vector<rse::graphics::vulkanbase::Vertex> vertices,
 void create_mesh_instance(uint16_t mesh_id,
                           InstanceData instance_data);
 
-std::vector<rse::graphics::vulkanbase::Vertex> get_mesh_vertices(uint16_t mesh_id);
+std::vector<Vertex> get_mesh_vertices(uint16_t mesh_id);
 std::vector<uint16_t> get_mesh_indices(uint16_t mesh_id);
 std::vector<InstanceData> get_instance_data_for_mesh(uint16_t mesh_id);
 
 
-} // namespace rse::graphics::mesh
-
-
-
-#endif
+#endif /* RSE_MESH_CONTROLLER_H */

graphics/src/rse_graphics.cpp

@@ -2,14 +2,16 @@
 #include "window.hpp"
 #include "vulkan_base.hpp"
 
-#include "mesh_controller.hpp"
-#include "vulkan_commons.hpp"
+#include "mesh_controller.h"
+#include "vulkan_commons.h"
+
+#include "rse_math.h"
 namespace rse::graphics
 {
 
 RseGraphics::RseGraphics()
 {
-    vulkan_state = new vulkanbase::VulkanState;
+    vulkan_state = new VulkanState;
     vulkan_state->graphicsQueue = VK_NULL_HANDLE;
     vulkan_state->physicalDevice = VK_NULL_HANDLE;
     vulkan_state->currentFrame = 0U;
@@ -44,11 +46,11 @@ uint8_t RseGraphics::graphics_run(void)
         return -1;
 
     // FIXME: Temporary array of vertices, for testing purposes
-    const std::vector<rse::graphics::vulkanbase::Vertex> vertices = {{{-0.5f, -0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}},
+    const std::vector<Vertex> vertices = {{{-0.5f, -0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}},
                                         {{0.5f, -0.5f, 0.0f}, {0.0f, 1.0f, 1.0f}},
                                         {{0.5f, 0.5f, 0.0f}, {0.0f, 0.0f, 1.0f}},
                                         {{-0.5f, 0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}}};
-    const std::vector<rse::graphics::vulkanbase::Vertex> vertices2 = {{{-0.5f, -0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}},
+    const std::vector<Vertex> vertices2 = {{{-0.5f, -0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}},
 
                                         {{0.5f, -0.5f, 0.0f}, {0.0f, 1.0f, 0.0f}},
                                         {{0.5f, 0.5f, 0.0f}, {0.0f, 1.0f, 0.0f}},
@@ -57,23 +59,23 @@ uint8_t RseGraphics::graphics_run(void)
     // FIXME: Temporary array of vertices, for testing purposes
     std::vector<uint16_t> indices = {0, 1, 2, 2, 3, 0};
 
-    uint16_t mesh_id = rse::graphics::mesh::create_mesh(vertices, indices);
-    rse::graphics::mesh::create_mesh_instance(mesh_id, rse::graphics::mesh::InstanceData(
-        glm::vec3(0.0f, 0.0f, 0.0f),
-        glm::vec3(0.0f, 0.0f, glm::radians(45.0f)),
+    uint16_t mesh_id = create_mesh(vertices, indices);
+    create_mesh_instance(mesh_id, InstanceData(
+        {0.0f, 0.0f, 0.0f},
+        {0.0f, 0.0f, rse_math_deg_to_radians(45.0f)},
         1.0f
     ));
 
-    rse::graphics::mesh::create_mesh_instance(mesh_id, rse::graphics::mesh::InstanceData(
-        glm::vec3(-1.0f, 0.0f, 0.0f),
-        glm::vec3(0.0f, 0.0f, 0.0f),
+    create_mesh_instance(mesh_id, InstanceData(
+        {-1.0f, 0.0f, 0.0f},
+        {0.0f, 0.0f, 0.0f},
         1.0f
     ));
 
-    mesh_id = rse::graphics::mesh::create_mesh(vertices, indices);
-    rse::graphics::mesh::create_mesh_instance(mesh_id, rse::graphics::mesh::InstanceData(
-        glm::vec3(0.0f, 1.0f, 0.0f),
-        glm::vec3(0.0f, 0.0f, glm::radians(0.0f)),
+    mesh_id = create_mesh(vertices, indices);
+    create_mesh_instance(mesh_id, InstanceData(
+        {0.0f, 1.0f, 0.0f},
+        {0.0f, 0.0f, rse_math_deg_to_radians(0.0f)},
         1.0f
     ));
 

graphics/src/rse_math.c

@@ -0,0 +1,126 @@
+#include "rse_math.h"
+
+#include <math.h>
+
+#define PI 3.14159265359f
+
+static struct vec3_t substract_vec3(const struct vec3_t* vec1, const struct vec3_t* vec2)
+{
+    struct vec3_t result;
+
+    result.x = vec1->x - vec2->x;
+    result.y = vec1->y - vec2->y;
+    result.z = vec1->z - vec2->z;
+
+    return result;
+}
+
+static float length_vec3(const struct vec3_t* vec)
+{
+    return sqrt((vec->x * vec->x)
+                  +(vec->y * vec->y)
+                  +(vec->z * vec->z));
+}
+
+static float scalar_cross_vec3(const struct vec3_t* vec1, const struct vec3_t* vec2)
+{
+    return (vec1->x * vec2->x)
+          +(vec1->y * vec2->y)
+          +(vec1->z * vec2->z);
+}
+
+float rse_math_deg_to_radians(float degrees)
+{
+    return degrees * (PI/180.0f);
+}
+
+struct vec3_t rse_math_cross_vec3(const struct vec3_t* vec1, const struct vec3_t* vec2)
+{
+    struct vec3_t result;
+
+    result.x = (vec1->y * vec2->z) - (vec1->z * vec2->y);
+    result.y = (vec1->z * vec2->x) - (vec1->x * vec2->z);
+    result.z = (vec1->x * vec2->y) - (vec1->y * vec2->x);
+    return result;
+}
+
+struct vec3_t rse_math_normalize_vec3(const struct vec3_t* vec)
+{
+    struct vec3_t result = {0};
+    float vec_length = 0.0f;
+
+    vec_length = length_vec3(vec);
+
+    result.x = vec->x / vec_length;
+    result.y = vec->y / vec_length;
+    result.z = vec->z / vec_length;
+
+    return result;
+}
+
+struct mat4_t rse_math_uniform_mat4()
+{
+    struct mat4_t result= {0.0f};
+    result.x_1 = 1.0f;
+    result.y_2 = 1.0f;
+    result.z_3 = 1.0f;
+    result.w_4 = 1.0f;
+
+    return result;
+}
+
+struct mat4_t rse_math_perspective(float fovy, float aspect_ratio, float z_near, float z_far)
+{
+    float tan_half_fovy = 0;
+    struct mat4_t result = {0};
+
+    tan_half_fovy = tan(fovy / 2.0f);
+
+    result.x_1 = -1.0f / (aspect_ratio * tan_half_fovy);
+    result.y_2 = 1.0f / (tan_half_fovy);
+    result.z_3 = - (z_far + z_near) / (z_far - z_near);
+    result.w_3 = -1.0f;
+    result.z_4 = - (2.0f * z_far * z_near) / (z_far - z_near);
+
+    return result;
+}
+
+struct mat4_t rse_math_look_at(const struct vec3_t* eye, const struct vec3_t* center, const struct vec3_t* up)
+{
+    struct mat4_t result = {0.0f};
+    struct vec3_t forward_vec = {0};
+    struct vec3_t right_vec = {0};
+    struct vec3_t up_vec = {0};
+
+    struct vec3_t tmp = substract_vec3(eye, center);
+
+    forward_vec = rse_math_normalize_vec3(&tmp);
+
+    tmp = rse_math_cross_vec3(up, &forward_vec);
+    right_vec = rse_math_normalize_vec3(&tmp);
+
+    up_vec = rse_math_cross_vec3(&forward_vec, &right_vec);
+
+    result.x_1 = right_vec.x;
+    result.x_2 = right_vec.y;
+    result.x_3 = right_vec.z;
+
+    result.y_1 = up_vec.x;
+    result.y_2 = up_vec.y;
+    result.y_3 = up_vec.z;
+
+    result.z_1 = forward_vec.x;
+    result.z_2 = forward_vec.y;
+    result.z_3 = forward_vec.z;
+
+    result.x_4 = -scalar_cross_vec3(&right_vec, eye);
+    result.y_4 = -scalar_cross_vec3(&up_vec, eye);
+    result.z_4 = -scalar_cross_vec3(&forward_vec, eye);
+
+    result.w_1 = 0;
+    result.w_2 = 0;
+    result.w_3 = 0;
+    result.w_4 = 1;
+
+    return result;
+}

graphics/src/rse_math.h

@@ -0,0 +1,120 @@
+/**
+ * @file rse_math.h
+ * @author Piotr Krygier (piotr.krygier@)
+ * @brief RedScarfEngine math operations
+ * @version 0.1
+ * @date 2023-08-07
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
+
+#ifndef RSE_MATH_H
+#define RSE_MATH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Simple representation of vector
+ *
+ */
+struct vec3_t {
+    float x;
+    float y;
+    float z;
+};
+
+/* 4x4 matrix.
+ * [x_1 | x_2 | x_3 | x_4]
+ * [y_1 | y_2 | y_3 | y_4]
+ * [z_1 | x_2 | z_3 | z_4]
+ * [z_1 | w_2 | w_3 | w_4]
+ *
+ * Vulkan and OpenGL expects matrix to be passed by columns, this is why members are created in this order.
+ * */
+struct mat4_t {
+    /* First column */
+    float x_1;
+    float y_1;
+    float z_1;
+    float w_1;
+
+    /* Second column */
+    float x_2;
+    float y_2;
+    float z_2;
+    float w_2;
+
+    /* Third column */
+    float x_3;
+    float y_3;
+    float z_3;
+    float w_3;
+
+    /* Fourth column */
+    float x_4;
+    float y_4;
+    float z_4;
+    float w_4;
+};
+
+/**
+ * @brief Calculate radians from provided degree
+ *
+ * @param degrees degrees
+ * @return float radians
+ */
+float rse_math_deg_to_radians(float degrees);
+
+/**
+ * @brief Create an uniform matrix, the one with ones on diagonal
+ *
+ * @return struct mat4_t Diagonal matrix
+ */
+struct mat4_t rse_math_uniform_mat4();
+
+/**
+ * @brief Normalizes provided vector. Changes the values inside the vector to range 0.0...1.0
+ *
+ * @param vec Vector to normalize
+ * @return struct vec3_t Normalized vector
+ */
+struct vec3_t rse_math_normalize_vec3(const struct vec3_t* vec);
+
+/**
+ * @brief Creates vector cross product, a vector, using right hand rule. Note, that order of vectors is important
+ *
+ * @param vec1 Input vector
+ * @param vec2 Input vector
+ * @return struct vec3_t Resulting cross product vector
+ */
+struct vec3_t rse_math_cross_vec3(const struct vec3_t* vec1, const struct vec3_t* vec2);
+
+/**
+ * @brief Calculates transformation matrix for viewing object from and eye cooridinates
+ *
+ * @param eye Location of the camera or the eye
+ * @param center Where are we looking at
+ * @param up Where "up" is located. Usually (0, 1, 0), since Y is up in most cases
+ * @return struct mat4_t Resulting lootAtMatrix
+ */
+struct mat4_t rse_math_look_at(const struct vec3_t* eye, const struct vec3_t* center, const struct vec3_t* up);
+
+/**
+ * @brief Creates perspective matrix, used in projection
+ *
+ * @param fovy_rad Field of view, in radians
+ * @param aspect_ratio Aspect ratio (usally screen width / height)
+ * @param z_near How near objects we can see
+ * @param z_far How far objects we can see
+ * @return struct mat4_t Resulting perspective matrix
+ */
+struct mat4_t rse_math_perspective(float fovy_rad, float aspect_ratio, float z_near, float z_far);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RSE_MATH_H */

graphics/src/vulkan_base.cpp

@@ -11,7 +11,7 @@
 
 #include "vulkan_base.hpp"
 
-#include "vulkan_errors.hpp"
+#include "vulkan_errors.h"
 #include <GLFW/glfw3.h>
 
 #pragma GCC diagnostic push
@@ -27,11 +27,11 @@
 #include "vk_mem_alloc.h"
 #pragma GCC diagnostic pop
 
-#include "locale_vulkan.hpp"
+#include "locale_vulkan.h"
 #include "utilities/logger.hpp"
 #include "window.hpp"
 
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 #include "vulkan_buffers.hpp"
 #include "vulkan_descriptors.hpp"
 #include "vulkan_pipeline.hpp"
@@ -39,8 +39,6 @@
 namespace rse::graphics::vulkanbase
 {
 
-using namespace locale::vulkan;
-
 #define APPLICATION_NAME "RedScarfEngine PoC"
 #define ENGINE_NAME "RedScarf Engine"
 
@@ -394,17 +392,21 @@ uint8_t createDevice()
     {
         size_t numberOfQueues = 0;
         for (size_t familyIdx = 0; familyIdx < queueFamiliesPropertyCount; ++familyIdx) {
+            LOGI << "Checking queue: " << familyIdx;
             if (pQueueFamilyProperties[familyIdx].queueFlags & VK_QUEUE_GRAPHICS_BIT) {
                 if (pQueueFamilyProperties[familyIdx].queueCount > numberOfQueues) {
                     graphicsFamilyIdx = familyIdx;
+                    LOGI << "Setting graphics family idx to " << familyIdx;
                     numberOfQueues = pQueueFamilyProperties[familyIdx].queueCount;
                 }
             }
+
             /* Check for family with surface support */
             VkBool32 presentSupport = false;
             vkGetPhysicalDeviceSurfaceSupportKHR(g_vulkan_state.physicalDevice, familyIdx, g_vulkan_state.surface, &presentSupport);
             if (presentSupport) {
                 presentationFamiliyIdx = familyIdx;
+                LOGI << "Setting present family idx to " << familyIdx;
             }
 
             if (graphicsFamilyIdx > 0 && presentationFamiliyIdx > 0) {

graphics/src/vulkan_base.hpp

@@ -17,7 +17,7 @@
 
 #include <vulkan/vulkan.hpp>
 
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 
 namespace rse::graphics::vulkanbase
 {

graphics/src/vulkan_buffers.cpp

@@ -3,21 +3,17 @@
 
 #include <cstdint>
 
-#define GLM_FORCE_RADIANS
-#include <glm/gtc/matrix_transform.hpp>
-
-#include "vulkan_errors.hpp"
-#include "locale_vulkan.hpp"
+#include "vulkan_errors.h"
+#include "locale_vulkan.h"
 #include "utilities/logger.hpp"
-#include "mesh_controller.hpp"
+#include "mesh_controller.h"
+#include "rse_math.h"
 
 namespace rse::graphics::vulkanbase
 {
 
 #define MAX_VERTEX_BUFFER_SIZE 33554432 /* 32 MB*/
 
-using namespace locale::vulkan;
-
 // // FIXME: Temporary array of vertices, for testing purposes
 // const std::vector<Vertex> vertices = {{{-0.5f, -0.5f, 0.0f}, {1.0f, 0.0f, 1.0f}},
 //                                       {{0.5f, -0.5f, 0.0f}, {0.0f, 1.0f, 1.0f}},
@@ -320,19 +316,32 @@ uint8_t allocateCommandBuffers()
  */
 void updateUniformBuffer()
 {
+    struct vec3_t eye = {0};
+    struct vec3_t center = {0};
+    struct vec3_t up = {0};
+    float fovy;
+    float z_near;
+    float z_far;
     UniformBufferObject ubo{};
-    // ubo.model = glm::translate(glm::mat4(1.0f), glm::vec3(1.0f, 0.0f, 0.0f)) * glm::rotate(glm::mat4(1.0f), glm::radians(45.0f), glm::vec3(0.0f, 0.0f, 1.0f)) * glm::scale(glm::mat4(1.0f), glm::vec3(2, 1, 1));
-    ubo.model = glm::mat4(1.0f);
-    ubo.view = glm::lookAt(glm::vec3(0.0f, 0.0f, 5.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f));
-    ubo.proj = glm::perspective(glm::radians(45.0f),
-                                g_vulkan_state.swapchainExtent.width / (float)g_vulkan_state.swapchainExtent.height,
-                                0.1f,
-                                20.0f);
-    ubo.proj[1][1] *= -1; /* GLM was developed for OpenGL, where Y coordinate of the clip is inverted */
+
+    eye.z = 5.0f;
+
+    up.y = 1.0f;
+
+    fovy = rse_math_deg_to_radians(45.0f);
+    z_near = 0.1f;
+    z_far = 20.0f;
+
+    ubo.model = rse_math_uniform_mat4();
+    ubo.view = rse_math_look_at(&eye, &center, &up);
+    ubo.proj = rse_math_perspective(fovy,
+                            g_vulkan_state.swapchainExtent.width / (float)g_vulkan_state.swapchainExtent.height,
+                            z_near,
+                            z_far);
     memcpy(g_vulkan_state.uniformBuffers[g_vulkan_state.currentFrame].allocationInfo.pMappedData, &ubo, sizeof(ubo));
 }
 
-uint8_t update_mesh_buffers(const std::vector<rse::graphics::vulkanbase::Vertex>& vertices,
+uint8_t update_mesh_buffers(const std::vector<Vertex>& vertices,
                             const std::vector<uint16_t>& indices)
 {
     // void* mapped_data;
@@ -375,7 +384,7 @@ uint8_t update_mesh_buffers(const std::vector<rse::graphics::vulkanbase::Vertex>
     return VULKAN_ERROR_NO_ERROR;
 }
 
-uint8_t update_mesh_instances(rse::graphics::mesh::InstanceData& instance_data)
+uint8_t update_mesh_instances(InstanceData& instance_data)
 {
     Buffer staging_buffer;
 
@@ -460,8 +469,8 @@ uint8_t recordCommandBuffer(uint32_t imageIndex)
         VkBuffer vertexBuffers[] = {gVertexBuffers[i].buffer};
         VkBuffer indexBuffer = {gIndexBuffers[i].buffer};
         VkBuffer instanceBuffers[] = {gInstanceBuffers[i].buffer};
-        auto indices = rse::graphics::mesh::get_mesh_indices(0);
-        auto instances = rse::graphics::mesh::get_instance_data_for_mesh(0);
+        auto indices = get_mesh_indices(0);
+        auto instances = get_instance_data_for_mesh(0);
 
         /* TODO: Figure out the offset */
         vkCmdBindVertexBuffers(commandBuffer, 0, 1, vertexBuffers, offsets);

graphics/src/vulkan_buffers.hpp

@@ -7,7 +7,7 @@
 
 #include "vk_mem_alloc.h"
 
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 
 namespace rse::graphics::vulkanbase
 {
@@ -27,10 +27,10 @@ uint8_t create_buffers();
  */
 void updateUniformBuffer();
 
-uint8_t update_mesh_buffers(const std::vector<rse::graphics::vulkanbase::Vertex>& vertices,
+uint8_t update_mesh_buffers(const std::vector<Vertex>& vertices,
                             const std::vector<uint16_t>& indices);
 
-uint8_t update_mesh_instances(rse::graphics::mesh::InstanceData& instance_data);
+uint8_t update_mesh_instances(InstanceData& instance_data);
 /**
  * @brief Record commands for given image index
  *

graphics/src/vulkan_commons.cpp

@@ -1,7 +1,3 @@
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 
-namespace rse::graphics::vulkanbase {
-
-VulkanState g_vulkan_state;
-
-}
+VulkanState g_vulkan_state;

graphics/src/vulkan_commons.h

@@ -1,5 +1,5 @@
 /**
- * @file vulkan_global.hpp
+ * @file vulkan_global.h
  * @author Piotr Krygier (piotr.krygier@meshsystems.com)
  * @brief Declaration of a structure holding Vulkan variables needed by different parts of the code
  * @version 0.1
@@ -13,25 +13,20 @@
 #define RSE_VULKAN_GLOBAL_HPP
 
 #include <vulkan/vulkan.hpp>
-#pragma GCC diagnostic ignored "-Wvolatile"
-#include <glm/glm.hpp>
-#pragma GCC diagnostic pop
+#include <vk_mem_alloc.h>
 
-#include "vk_mem_alloc.h"
+#include "rse_math.h"
 
 #define SWAP_BUFFER_COUNT 2U
 
-namespace rse::graphics::vulkanbase
-{
-
 /**
  * @brief Represents single vertex on the screen
  *
  */
 struct Vertex
 {
-    glm::vec3 pos;
-    glm::vec3 color;
+    struct vec3_t pos;
+    struct vec3_t color;
 
     static VkVertexInputBindingDescription getBindingDescription() {
         VkVertexInputBindingDescription bindingDescription;
@@ -75,9 +70,9 @@ struct Buffer
 
 struct UniformBufferObject
 {
-    alignas(16) glm::mat4 model;
-    alignas(16) glm::mat4 view;
-    alignas(16) glm::mat4 proj;
+    alignas(16) mat4_t model;
+    alignas(16) mat4_t view;
+    alignas(16) mat4_t proj;
 };
 
 struct VulkanState
@@ -105,16 +100,10 @@ struct VulkanState
 
 extern VulkanState g_vulkan_state;
 
-} // namespace rse::graphics::vulkanbase
-
-namespace rse::graphics::mesh
-{
 struct InstanceData {
-    glm::vec3 pos;
-    glm::vec3 rot;
+    struct vec3_t pos;
+    struct vec3_t rot;
     float scale;
 };
 
-} // namespace rse::graphics::mesh
-
 #endif

graphics/src/vulkan_descriptors.cpp

@@ -1,14 +1,12 @@
 #include "vulkan_descriptors.hpp"
 
-#include "locale_vulkan.hpp"
+#include "locale_vulkan.h"
 #include "utilities/logger.hpp"
-#include "vulkan_errors.hpp"
+#include "vulkan_errors.h"
 
 namespace rse::graphics::vulkanbase
 {
 
-using namespace locale::vulkan;
-
 VkDescriptorPool gDescriptorPool = {};
 
 static uint8_t createDescriptorPool();

graphics/src/vulkan_descriptors.hpp

@@ -5,7 +5,7 @@
 #include <vector>
 #include <vulkan/vulkan.hpp>
 
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 
 namespace rse::graphics::vulkanbase
 {

graphics/src/vulkan_errors.h

@@ -1,5 +1,5 @@
-#ifndef VULKAN_ERRORS_HPP
-#define VULKAN_ERRORS_HPP
+#ifndef VULKAN_ERRORS_H
+#define VULKAN_ERRORS_H
 
 /* Macro for checking status of function execution in initVulkan. Created to avoid writing boilerplate code */
 #define STATUS_CHECK(FUNC)                 \

graphics/src/vulkan_pipeline.cpp

@@ -1,10 +1,10 @@
 #include "vulkan_pipeline.hpp"
 
-#include "locale_vulkan.hpp"
+#include "locale_vulkan.h"
 #include "utilities/file_utils.hpp"
 #include "utilities/logger.hpp"
-#include "vulkan_errors.hpp"
-#include "mesh_controller.hpp"
+#include "vulkan_errors.h"
+#include "mesh_controller.h"
 
 #include <cstdint>
 #include <map>
@@ -14,8 +14,6 @@
 namespace rse::graphics::vulkanbase
 {
 
-using namespace locale::vulkan;
-
 enum class ShaderStage
 {
     VERTEX,
@@ -505,7 +503,7 @@ void fillVertexInputInfo(VkPipelineVertexInputStateCreateInfo* vertexInputInfo)
     bindingDescriptions[0] = vertexBindingDescription;
 
     bindingDescriptions[1].binding = 1;
-    bindingDescriptions[1].stride = sizeof(rse::graphics::mesh::InstanceData); //TODO: change
+    bindingDescriptions[1].stride = sizeof(InstanceData); //TODO: change
     bindingDescriptions[1].inputRate = VK_VERTEX_INPUT_RATE_INSTANCE;
 
     auto attributeDescriptions  = new VkVertexInputAttributeDescription[5];
@@ -514,17 +512,17 @@ void fillVertexInputInfo(VkPipelineVertexInputStateCreateInfo* vertexInputInfo)
     attributeDescriptions[2].binding = 1;
     attributeDescriptions[2].location = 2;
     attributeDescriptions[2].format = VK_FORMAT_R32G32B32_SFLOAT;
-    attributeDescriptions[2].offset = offsetof(rse::graphics::mesh::InstanceData, pos);
+    attributeDescriptions[2].offset = offsetof(InstanceData, pos);
 
     attributeDescriptions[3].binding = 1;
     attributeDescriptions[3].location = 3;
     attributeDescriptions[3].format = VK_FORMAT_R32G32B32_SFLOAT;
-    attributeDescriptions[3].offset = offsetof(rse::graphics::mesh::InstanceData, rot);
+    attributeDescriptions[3].offset = offsetof(InstanceData, rot);
 
     attributeDescriptions[4].binding = 1;
     attributeDescriptions[4].location = 4;
     attributeDescriptions[4].format = VK_FORMAT_R32_SFLOAT;
-    attributeDescriptions[4].offset = offsetof(rse::graphics::mesh::InstanceData, scale);
+    attributeDescriptions[4].offset = offsetof(InstanceData, scale);
     // ************************
 
     vertexInputInfo->sType = VK_STRUCTURE_TYPE_PIPELINE_VERTEX_INPUT_STATE_CREATE_INFO;

graphics/src/vulkan_pipeline.hpp

@@ -4,7 +4,7 @@
 #include <vector>
 #include <vulkan/vulkan.hpp>
 
-#include "vulkan_commons.hpp"
+#include "vulkan_commons.h"
 
 namespace rse::graphics::vulkanbase
 {

graphics/src/window.cpp

@@ -11,15 +11,13 @@
 
 #include "window.hpp"
 
-#include "locale_window.hpp"
+#include "locale_window.h"
 #include "utilities/logger.hpp"
 #include "vulkan_base.hpp"
 
 namespace rse::graphics::window
 {
 
-using namespace locale::window;
-
 /* Error codes */
 typedef enum {
     WINDOW_ERROR_NO_ERROR = 0U,

tests/CMakeLists.txt

@@ -3,10 +3,10 @@ find_package(Criterion)
 add_executable(tests
 src/rse_math_tests.c)
 
-
-
 target_include_directories(tests PRIVATE
-${criterion_INCLUDE_DIR})
+${criterion_INCLUDE_DIR}
+${CMAKE_SOURCE_DIR})
 
 target_link_libraries(tests PRIVATE
-${criterion})
+${criterion}
+rse_graphics)

tests/src/rse_math_tests.c

@@ -1,8 +1,179 @@
-#include <stdio.h>
-
 #include "criterion/criterion.h"
+#include "graphics/src/rse_math.h"
 
-Test(sampe, test)
+
+#include <stdio.h>
+#include <math.h>
+
+
+
+/*-----------------RSE MATH TEST------------------------*/
+
+TestSuite(rse_math);
+
+Test(rse_math, normalize)
 {
-    cr_expect(strlen("Tests") == 4, "Expected \"Test\" to have lenght of 4");
+    float res_x = 0.8017f;
+    float res_y = 0.2672f;
+    float res_z = 0.5345f;
+    struct vec3_t test_vec = {3.0f, 1.0f, 2.0f};
+
+    struct vec3_t result = rse_math_normalize_vec3(&test_vec);
+
+    cr_expect_float_eq(result.x, res_x, 0.0001, "Expected %f, got %f", res_x, result.x);
+    cr_expect_float_eq(result.y, res_y, 0.0001, "Expected %f, got %f", res_y, result.y);
+    cr_expect_float_eq(result.z, res_z, 0.0001, "Expected %f, got %f", res_z, result.z);
+}
+
+Test(rse_math, cross)
+{
+    float res_x = -3.0f;
+    float res_y = 6.0f;
+    float res_z = -3.0f;
+    struct vec3_t test_vec1 = {2.0f, 3.0f, 4.0f};
+    struct vec3_t test_vec2 = {5.0f, 6.0f, 7.0f};
+
+    struct vec3_t result = rse_math_cross_vec3(&test_vec1, &test_vec2);
+
+    cr_expect_float_eq(result.x, res_x, 0.0001, "Expected %f, got %f", res_x, result.x);
+    cr_expect_float_eq(result.y, res_y, 0.0001, "Expected %f, got %f", res_y, result.y);
+    cr_expect_float_eq(result.z, res_z, 0.0001, "Expected %f, got %f", res_z, result.z);
+}
+
+Test(rse_math, look_at)
+{
+    struct vec3_t eye;
+    struct vec3_t center;
+    struct vec3_t up;
+    struct mat4_t result;
+    struct mat4_t expected;
+
+    eye.x = 0.0f;
+    eye.y = 0.0f;
+    eye.z = 5.0f;
+
+    center.x = 0.0f;
+    center.y = 0.0f;
+    center.z = 0.0f;
+
+    up.x = 0.0f;
+    up.y = 0.1f;
+    up.z = 0.0f;
+
+    expected.x_1 = 1.0f;
+    expected.y_1 = 0.0f;
+    expected.z_1 = 0.0f;
+    expected.w_1 = 0.0f;
+
+    expected.x_2 = 0.0f;
+    expected.y_2 = 1.0f;
+    expected.z_2 = 0.0f;
+    expected.w_2 = 0.0f;
+
+    expected.x_3 = 0.0f;
+    expected.y_3 = 0.0f;
+    expected.z_3 = 1.0f;
+    expected.w_3 = 0.0f;
+
+    expected.x_4 = 0.0f;
+    expected.y_4 = 0.0f;
+    expected.z_4 = -5.0f;
+    expected.w_4 = 1.0f;
+
+    result = rse_math_look_at(&eye, &center, &up);
+
+    cr_expect_float_eq(result.x_1, expected.x_1, 0.0001, "Expected x_1 %f, got %f", expected.x_1, result.x_1);
+    cr_expect_float_eq(result.y_1, expected.y_1, 0.0001, "Expected y_1 %f, got %f", expected.y_1, result.y_1);
+    cr_expect_float_eq(result.z_1, expected.z_1, 0.0001, "Expected z_1 %f, got %f", expected.z_1, result.z_1);
+    cr_expect_float_eq(result.w_1, expected.w_1, 0.0001, "Expected w_1 %f, got %f", expected.w_1, result.w_1);
+
+    cr_expect_float_eq(result.x_2, expected.x_2, 0.0001, "Expected x_2 %f, got %f", expected.x_2, result.x_2);
+    cr_expect_float_eq(result.y_2, expected.y_2, 0.0001, "Expected y_2 %f, got %f", expected.y_2, result.y_2);
+    cr_expect_float_eq(result.z_2, expected.z_2, 0.0001, "Expected z_2 %f, got %f", expected.z_2, result.z_2);
+    cr_expect_float_eq(result.w_2, expected.w_2, 0.0001, "Expected w_2 %f, got %f", expected.w_2, result.w_2);
+
+    cr_expect_float_eq(result.x_3, expected.x_3, 0.0001, "Expected x_3 %f, got %f", expected.x_3, result.x_3);
+    cr_expect_float_eq(result.y_3, expected.y_3, 0.0001, "Expected y_3 %f, got %f", expected.y_3, result.y_3);
+    cr_expect_float_eq(result.z_3, expected.z_3, 0.0001, "Expected z_3 %f, got %f", expected.z_3, result.z_3);
+    cr_expect_float_eq(result.w_3, expected.w_3, 0.0001, "Expected w_3 %f, got %f", expected.w_3, result.w_3);
+
+    cr_expect_float_eq(result.x_4, expected.x_4, 0.0001, "Expected x_4 %f, got %f", expected.x_4, result.x_4);
+    cr_expect_float_eq(result.y_4, expected.y_4, 0.0001, "Expected y_4 %f, got %f", expected.y_4, result.y_4);
+    cr_expect_float_eq(result.z_4, expected.z_4, 0.0001, "Expected z_4 %f, got %f", expected.z_4, result.z_4);
+    cr_expect_float_eq(result.w_4, expected.w_4, 0.0001, "Expected w_4 %f, got %f", expected.w_4, result.w_4);
+
+}
+
+Test(rse_math, radians)
+{
+    float degrees;
+    float radians;
+    float expected_radians;
+
+    degrees = 45.0f;
+    expected_radians = 0.7853;
+
+    radians = rse_math_deg_to_radians(degrees);
+
+    cr_expect_float_eq(radians, expected_radians, 0.0001, "Expected %f, got %f", expected_radians, radians);
+}
+
+Test(rse_math, perspective)
+{
+    float fovy;
+    float width;
+    float height;
+    float z_near;
+    float z_far;
+    struct mat4_t result;
+    struct mat4_t expected;
+
+    fovy = rse_math_deg_to_radians(45.0f);
+    width = 640.0f;
+    height = 480.0f;
+    z_near = 0.1f;
+    z_far = 20.0f;
+
+    expected.x_1 = -1.81066012;
+    expected.y_1 = 0;
+    expected.z_1 = 0;
+    expected.w_1 = 0;
+
+    expected.x_2 = 0;
+    expected.y_2 = 2.41421342;
+    expected.z_2 = 0;
+    expected.w_2 = 0;
+
+    expected.x_3 = 0;
+    expected.y_3 = 0;
+    expected.z_3 = -1.0100503;
+    expected.w_3 = -1;
+
+    expected.x_4 = 0;
+    expected.y_4 = 0;
+    expected.z_4 = -0.201005027;
+    expected.w_4 = 0;
+
+    result = rse_math_perspective(fovy, width / height, z_near, z_far);
+
+    cr_expect_float_eq(result.x_1, expected.x_1, 0.0001, "Expected x_1 %f, got %f", expected.x_1, result.x_1);
+    cr_expect_float_eq(result.y_1, expected.y_1, 0.0001, "Expected y_1 %f, got %f", expected.y_1, result.y_1);
+    cr_expect_float_eq(result.z_1, expected.z_1, 0.0001, "Expected z_1 %f, got %f", expected.z_1, result.z_1);
+    cr_expect_float_eq(result.w_1, expected.w_1, 0.0001, "Expected w_1 %f, got %f", expected.w_1, result.w_1);
+
+    cr_expect_float_eq(result.x_2, expected.x_2, 0.0001, "Expected x_2 %f, got %f", expected.x_2, result.x_2);
+    cr_expect_float_eq(result.y_2, expected.y_2, 0.0001, "Expected y_2 %f, got %f", expected.y_2, result.y_2);
+    cr_expect_float_eq(result.z_2, expected.z_2, 0.0001, "Expected z_2 %f, got %f", expected.z_2, result.z_2);
+    cr_expect_float_eq(result.w_2, expected.w_2, 0.0001, "Expected w_2 %f, got %f", expected.w_2, result.w_2);
+
+    cr_expect_float_eq(result.x_3, expected.x_3, 0.0001, "Expected x_3 %f, got %f", expected.x_3, result.x_3);
+    cr_expect_float_eq(result.y_3, expected.y_3, 0.0001, "Expected y_3 %f, got %f", expected.y_3, result.y_3);
+    cr_expect_float_eq(result.z_3, expected.z_3, 0.0001, "Expected z_3 %f, got %f", expected.z_3, result.z_3);
+    cr_expect_float_eq(result.w_3, expected.w_3, 0.0001, "Expected w_3 %f, got %f", expected.w_3, result.w_3);
+
+    cr_expect_float_eq(result.x_4, expected.x_4, 0.0001, "Expected x_4 %f, got %f", expected.x_4, result.x_4);
+    cr_expect_float_eq(result.y_4, expected.y_4, 0.0001, "Expected y_4 %f, got %f", expected.y_4, result.y_4);
+    cr_expect_float_eq(result.z_4, expected.z_4, 0.0001, "Expected z_4 %f, got %f", expected.z_4, result.z_4);
+    cr_expect_float_eq(result.w_4, expected.w_4, 0.0001, "Expected w_4 %f, got %f", expected.w_4, result.w_4);
+
 }

utilities/localization.h

@@ -1,5 +1,5 @@
 /**
- * @file localization.hpp
+ * @file localization.h
  * @author Piotr Krygier (everyonencancode@gmail.com)
  * @brief Simple localization header
  * @version 0.1
@@ -9,11 +9,11 @@
  *
  */
 
-#pragma once
-#define SELECTED_LANGUAGE rse::utils::locale::EN_US
+#ifndef LOCALIZATION_H
+#define LOCALIZATION_H
 
-namespace rse::utils::locale
-{
+#define SELECTED_LANGUAGE EN_US
+#define MAX_MESSAGE_LENGHT 128
 
 /**
  * @brief Available languages
@@ -25,4 +25,4 @@ enum Languages_t
     LAST_LANGUAGE
 };
 
-}  // namespace rse::locale
+#endif /* LOCALIZATION_H */