#include <ultra64.h>

#include "sm64.h"
#include "engine/graph_node.h"
#include "math_util.h"
#include "surface_collision.h"
#include "trig_tables.inc.c"
#include "surface_load.h"
#include "game/puppyprint.h"
#include "game/rendering_graph_node.h"

#include "config.h"
#include "config/config_world.h"


Vec3f gVec3fX    = {  1.0f,  0.0f,  0.0f };
Vec3f gVec3fY    = {  0.0f,  1.0f,  0.0f };
Vec3f gVec3fZ    = {  0.0f,  0.0f,  1.0f };
Vec3f gVec3fNX   = { -1.0f,  0.0f,  0.0f };
Vec3f gVec3fNY   = {  0.0f, -1.0f,  0.0f };
Vec3f gVec3fNZ   = {  0.0f,  0.0f, -1.0f };
Vec3f gVec3fZero = {  0.0f,  0.0f,  0.0f };
Vec3f gVec3fOne  = {  1.0f,  1.0f,  1.0f };
Vec3s gVec3sZero = {     0,     0,     0 };
Vec3i gVec3iZero = {     0,     0,     0 };
Vec3s gVec3sOne  = {     1,     1,     1 };

static u16 gRandomSeed16;

// Generate a pseudorandom integer from 0 to 65535 from the random seed, and update the seed.
u32 random_u16(void) {
    if (gRandomSeed16 == 22026) {
        gRandomSeed16 = 0;
    }

    u16 temp1 = (((gRandomSeed16 & 0x00FF) << 8) ^ gRandomSeed16);

    gRandomSeed16 = ((temp1 & 0x00FF) << 8) + ((temp1 & 0xFF00) >> 8);

    temp1 = (((temp1 & 0x00FF) << 1) ^ gRandomSeed16);
    u16 temp2 = ((temp1 >> 1) ^ 0xFF80);

    if ((temp1 & 0x1) == 0) {
        if (temp2 == 43605) {
            gRandomSeed16 = 0;
        } else {
            gRandomSeed16 = (temp2 ^ 0x1FF4);
        }
    } else {
        gRandomSeed16 = (temp2 ^ 0x8180);
    }

    return gRandomSeed16;
}

// Generate a pseudorandom float in the range [0, 1).
f32 random_float(void) {
    return ((f32) random_u16() / (f32) 0x10000);
}

// Return either -1 or 1 with a 50:50 chance.
s32 random_sign(void) {
    return ((random_u16() >= 0x7FFF) ? 1 : -1);
}

/// Returns the lowest of three values.
#define min_3_func(a0, a1, a2) {\
    if (a1 < a0) a0 = a1;       \
    if (a2 < a0) a0 = a2;       \
    return a0;                  \
}

f32 min_3f(f32 a, f32 b, f32 c) { min_3_func(a, b, c); }
s32 min_3i(s32 a, s32 b, s32 c) { min_3_func(a, b, c); }
s32 min_3s(s16 a, s16 b, s16 c) { min_3_func(a, b, c); }

/// Returns the highest of three values.
#define max_3_func(a0, a1, a2) {\
    if (a1 > a0) a0 = a1;       \
    if (a2 > a0) a0 = a2;       \
    return a0;                  \
}
f32 max_3f(f32 a, f32 b, f32 c) { max_3_func(a, b, c); }
s32 max_3i(s32 a, s32 b, s32 c) { max_3_func(a, b, c); }
s32 max_3s(s16 a, s16 b, s16 c) { max_3_func(a, b, c); }

/// A combination of the above.
#define min_max_3_func(a, b, c, min, max) { \
    if (b < a) {                            \
        *max = a;                           \
        *min = b;                           \
    } else {                                \
        *min = a;                           \
        *max = b;                           \
    }                                       \
    if (c < *min) *min = c;                 \
    if (c > *max) *max = c;                 \
}
void min_max_3f(f32 a, f32 b, f32 c, f32 *min, f32 *max) { min_max_3_func(a, b, c, min, max); }
void min_max_3i(s32 a, s32 b, s32 c, s32 *min, s32 *max) { min_max_3_func(a, b, c, min, max); }
void min_max_3s(s16 a, s16 b, s16 c, s16 *min, s16 *max) { min_max_3_func(a, b, c, min, max); }

/// Perform a bitwise copy from vector 'src' to 'dest'
#define vec3_copy_bits(destFmt, dest, srcFmt, src) { \
    register destFmt x = ((srcFmt *) src)[0];        \
    register destFmt y = ((srcFmt *) src)[1];        \
    register destFmt z = ((srcFmt *) src)[2];        \
    ((destFmt *) dest)[0] = x;                       \
    ((destFmt *) dest)[1] = y;                       \
    ((destFmt *) dest)[2] = z;                       \
}
void vec3f_copy    (Vec3f dest, const Vec3f src) { vec3_copy_bits(f32, dest, f32, src); } // 32 -> 32
void vec3i_copy    (Vec3i dest, const Vec3i src) { vec3_copy_bits(s32, dest, s32, src); } // 32 -> 32
void vec3s_copy    (Vec3s dest, const Vec3s src) { vec3_copy_bits(s16, dest, s16, src); } // 16 -> 16
void vec3s_to_vec3i(Vec3i dest, const Vec3s src) { vec3_copy_bits(s32, dest, s16, src); } // 16 -> 32
void vec3s_to_vec3f(Vec3f dest, const Vec3s src) { vec3_copy_bits(f32, dest, s16, src); } // 16 -> 32
void vec3i_to_vec3s(Vec3s dest, const Vec3i src) { vec3_copy_bits(s16, dest, s32, src); } // 32 -> 16
void vec3i_to_vec3f(Vec3f dest, const Vec3i src) { vec3_copy_bits(f32, dest, s32, src); } // 32 -> 32

void surface_normal_to_vec3f(Vec3f dest, struct Surface *surf) {
    register f32 x = surf->normal.x;
    register f32 y = surf->normal.y;
    register f32 z = surf->normal.z;
    ((f32 *) dest)[0] = x;
    ((f32 *) dest)[1] = y;
    ((f32 *) dest)[2] = z;
}

/// Convert float vector a to a short vector 'dest' by rounding the components to the nearest integer.
#define vec3_copy_bits_roundf(fmt, dest, src) { \
    register fmt x = roundf(src[0]);            \
    register fmt y = roundf(src[1]);            \
    register fmt z = roundf(src[2]);            \
    ((fmt *) dest)[0] = x;                      \
    ((fmt *) dest)[1] = y;                      \
    ((fmt *) dest)[2] = z;                      \
}
void vec3f_to_vec3s(Vec3s dest, const Vec3f src) { vec3_copy_bits_roundf(s16, dest, src); } // 32 -> 16
void vec3f_to_vec3i(Vec3i dest, const Vec3f src) { vec3_copy_bits_roundf(s32, dest, src); } // 32 -> 32
#undef vec3_copy_bits_roundf

#define vec3_copy_y_off_func(destFmt, dest, srcFmt, src, yOff) {\
    register destFmt x = ((srcFmt *) src)[0];                   \
    register destFmt y = ((srcFmt *) src)[1] + yOff;            \
    register destFmt z = ((srcFmt *) src)[2];                   \
    ((destFmt *) dest)[0] = x;                                  \
    ((destFmt *) dest)[1] = y;                                  \
    ((destFmt *) dest)[2] = z;                                  \
}
void vec3f_copy_y_off(Vec3f dest, Vec3f src, f32 yOff) { vec3_copy_y_off_func(f32, dest, f32, src, yOff); }
#undef vec3_copy_y_off_func

/// Set vector 'dest' to (x, y, z)
inline void vec3f_set(Vec3f dest, const f32 x, const f32 y, const f32 z) { vec3_set(dest, x, y, z); }
inline void vec3i_set(Vec3i dest, const s32 x, const s32 y, const s32 z) { vec3_set(dest, x, y, z); }
inline void vec3s_set(Vec3s dest, const s16 x, const s16 y, const s16 z) { vec3_set(dest, x, y, z); }

/// Add vector 'a' to 'dest'
#define vec3_add_func(fmt, dest, a) {   \
    register fmt *temp = (fmt *)(dest); \
    register fmt sum, sum2;             \
    register s32 i;                     \
    for (i = 0; i < 3; i++) {           \
        sum = *(a);                     \
        (a)++;                          \
        sum2 = *temp;                   \
        *temp = (sum + sum2);           \
        temp++;                         \
    }                                   \
}
void vec3f_add(Vec3f dest, const Vec3f a) { vec3_add_func(f32, dest, a); }
void vec3i_add(Vec3i dest, const Vec3i a) { vec3_add_func(s32, dest, a); }
void vec3s_add(Vec3s dest, const Vec3s a) { vec3_add_func(s16, dest, a); }
#undef vec3_add_func

/// Make 'dest' the sum of vectors a and b.
#define vec3_sum_func(fmt, dest, a, b) {\
    register fmt *temp = (fmt *)(dest); \
    register fmt sum, sum2;             \
    register s32 i;                     \
    for (i = 0; i < 3; i++) {           \
        sum = *(a);                     \
        (a)++;                          \
        sum2 = *(b);                    \
        (b)++;                          \
        *temp = (sum + sum2);           \
        temp++;                         \
    }                                   \
}
void vec3f_sum(Vec3f dest, const Vec3f a, const Vec3f b) { vec3_sum_func(f32, dest, a, b); }
void vec3i_sum(Vec3i dest, const Vec3i a, const Vec3i b) { vec3_sum_func(s32, dest, a, b); }
void vec3s_sum(Vec3s dest, const Vec3s a, const Vec3s b) { vec3_sum_func(s16, dest, a, b); }
#undef vec3_sum_func

/// Subtract vector a from 'dest'
#define vec3_sub_func(fmt, dest, a) {   \
    register fmt x = ((fmt *) a)[0];    \
    register fmt y = ((fmt *) a)[1];    \
    register fmt z = ((fmt *) a)[2];    \
    ((fmt *) dest)[0] -= x;             \
    ((fmt *) dest)[1] -= y;             \
    ((fmt *) dest)[2] -= z;             \
}
void vec3f_sub(Vec3f dest, const Vec3f a) { vec3_sub_func(f32, dest, a); }
void vec3i_sub(Vec3i dest, const Vec3i a) { vec3_sub_func(s32, dest, a); }
void vec3s_sub(Vec3s dest, const Vec3s a) { vec3_sub_func(s16, dest, a); }
#undef vec3_sub_func

/// Make 'dest' the difference of vectors a and b.
#define vec3_diff_func(fmt, dest, a, b) {   \
    register fmt x1 = ((fmt *) a)[0];       \
    register fmt y1 = ((fmt *) a)[1];       \
    register fmt z1 = ((fmt *) a)[2];       \
    register fmt x2 = ((fmt *) b)[0];       \
    register fmt y2 = ((fmt *) b)[1];       \
    register fmt z2 = ((fmt *) b)[2];       \
    ((fmt *) dest)[0] = (x1 - x2);          \
    ((fmt *) dest)[1] = (y1 - y2);          \
    ((fmt *) dest)[2] = (z1 - z2);          \
}
void vec3f_diff(Vec3f dest, const Vec3f a, const Vec3f b) { vec3_diff_func(f32, dest, a, b); }
void vec3i_diff(Vec3i dest, const Vec3i a, const Vec3i b) { vec3_diff_func(s32, dest, a, b); }
void vec3s_diff(Vec3s dest, const Vec3s a, const Vec3s b) { vec3_diff_func(s16, dest, a, b); }
#undef vec3_diff_func

/// Multiply vector 'a' into 'dest'
#define vec3_mul_func(fmt, dest, a) {   \
    register fmt x = ((fmt *) a)[0];    \
    register fmt y = ((fmt *) a)[1];    \
    register fmt z = ((fmt *) a)[2];    \
    ((fmt *) dest)[0] *= x;             \
    ((fmt *) dest)[1] *= y;             \
    ((fmt *) dest)[2] *= z;             \
}
void vec3f_mul(Vec3f dest, const Vec3f a) { vec3_mul_func(f32, dest, a); }
void vec3i_mul(Vec3i dest, const Vec3i a) { vec3_mul_func(s32, dest, a); }
void vec3s_mul(Vec3s dest, const Vec3s a) { vec3_mul_func(s16, dest, a); }
#undef vec3_mul_func

/// Make 'dest' the product of vectors a and b.
#define vec3_prod_func(fmt, dest, a, b) {   \
    register fmt x1 = ((fmt *) a)[0];       \
    register fmt y1 = ((fmt *) a)[1];       \
    register fmt z1 = ((fmt *) a)[2];       \
    register fmt x2 = ((fmt *) b)[0];       \
    register fmt y2 = ((fmt *) b)[1];       \
    register fmt z2 = ((fmt *) b)[2];       \
    ((fmt *) dest)[0] = (x1 * x2);          \
    ((fmt *) dest)[1] = (y1 * y2);          \
    ((fmt *) dest)[2] = (z1 * z2);          \
}
void vec3f_prod(Vec3f dest, const Vec3f a, const Vec3f b) { vec3_prod_func(f32, dest, a, b); }
void vec3i_prod(Vec3i dest, const Vec3i a, const Vec3i b) { vec3_prod_func(s32, dest, a, b); }
void vec3s_prod(Vec3s dest, const Vec3s a, const Vec3s b) { vec3_prod_func(s16, dest, a, b); }
#undef vec3_prod_func


/// Performs element-wise division of two 3-vectors
#define vec3_div_func(fmt, dest, a) {   \
    register fmt x = ((fmt *) a)[0];    \
    register fmt y = ((fmt *) a)[1];    \
    register fmt z = ((fmt *) a)[2];    \
    ((fmt *) dest)[0] /= x;             \
    ((fmt *) dest)[1] /= y;             \
    ((fmt *) dest)[2] /= z;             \
}
void vec3f_div(Vec3f dest, const Vec3f a) { vec3_div_func(f32, dest, a); }
void vec3i_div(Vec3i dest, const Vec3i a) { vec3_div_func(s32, dest, a); }
void vec3s_div(Vec3s dest, const Vec3s a) { vec3_div_func(s16, dest, a); }
#undef vec3_div_func

/// Make 'dest' the quotient of vectors a and b.
#define vec3_quot_func(fmt, dest, a, b) {   \
    register fmt x1 = ((fmt *) a)[0];       \
    register fmt y1 = ((fmt *) a)[1];       \
    register fmt z1 = ((fmt *) a)[2];       \
    register fmt x2 = ((fmt *) b)[0];       \
    register fmt y2 = ((fmt *) b)[1];       \
    register fmt z2 = ((fmt *) b)[2];       \
    ((fmt *) dest)[0] = (x1 / x2);          \
    ((fmt *) dest)[1] = (y1 / y2);          \
    ((fmt *) dest)[2] = (z1 / z2);          \
}
void vec3f_quot(Vec3f dest, const Vec3f a, const Vec3f b) { vec3_quot_func(f32, dest, a, b); }
void vec3i_quot(Vec3i dest, const Vec3i a, const Vec3i b) { vec3_quot_func(s32, dest, a, b); }
void vec3s_quot(Vec3s dest, const Vec3s a, const Vec3s b) { vec3_quot_func(s16, dest, a, b); }
#undef vec3_quot_func

/// Return the dot product of vectors a and b.
f32 vec3f_dot(const Vec3f a, const Vec3f b) {
    return vec3_dot(a, b);
}

/// Make vector 'dest' the cross product of vectors a and b.
void vec3f_cross(Vec3f dest, const Vec3f a, const Vec3f b) {
    vec3_cross(dest, a, b);
}

/// Scale vector 'dest' so it has length 1
void vec3f_normalize(Vec3f dest) {
    register f32 mag = (sqr(dest[0]) + sqr(dest[1]) + sqr(dest[2]));
    if (mag > NEAR_ZERO) {
        register f32 invsqrt = (1.0f / sqrtf(mag));
        vec3_mul_val(dest, invsqrt);
    } else {
        // Default to up vector.
        dest[0] = 0;
        ((u32 *) dest)[1] = FLOAT_ONE;
        dest[2] = 0;
    }
}

/// Struct the same data size as a Mat4
struct CopyMat4 {
    f32 a[0x10];
};

/// Copy matrix 'src' to 'dest' by casting to a struct CopyMat4 pointer.
void mtxf_copy(register Mat4 dest, register Mat4 src) {
    *((struct CopyMat4 *) dest) = *((struct CopyMat4 *) src);
}

/// Set mtx to the identity matrix.
void mtxf_identity(register Mat4 mtx) {
    s32 i;
    f32 *dest;
    for (dest = ((f32 *) mtx + 1), i = 0; i < 14; dest++, i++) {
        *dest = 0;
    }
    for (dest = (f32 *) mtx, i = 0; i < 4; dest += 5, i++) {
        *((u32 *) dest) = FLOAT_ONE;
    }
}

/// Set dest to a translation matrix of vector b.
void mtxf_translate(Mat4 dest, Vec3f b) {
    register s32 i;
    register f32 *pen;
    for (pen = ((f32 *) dest + 1), i = 0; i < 12; pen++, i++) {
        *pen = 0;
    }
    for (pen = (f32 *) dest, i = 0; i < 4; pen += 5, i++) {
        *((u32 *) pen) = FLOAT_ONE;
    }
    vec3f_copy(&dest[3][0], &b[0]);
}

/**
 * Multiply a vector by a matrix of the form
 * | ? ? ? 0 |
 * | ? ? ? 0 |
 * | ? ? ? 0 |
 * | 0 0 0 1 |
 * i.e. a matrix representing a linear transformation over 3 space.
 */
void linear_mtxf_mul_vec3f(Mat4 m, Vec3f dst, Vec3f v) {
    s32 i;
    for (i = 0; i < 3; i++) {
        dst[i] = ((m[0][i] * v[0])
                + (m[1][i] * v[1])
                + (m[2][i] * v[2]));
    }
}

void linear_mtxf_mul_vec3f_and_translate(Mat4 m, Vec3f dst, Vec3f v) {
    s32 i;
    for (i = 0; i < 3; i++) {
        dst[i] = ((m[0][i] * v[0])
                + (m[1][i] * v[1])
                + (m[2][i] * v[2])
                +  m[3][i]);
    }
}

/**
 * Multiply a vector by the transpose of a matrix of the form
 * | ? ? ? 0 |
 * | ? ? ? 0 |
 * | ? ? ? 0 |
 * | 0 0 0 1 |
 * i.e. a matrix representing a linear transformation over 3 space.
 */
void linear_mtxf_transpose_mul_vec3f(Mat4 m, Vec3f dst, Vec3f v) {
    s32 i;
    for (i = 0; i < 3; i++) {
        dst[i] = vec3_dot(m[i], v);
    }
}

/// Build a matrix that rotates around the z axis, then the x axis, then the y axis, and then translates.
void mtxf_rotate_zxy_and_translate(Mat4 dest, Vec3f trans, Vec3s rot) {
    register f32 sx   = sins(rot[0]);
    register f32 cx   = coss(rot[0]);
    register f32 sy   = sins(rot[1]);
    register f32 cy   = coss(rot[1]);
    register f32 sz   = sins(rot[2]);
    register f32 cz   = coss(rot[2]);
    register f32 sysz = (sy * sz);
    register f32 cycz = (cy * cz);
    dest[0][0] = ((sysz * sx) + cycz);
    register f32 cysz = (cy * sz);
    register f32 sycz = (sy * cz);
    dest[1][0] = ((sycz * sx) - cysz);
    dest[2][0] = (cx * sy);
    dest[0][1] = (cx * sz);
    dest[1][1] = (cx * cz);
    dest[2][1] = -sx;
    dest[0][2] = ((cysz * sx) - sycz);
    dest[1][2] = ((cycz * sx) + sysz);
    dest[2][2] = (cx * cy);
    vec3f_copy(dest[3], trans);
    MTXF_END(dest);
}

/// Build a matrix that rotates around the x axis, then the y axis, then the z axis, and then translates.
UNUSED void mtxf_rotate_xyz_and_translate(Mat4 dest, Vec3f trans, Vec3s rot) {
    register f32 sx   = sins(rot[0]);
    register f32 cx   = coss(rot[0]);
    register f32 sy   = sins(rot[1]);
    register f32 cy   = coss(rot[1]);
    register f32 sz   = sins(rot[2]);
    register f32 cz   = coss(rot[2]);
    dest[0][0] = (cy * cz);
    dest[0][1] = (cy * sz);
    dest[0][2] = -sy;
    register f32 sxcz = (sx * cz);
    register f32 cxsz = (cx * sz);
    dest[1][0] = ((sxcz * sy) - cxsz);
    register f32 sxsz = (sx * sz);
    register f32 cxcz = (cx * cz);
    dest[1][1] = ((sxsz * sy) + cxcz);
    dest[1][2] = (sx * cy);
    dest[2][0] = ((cxcz * sy) + sxsz);
    dest[2][1] = ((cxsz * sy) - sxcz);
    dest[2][2] = (cx * cy);
    vec3f_copy(dest[3], trans);
    MTXF_END(dest);
}

/// Build a matrix that rotates around the z axis, then the x axis, then the y axis, and then translates and multiplies.
void mtxf_rotate_zxy_and_translate_and_mul(Vec3s rot, Vec3f trans, Mat4 dest, Mat4 src) {
    register f32 sx = sins(rot[0]);
    register f32 cx = coss(rot[0]);
    register f32 sy = sins(rot[1]);
    register f32 cy = coss(rot[1]);
    register f32 sz = sins(rot[2]);
    register f32 cz = coss(rot[2]);
    Vec3f entry;
    register f32 sysz = (sy * sz);
    register f32 cycz = (cy * cz);
    entry[0] = ((sysz * sx) + cycz);
    entry[1] = (sz * cx);
    register f32 cysz = (cy * sz);
    register f32 sycz = (sy * cz);
    entry[2] = ((cysz * sx) - sycz);
    linear_mtxf_mul_vec3f(src, dest[0], entry);
    entry[0] = ((sycz * sx) - cysz);
    entry[1] = (cz * cx);
    entry[2] = ((cycz * sx) + sysz);
    linear_mtxf_mul_vec3f(src, dest[1], entry);
    entry[0] = (cx * sy);
    entry[1] = -sx;
    entry[2] = (cx * cy);
    linear_mtxf_mul_vec3f(src, dest[2], entry);
    linear_mtxf_mul_vec3f(src, dest[3], trans);
    vec3f_add(dest[3], src[3]);
    MTXF_END(dest);
}

/// Build a matrix that rotates around the x axis, then the y axis, then the z axis, and then translates and multiplies.
void mtxf_rotate_xyz_and_translate_and_mul(Vec3s rot, Vec3f trans, Mat4 dest, Mat4 src) {
    register f32 sx = sins(rot[0]);
    register f32 cx = coss(rot[0]);
    register f32 sy = sins(rot[1]);
    register f32 cy = coss(rot[1]);
    register f32 sz = sins(rot[2]);
    register f32 cz = coss(rot[2]);
    Vec3f entry;
    entry[0] = (cy * cz);
    entry[1] = (cy * sz);
    entry[2] = -sy;
    linear_mtxf_mul_vec3f(src, dest[0], entry);
    register f32 sxcz = (sx * cz);
    register f32 cxsz = (cx * sz);
    entry[0] = ((sxcz * sy) - cxsz);
    register f32 sxsz = (sx * sz);
    register f32 cxcz = (cx * cz);
    entry[1] = ((sxsz * sy) + cxcz);
    entry[2] = (sx * cy);
    linear_mtxf_mul_vec3f(src, dest[1], entry);
    entry[0] = ((cxcz * sy) + sxsz);
    entry[1] = ((cxsz * sy) - sxcz);
    entry[2] = (cx * cy);
    linear_mtxf_mul_vec3f(src, dest[2], entry);
    linear_mtxf_mul_vec3f(src, dest[3], trans);
    vec3f_add(dest[3], src[3]);
    MTXF_END(dest);
}

/**
 * Set mtx to a look-at matrix for the camera. The resulting transformation
 * transforms the world as if there exists a camera at position 'from' pointed
 * at the position 'to'. The up-vector is assumed to be (0, 1, 0), but the 'roll'
 * angle allows a bank rotation of the camera.
 */
void mtxf_lookat(Mat4 mtx, Vec3f from, Vec3f to, s32 roll) {
    Vec3f colX, colY, colZ;
    register f32 dx = (to[0] - from[0]);
    register f32 dz = (to[2] - from[2]);
    register f32 invLength = sqrtf(sqr(dx) + sqr(dz));
    invLength = -(1.0f / MAX(invLength, NEAR_ZERO));
    dx *= invLength;
    dz *= invLength;
    f32 sr  = sins(roll);
    colY[1] = coss(roll);
    colY[0] = ( sr * dz);
    colY[2] = (-sr * dx);
    vec3f_diff(colZ, from, to); // to & from are swapped
    vec3f_normalize(colZ);
    vec3f_cross(colX, colY, colZ);
    vec3f_normalize(colX);
    vec3f_cross(colY, colZ, colX);
    vec3f_normalize(colY);
    mtx[0][0] = colX[0];
    mtx[1][0] = colX[1];
    mtx[2][0] = colX[2];
    mtx[0][1] = colY[0];
    mtx[1][1] = colY[1];
    mtx[2][1] = colY[2];
    mtx[0][2] = colZ[0];
    mtx[1][2] = colZ[1];
    mtx[2][2] = colZ[2];
    mtx[3][0] = -vec3f_dot(from, colX);
    mtx[3][1] = -vec3f_dot(from, colY);
    mtx[3][2] = -vec3f_dot(from, colZ);
    MTXF_END(mtx);
}

/**
 * Set 'dest' to a transformation matrix that turns an object to face the camera.
 * 'mtx' is the look-at matrix from the camera.
 * 'position' is the position of the object in the world.
 * 'scale' is the scale of the object.
 * 'angle' rotates the object while still facing the camera.
 */
void mtxf_billboard(Mat4 dest, Mat4 mtx, Vec3f position, Vec3f scale, s32 angle) {
    register s32 i;
    register f32 sx = scale[0];
    register f32 sy = scale[1];
    register f32 sz = ((f32 *) scale)[2];
    register f32 *temp2, *temp = (f32 *)dest;
    for (i = 0; i < 16; i++) {
        *temp = 0;
        temp++;
    }
    if (angle == 0x0) {
        // ((u32 *) dest)[0] = FLOAT_ONE;
        dest[0][0] = sx; // [0][0]
        dest[0][1] = 0;
        dest[1][0] = 0;
        // ((u32 *) dest)[5] = FLOAT_ONE;
        dest[1][1] = sy; // [1][1]
    } else {
        dest[0][0] = (coss(angle) * sx);
        dest[0][1] = (sins(angle) * sx);
        dest[1][0] = (-dest[0][1] * sy);
        dest[1][1] = ( dest[0][0] * sy);
    }
    // ((u32 *) dest)[10] = FLOAT_ONE;
    // dest[2][2] = sz; // [2][2]
    ((f32 *) dest)[10] = sz; // [2][2]
    dest[2][3] = 0;
    ((u32 *) dest)[15] = FLOAT_ONE; // [3][3]

    temp  = (f32 *)dest;
    temp2 = (f32 *)mtx;
    for (i = 0; i < 3; i++) {
        temp[12] = ((temp2[ 0] * position[0])
                  + (temp2[ 4] * position[1])
                  + (temp2[ 8] * position[2])
                  +  temp2[12]);
        temp++;
        temp2++;
    }
}

/**
 * Mostly the same as 'mtxf_align_terrain_normal', but also applies a scale and multiplication.
 * 'src' is the matrix to multiply from
 * 'upDir' is the terrain normal
 * 'pos' is the object's position in the world
 * 'scale' is the scale of the shadow
 * 'yaw' is the angle which it should face
 */
void mtxf_shadow(Mat4 dest, Mat4 src, Vec3f upDir, Vec3f pos, Vec3f scale, s32 yaw) {
    Vec3f lateralDir;
    Vec3f leftDir;
    Vec3f forwardDir;
    vec3f_set(lateralDir, sins(yaw), 0.0f, coss(yaw));
    vec3f_normalize(upDir);
    vec3f_cross(leftDir, upDir, lateralDir);
    vec3f_normalize(leftDir);
    vec3f_cross(forwardDir, leftDir, upDir);
    vec3f_normalize(forwardDir);
    Vec3f entry;
    vec3f_prod(entry, leftDir, scale);
    linear_mtxf_mul_vec3f(src, dest[0], entry);
    vec3f_prod(entry, upDir, scale);
    linear_mtxf_mul_vec3f(src, dest[1], entry);
    vec3f_prod(entry, forwardDir, scale);
    linear_mtxf_mul_vec3f(src, dest[2], entry);
    linear_mtxf_mul_vec3f(src, dest[3], pos);
    vec3f_add(dest[3], src[3]);
    MTXF_END(dest);
}

/**
 * Set 'dest' to a transformation matrix that aligns an object with the terrain
 * based on the normal. Used for enemies.
 * 'upDir' is the terrain normal
 * 'yaw' is the angle which it should face
 * 'pos' is the object's position in the world
 */
void mtxf_align_terrain_normal(Mat4 dest, Vec3f upDir, Vec3f pos, s32 yaw) {
    Vec3f lateralDir;
    Vec3f leftDir;
    Vec3f forwardDir;
    vec3f_set(lateralDir, sins(yaw), 0.0f, coss(yaw));
    vec3f_normalize(upDir);
    vec3f_cross(leftDir, upDir, lateralDir);
    vec3f_normalize(leftDir);
    vec3f_cross(forwardDir, leftDir, upDir);
    vec3f_normalize(forwardDir);
    vec3f_copy(dest[0], leftDir);
    vec3f_copy(dest[1], upDir);
    vec3f_copy(dest[2], forwardDir);
    vec3f_copy(dest[3], pos);
    MTXF_END(dest);
}

/**
 * Set 'mtx' to a transformation matrix that aligns an object with the terrain
 * based on 3 height samples in an equilateral triangle around the object.
 * Used for Mario when crawling or sliding.
 * 'yaw' is the angle which it should face
 * 'pos' is the object's position in the world
 * 'radius' is the distance from each triangle vertex to the center
 */
void mtxf_align_terrain_triangle(Mat4 mtx, Vec3f pos, s32 yaw, f32 radius) {
    struct Surface *floor;
    Vec3f point0, point1, point2;
    Vec3f forward;
    Vec3f xColumn, yColumn, zColumn;
    f32 minY   = (-radius * 3);
    f32 height = (pos[1] + 150);

    point0[0] = (pos[0] + (radius * sins(yaw + DEGREES( 60))));
    point0[2] = (pos[2] + (radius * coss(yaw + DEGREES( 60))));
    point0[1] = find_floor(point0[0], height, point0[2], &floor);
    point1[0] = (pos[0] + (radius * sins(yaw + DEGREES(180))));
    point1[2] = (pos[2] + (radius * coss(yaw + DEGREES(180))));
    point1[1] = find_floor(point1[0], height, point1[2], &floor);
    point2[0] = (pos[0] + (radius * sins(yaw + DEGREES(-60))));
    point2[2] = (pos[2] + (radius * coss(yaw + DEGREES(-60))));
    point2[1] = find_floor(point2[0], height, point2[2], &floor);

    if ((point0[1] - pos[1]) < minY) point0[1] = pos[1];
    if ((point1[1] - pos[1]) < minY) point1[1] = pos[1];
    if ((point2[1] - pos[1]) < minY) point2[1] = pos[1];

    f32 avgY = average_3(point0[1], point1[1], point2[1]);

    vec3f_set(forward, sins(yaw), 0.0f, coss(yaw));
    find_vector_perpendicular_to_plane(yColumn, point0, point1, point2);
    vec3f_normalize(yColumn);
    vec3f_cross(xColumn, yColumn, forward);
    vec3f_normalize(xColumn);
    vec3f_cross(zColumn, xColumn, yColumn);
    vec3f_normalize(zColumn);
    vec3f_copy(mtx[0], xColumn);
    vec3f_copy(mtx[1], yColumn);
    vec3f_copy(mtx[2], zColumn);

    mtx[3][0] = pos[0];
    mtx[3][1] = MAX(pos[1], avgY);
    mtx[3][2] = pos[2];

    MTXF_END(mtx);
}

/**
 * Sets matrix 'dest' to the matrix product b * a assuming they are both
 * transformation matrices with a w-component of 1. Since the bottom row
 * is assumed to equal [0, 0, 0, 1], it saves some multiplications and
 * addition.
 * The resulting matrix represents first applying transformation b and
 * then a.
 */
void mtxf_mul(Mat4 dest, Mat4 a, Mat4 b) {
    Vec3f entry;
    register f32 *temp  = (f32 *)a;
    register f32 *temp2 = (f32 *)dest;
    register f32 *temp3;
    register s32 i;
    for (i = 0; i < 16; i++) {
        vec3_copy(entry, temp);
        for (temp3 = (f32 *)b; (i & 3) != 3; i++) {
            *temp2 = ((entry[0] * temp3[0])
                    + (entry[1] * temp3[4])
                    + (entry[2] * temp3[8]));
            temp2++;
            temp3++;
        }
        *temp2 = 0;
        temp += 4;
        temp2++;
    }
    vec3f_add(&dest[3][0], &b[3][0]);
    ((u32 *) dest)[15] = FLOAT_ONE;
}

/**
 * Set matrix 'dest' to 'mtx' scaled by vector s
 */
void mtxf_scale_vec3f(Mat4 dest, Mat4 mtx, register Vec3f s) {
    register f32 *temp  = (f32 *)dest;
    register f32 *temp2 = (f32 *)mtx;
    register s32 i;

    for (i = 0; i < 4; i++) {
        temp[ 0] = temp2[ 0] * s[0];
        temp[ 4] = temp2[ 4] * s[1];
        temp[ 8] = temp2[ 8] * s[2];
        temp[12] =  temp2[12];
        temp++;
        temp2++;
    }
}

/**
 * Multiply a vector with a transformation matrix, which applies the transformation
 * to the point. Note that the bottom row is assumed to be [0, 0, 0, 1], which is
 * true for transformation matrices if the translation has a w component of 1.
 */
UNUSED void mtxf_mul_vec3s(Mat4 mtx, Vec3s b) {
    register f32 x = b[0];
    register f32 y = b[1];
    register f32 z = b[2];
    register f32 *temp2 = (f32 *)mtx;
    register s32 i;
    register s16 *c = b;
    for (i = 0; i < 3; i++) {
        c[0] = ((x * temp2[ 0])
              + (y * temp2[ 4])
              + (z * temp2[ 8])
              +      temp2[12]);
        c++;
        temp2++;
    }
}

/**
 * Set 'mtx' to a transformation matrix that rotates around the z axis.
 */
#define MATENTRY(a, b)                          \
    ((s16 *) mtx)[a     ] = (((s32) b) >> 16);  \
    ((s16 *) mtx)[a + 16] = (((s32) b) & 0xFFFF);
void mtxf_rotate_xy(Mtx *mtx, s32 angle) {
    register s32 i = (coss(angle) * 0x10000);
    register s32 j = (sins(angle) * 0x10000);
    register f32 *temp = (f32 *)mtx;
    register s32 k;
    for (k = 0; k < 16; k++) {
        *temp = 0;
        temp++;
    }
    MATENTRY(0,  i)
    MATENTRY(1,  j)
    MATENTRY(4, -j)
    MATENTRY(5,  i)
    ((s16 *) mtx)[10] = 1;
    ((s16 *) mtx)[15] = 1;
}

/**
 * Extract a position given an object's transformation matrix and a camera matrix.
 * This is used for determining the world position of the held object: since objMtx
 * inherits the transformation from both the camera and Mario, it calculates this
 * by taking the camera matrix and inverting its transformation by first rotating
 * objMtx back from screen orientation to world orientation, and then subtracting
 * the camera position.
 */
void get_pos_from_transform_mtx(Vec3f dest, Mat4 objMtx, register Mat4 camMtx) {
    register s32 i;
    register f32 *temp1 = (f32 *)dest;
    register f32 *temp2 = (f32 *)camMtx;
    f32 y[3];
    register f32 *x = y;
    register f32 *temp3 = (f32 *)objMtx;

    for (i = 0; i < 3; i++) {
        *x = (temp3[12] - temp2[12]);
        temp2++;
        temp3++;
        x = (f32 *)(((u32)x) + 4);
    }
    temp2 -= 3;
    for (i = 0; i < 3; i++) {
        *temp1 = ((x[-3] * temp2[0])
                + (x[-2] * temp2[1])
                + (x[-1] * temp2[2]));
        temp1++;
        temp2 += 4;
    }
}


/**
 * Take the vector starting at 'from' pointed at 'to' an retrieve the length
 * of that vector, as well as the yaw and pitch angles.
 * Basically it converts the direction to spherical coordinates.
 */

/// Finds the horizontal distance between two vectors.
void vec3f_get_lateral_dist(Vec3f from, Vec3f to, f32 *lateralDist) {
    register f32 dx = (to[0] - from[0]);
    register f32 dz = (to[2] - from[2]);
    *lateralDist = sqrtf(sqr(dx) + sqr(dz));
}

/// Finds the squared horizontal distance between two vectors. Avoids a sqrtf call.
void vec3f_get_lateral_dist_squared(Vec3f from, Vec3f to, f32 *lateralDist) {
    register f32 dx = (to[0] - from[0]);
    register f32 dz = (to[2] - from[2]);
    *lateralDist = (sqr(dx) + sqr(dz));
}

/// Finds the distance between two vectors.
void vec3f_get_dist(Vec3f from, Vec3f to, f32 *dist) {
    Vec3f d;
    vec3_diff(d, to, from);
    *dist = vec3_mag(d);
}

/// Finds the squared distance between two vectors. Avoids a sqrtf call.
void vec3f_get_dist_squared(Vec3f from, Vec3f to, f32 *dist) {
    Vec3f d;
    vec3_diff(d, to, from);
    *dist = vec3_sumsq(d);
}

/// Finds the distance and yaw etween two vectors.
void vec3f_get_dist_and_yaw(Vec3f from, Vec3f to, f32 *dist, s16 *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    *dist = vec3_mag(d);
    *yaw = atan2s(d[2], d[0]);
}

/// Finds the pitch between two vectors.
void vec3f_get_pitch(Vec3f from, Vec3f to, s16 *pitch) {
    Vec3f d;
    vec3_diff(d, to, from);
    *pitch = atan2s(sqrtf(sqr(d[0]) + sqr(d[2])), d[1]);
}

/// Finds the yaw between two vectors.
void vec3f_get_yaw(Vec3f from, Vec3f to, s16 *yaw) {
    register f32 dx = (to[0] - from[0]);
    register f32 dz = (to[2] - from[2]);
    *yaw = atan2s(dz, dx);
}

/// Finds the pitch and yaw between two vectors.
void vec3f_get_angle(Vec3f from, Vec3f to, s16 *pitch, s16 *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    *pitch = atan2s(sqrtf(sqr(d[0]) + sqr(d[2])), d[1]);
    *yaw   = atan2s(d[2], d[0]);
}

/// Finds the horizontal distance and pitch between two vectors.
void vec3f_get_lateral_dist_and_pitch(Vec3f from, Vec3f to, f32 *lateralDist, Angle *pitch) {
    Vec3f d;
    vec3_diff(d, to, from);
    *lateralDist = sqrtf(sqr(d[0]) + sqr(d[2]));
    *pitch       = atan2s(*lateralDist, d[1]);
}

/// Finds the horizontal distance and yaw between two vectors.
void vec3f_get_lateral_dist_and_yaw(Vec3f from, Vec3f to, f32 *lateralDist, Angle *yaw) {
    register f32 dx = (to[0] - from[0]);
    register f32 dz = (to[2] - from[2]);
    *lateralDist = sqrtf(sqr(dx) + sqr(dz));
    *yaw         = atan2s(dz, dx);
}

/// Finds the horizontal distance and angles between two vectors.
void vec3f_get_lateral_dist_and_angle(Vec3f from, Vec3f to, f32 *lateralDist, Angle *pitch, Angle *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    *lateralDist = sqrtf(sqr(d[0]) + sqr(d[2]));
    *pitch       = atan2s(*lateralDist, d[1]);
    *yaw         = atan2s(d[2], d[0]);
}

/// Finds the distance and angles between two vectors.
void vec3f_get_dist_and_angle(Vec3f from, Vec3f to, f32 *dist, Angle *pitch, Angle *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    register f32 xz = (sqr(d[0]) + sqr(d[2]));
    *dist           = sqrtf(xz + sqr(d[1]));
    *pitch          = atan2s(sqrtf(xz), d[1]);
    *yaw            = atan2s(d[2], d[0]);
}
void vec3s_get_dist_and_angle(Vec3s from, Vec3s to, s16 *dist, Angle *pitch, Angle *yaw) {
    Vec3s d;
    vec3_diff(d, to, from);
    register f32 xz = (sqr(d[0]) + sqr(d[2]));
    *dist           = sqrtf(xz + sqr(d[1]));
    *pitch          = atan2s(sqrtf(xz), d[1]);
    *yaw            = atan2s(d[2], d[0]);
}
void vec3f_to_vec3s_get_dist_and_angle(Vec3f from, Vec3s to, f32 *dist, Angle *pitch, Angle *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    register f32 xz = (sqr(d[0]) + sqr(d[2]));
    *dist           = sqrtf(xz + sqr(d[1]));
    *pitch          = atan2s(sqrtf(xz), d[1]);
    *yaw            = atan2s(d[2], d[0]);
}

/// Finds the distance, horizontal distance, and angles between two vectors.
void vec3f_get_dist_and_lateral_dist_and_angle(Vec3f from, Vec3f to, f32 *dist, f32 *lateralDist, Angle *pitch, Angle *yaw) {
    Vec3f d;
    vec3_diff(d, to, from);
    register f32 xz = (sqr(d[0]) + sqr(d[2]));
    *dist           = sqrtf(xz + sqr(d[1]));
    *lateralDist    = sqrtf(xz);
    *pitch          = atan2s(*lateralDist, d[1]);
    *yaw            = atan2s(d[2], d[0]);
}

/**
 * Construct the 'to' point which is distance 'dist' away from the 'from' position,
 * and has the angles pitch and yaw.
 */
#define vec3_set_dist_and_angle(from, to, dist, pitch, yaw) { \
    register f32 dcos = (dist * coss(pitch)); \
    to[0] = (from[0] + (dcos * sins(yaw  ))); \
    to[1] = (from[1] + (dist * sins(pitch))); \
    to[2] = (from[2] + (dcos * coss(yaw  ))); \
}
void vec3f_set_dist_and_angle(Vec3f from, Vec3f to, f32 dist, Angle32 pitch, Angle32 yaw) {
    vec3_set_dist_and_angle(from, to, dist, pitch, yaw);
}
void vec3s_set_dist_and_angle(Vec3s from, Vec3s to, s16 dist, Angle32 pitch, Angle32 yaw) {
    vec3_set_dist_and_angle(from, to, dist, pitch, yaw);
}

/**
 * Similar to approach_s32, but converts to s16 and allows for overflow between 32767 and -32768
 */
s32 approach_angle(s32 current, s32 target, s32 inc) {
    s32 dist = (s16)(target - current);
    if (dist < 0) {
        dist += inc;
        if (dist > 0) dist = 0;
    } else if (dist > 0) {
        dist -= inc;
        if (dist < 0) dist = 0;
    }
    return (target - dist);
}
Bool32 approach_angle_bool(s16 *current, s32 target, s32 inc) {
    *current = approach_angle(*current, target, inc);
    return (*current != target);
}

s32 approach_s16(s32 current, s32 target, s32 inc, s32 dec) {
    s16 dist = (target - current);
    if (dist >= 0) { // target >= current
        current = ((dist >  inc) ? (current + inc) : target);
    } else { // target < current
        current = ((dist < -dec) ? (current - dec) : target);
    }
    return (s16)current;
}
Bool32 approach_s16_bool(s16 *current, s32 target, s32 inc, s32 dec) {
    *current = approach_s16(*current, target, inc, dec);
    return (*current != target);
}

/**
 * Return the value 'current' after it tries to approach target, going up at
 * most 'inc' and going down at most 'dec'.
 */
s32 approach_s32(s32 current, s32 target, s32 inc, s32 dec) {
    s32 dist = (target - current);
    if (dist > 0) { // current < target
        current = ((dist >  inc) ? (current + inc) : target);
    } else if (dist < 0) { // current > target
        current = ((dist < -dec) ? (current - dec) : target);
    }
    return current;
}
Bool32 approach_s32_bool(s32 *current, s32 target, s32 inc, s32 dec) {
    *current = approach_s32(*current, target, inc, dec);
    return (*current != target);
}

/**
 * Return the value 'current' after it tries to approach target, going up at
 * most 'inc' and going down at most 'dec'.
 */
f32 approach_f32(f32 current, f32 target, f32 inc, f32 dec) {
    f32 dist = (target - current);
    if (dist >= 0.0f) { // target >= current
        current = ((dist >  inc) ? (current + inc) : target);
    } else { // target < current
        current = ((dist < -dec) ? (current - dec) : target);
    }
    return current;
}
Bool32 approach_f32_bool(f32 *current, f32 target, f32 inc, f32 dec) {
    *current = approach_f32(*current, target, inc, dec);
    return !(*current == target);
}

s32 approach_f32_signed(f32 *current, f32 target, f32 inc) {
    *current += inc;
    if (inc >= 0.0f) {
        if (*current > target) {
            *current = target;
            return TRUE;
        }
    } else {
        if (*current < target) {
            *current = target;
            return TRUE;
        }
    }
    return FALSE;
}

/**
 * Approaches an f32 value by taking the difference between the target and current value
 * and adding a fraction of that to the current value.
 * Edits the current value directly, returns TRUE if the target has been reached, FALSE otherwise.
 */
s32 approach_f32_asymptotic_bool(f32 *current, f32 target, f32 multiplier) {
    if (multiplier > 1.0f) multiplier = 1.0f;

    *current = (*current + ((target - *current) * multiplier));
    return (*current != target);
}

/**
 * Nearly the same as the above function, returns new value instead.
 */
f32 approach_f32_asymptotic(f32 current, f32 target, f32 multiplier) {
    return (current + ((target - current) * multiplier));
}

/**
 * Approaches an s16 value in the same fashion as approach_f32_asymptotic_bool, returns TRUE if target
 * is reached. Note: Since this function takes integers as parameters, the last argument is the
 * reciprocal of what it would be in the previous two functions.
 */
s32 approach_s16_asymptotic_bool(s16 *current, s16 target, s16 divisor) {
    s16 temp = *current;
    if (divisor == 0) {
        *current = target;
    } else {
        temp -= target;
        temp -= (temp / divisor);
        temp += target;
        *current = temp;
    }
    return (*current != target);
}

/**
 * Approaches an s16 value in the same fashion as approach_f32_asymptotic, returns the new value.
 * Note: last parameter is the reciprocal of what it would be in the f32 functions
 */
s32 approach_s16_asymptotic(s16 current, s16 target, s16 divisor) {
    s16 temp = current;
    if (divisor == 0) {
        current = target;
    } else {
        temp -= target;
        temp -= (temp / divisor);
        temp += target;
        current = temp;
    }
    return current;
}

s32 abs_angle_diff(s16 a0, s16 a1) {
    register s16 diff = (a1 - a0);
    if (diff == -0x8000) return 0x7FFF;
    return abss(diff);
}

/**
 * Helper function for atan2s. Does a look up of the arctangent of y/x assuming
 * the resulting angle is in range [0, 0x2000] (1/8 of a circle).
 */
static u32 atan2_lookup(f32 y, f32 x) {
    return x == 0
        ? 0x0
        : atans(y / x);
}

/**
 * Compute the angle from (0, 0) to (x, y) as a s16. Given that terrain is in
 * the xz-plane, this is commonly called with (z, x) to get a yaw angle.
 */
s32 atan2s(f32 y, f32 x) {
    u16 ret;
    if (x >= 0) {
        if (y >= 0) {
            if (y >= x) {
                ret = atan2_lookup(x, y);
            } else {
                ret = 0x4000 - atan2_lookup(y, x);
            }
        } else {
            y = -y;
            if (y < x) {
                ret = 0x4000 + atan2_lookup(y, x);
            } else {
                ret = 0x8000 - atan2_lookup(x, y);
            }
        }
    } else {
        x = -x;
        if (y < 0) {
            y = -y;
            if (y >= x) {
                ret = 0x8000 + atan2_lookup(x, y);
            } else {
                ret = 0xC000 - atan2_lookup(y, x);
            }
        } else {
            if (y < x) {
                ret = 0xC000 + atan2_lookup(y, x);
            } else {
                ret = -atan2_lookup(x, y);
            }
        }
    }
    return ret;
}

/**
 * Compute the atan2 in radians by calling atan2s and converting the result.
 */
f32 atan2f(f32 y, f32 x) {
    return angle_to_radians(atan2s(y, x));
}

// Variables for a spline curve animation (used for the flight path in the grand star cutscene)
Vec4s *gSplineKeyframe;
float gSplineKeyframeFraction;
int gSplineState;

enum gSplineStates {
    CURVE_NONE,
    CURVE_BEGIN_1,
    CURVE_BEGIN_2,
    CURVE_MIDDLE,
    CURVE_END_1,
    CURVE_END_2
};

/**
 * Set 'result' to a 4-vector with weights corresponding to interpolation
 * value t in [0, 1] and gSplineState. Given the current control point P, these
 * weights are for P[0], P[1], P[2] and P[3] to obtain an interpolated point.
 * The weights naturally sum to 1, and they are also always in range [0, 1] so
 * the interpolated point will never overshoot. The curve is guaranteed to go
 * through the first and last point, but not through intermediate points.
 *
 * gSplineState ensures that the curve is clamped: the first two points
 * and last two points have different weight formulas. These are the weights
 * just before gSplineState transitions:
 * 1:    [1,      0,      0,      0]
 * 1->2: [0, (3/12), (7/12), (2/12)]
 * 2->3: [0, (1/ 6), (4/ 6), (1/ 6)]
 * 3->3: [0, (1/ 6), (4/ 6), (1/ 6)] (repeats)
 * 3->4: [0, (1/ 6), (4/ 6), (1/ 6)]
 * 4->5: [0, (2/12), (7/12), (3/12)]
 * 5:    [0,      0,      0,      1]
 *
 * I suspect that the weight formulas will give a 3rd degree B-spline with the
 * common uniform clamped knot vector, e.g. for n points:
 * [0, 0, 0, 0, 1, 2, ... n-1, n, n, n, n]
 * TODO: verify the classification of the spline / figure out how polynomials were computed
 */
void spline_get_weights(Vec4f result, f32 t, UNUSED s32 c) {
    f32 tinv  = 1 - t;
    f32 tinv2 = tinv  * tinv;
    f32 tinv3 = tinv2 * tinv;
    f32 t2    = t     * t   ;
    f32 t3    = t2    * t   ;

    switch (gSplineState) {
        case CURVE_BEGIN_1:
            result[0] = tinv3;
            result[1] = ( t3 *        1.75f) - (t2 * 4.5f) + (t * 3.0f);
            result[2] = (-t3 * (11 / 12.0f)) + (t2 * 1.5f);
            result[3] = t3 * (1 / 6.0f);
            break;
        case CURVE_BEGIN_2:
            result[0] = tinv3 * 0.25f;
            result[1] = (t3 * (7 / 12.0f)) - (t2 * 1.25f) + (t * 0.25f) + (7 / 12.0f);
            result[2] = (-t3 * 0.5f) + (t2 * 0.5f) + (t * 0.5f) + (1 / 6.0f);
            result[3] = t3 * (1 / 6.0f);
            break;
        case CURVE_MIDDLE:
            result[0] = tinv3 * (1.0f / 6.0f);
            result[1] = (t3 * 0.5f) - t2 + (4.0f / 6.0f);
            result[2] = (-t3 * 0.5f) + (t2 * 0.5f) + (t * 0.5f) + (1.0f / 6.0f);
            result[3] = t3 * (1.0f / 6.0f);
            break;
        case CURVE_END_1:
            result[0] = tinv3 * (1.0f /  6.0f);
            result[1] = (-tinv3 * 0.5f) + (tinv2 * 0.5f) + (tinv * 0.5f) + (1.0f / 6.0f);
            result[2] = (tinv3 * (7.0f / 12.0f)) - (tinv2 * 1.25f) + (tinv * 0.25f) + (7.0f / 12.0f);
            result[3] = t3 * 0.25f;
            break;
        case CURVE_END_2:
            result[0] = tinv3 * (1.0f / 6.0f);
            result[1] = (-tinv3 * (11.0f / 12.0f)) + (tinv2 * 1.5f);
            result[2] = (tinv3 * 1.75f) - (tinv2 * 4.5f) + (tinv * 3.0f);
            result[3] = t3;
            break;
    }
}

/**
 * Initialize a spline animation.
 * 'keyFrames' should be an array of (s, x, y, z) vectors
 *  s: the speed of the keyframe in 1000/frames, e.g. s=100 means the keyframe lasts 10 frames
 *  (x, y, z): point in 3D space on the curve
 * The array should end with three entries with s=0 (infinite keyframe duration).
 * That's because the spline has a 3rd degree polynomial, so it looks 3 points ahead.
 */
void anim_spline_init(Vec4s *keyFrames) {
    gSplineKeyframe = keyFrames;
    gSplineKeyframeFraction = 0;
    gSplineState = 1;
}

/**
 * Poll the next point from a spline animation.
 * anim_spline_init should be called before polling for vectors.
 * Returns TRUE when the last point is reached, FALSE otherwise.
 */
s32 anim_spline_poll(Vec3f result) {
    Vec4f weights;
    s32 i;
    s32 hasEnded = FALSE;

    vec3_zero(result);
    spline_get_weights(weights, gSplineKeyframeFraction, gSplineState);
    for (i = 0; i < 4; i++) {
        result[0] += weights[i] * gSplineKeyframe[i][1];
        result[1] += weights[i] * gSplineKeyframe[i][2];
        result[2] += weights[i] * gSplineKeyframe[i][3];
    }

    gSplineKeyframeFraction += (gSplineKeyframe[0][0] / 1000.0f);
    if (gSplineKeyframeFraction >= 1) {
        gSplineKeyframe++;
        gSplineKeyframeFraction--;
        switch (gSplineState) {
            case CURVE_END_2:
                hasEnded = TRUE;
                break;
            case CURVE_MIDDLE:
                if (gSplineKeyframe[2][0] == 0) {
                    gSplineState = CURVE_END_1;
                }
                break;
            default:
                gSplineState++;
                break;
        }
    }

    return hasEnded;
}

/**************************************************
 *                    RAYCASTING                  *
 **************************************************/

#define RAY_OFFSET 30.0f /* How many units to extrapolate surfaces when testing for a raycast */
#define RAY_STEPS      4 /* How many steps to do when casting rays, default to quartersteps.  */

/**
 * @brief Checks if a ray intersects a surface using Möller–Trumbore intersection algorithm.
 * 
 * @param orig is the starting point of the ray.
 * @param dir is the normalized ray direction.
 * @param dir_length is the length of the ray.
 * @param surface is the surface to check.
 * @param hit_pos returns the position on the surface where the ray intersects it.
 * @param length returns the distance from the starting point to the hit position.
 * @return s32 TRUE if the ray intersects a surface.
 */
s32 ray_surface_intersect(Vec3f orig, Vec3f dir, f32 dir_length, struct Surface *surface, Vec3f hit_pos, f32 *length) {
    // Ignore certain surface types.
    if ((surface->type == SURFACE_INTANGIBLE) || (surface->flags & SURFACE_FLAG_NO_CAM_COLLISION)) return FALSE;
    // Convert the vertices to Vec3f.
    Vec3f v0, v1, v2;
    vec3s_to_vec3f(v0, surface->vertex1);
    vec3s_to_vec3f(v1, surface->vertex2);
    vec3s_to_vec3f(v2, surface->vertex3);
    // Get surface normal and extend it by RAY_OFFSET.
    Vec3f norm;
    surface_normal_to_vec3f(norm, surface);
    vec3_mul_val(norm, RAY_OFFSET);
    // Move the face forward by RAY_OFFSET.
    vec3f_add(v0, norm);
    vec3f_add(v1, norm);
    vec3f_add(v2, norm);
    // Make 'e1' (edge 1) the vector from vertex 0 to vertex 1.
    Vec3f e1;
    vec3f_diff(e1, v1, v0);
    // Make 'e2' (edge 2) the vector from vertex 0 to vertex 2.
    Vec3f e2;
    vec3f_diff(e2, v2, v0);
    // Make 'h' the cross product of 'dir' and edge 2.
    Vec3f h;
    vec3f_cross(h, dir, e2);
    // Determine the cos(angle) difference between ray and surface normals.
    f32 det = vec3f_dot(e1, h);
    // Check if we're perpendicular from the surface.
    if ((det > -NEAR_ZERO) && (det < NEAR_ZERO)) return FALSE;
    // Check if we're making contact with the surface.
    // Make f the inverse of the cos(angle) between ray and surface normals.
    f32 f = 1.0f / det; // invDet
    // Make 's' the vector from vertex 0 to 'orig'.
    Vec3f s;
    vec3f_diff(s, orig, v0);
    // Make 'u' the cos(angle) between vectors 's' and normals, divided by 'det'.
    f32 u = f * vec3f_dot(s, h);
    // Check if 'u' is within bounds.
    if ((u < 0.0f) || (u > 1.0f)) return FALSE;
    // Make 'q' the cross product of 's' and edge 1. 
    Vec3f q;
    vec3f_cross(q, s, e1);
    // Make 'v' the cos(angle) between the ray and 'q', divided by 'det'.
    f32 v = f * vec3f_dot(dir, q);
    // Check if 'v' is within bounds.
    if ((v < 0.0f) || ((u + v) > 1.0f)) return FALSE;
    // Get the length between our origin and the surface contact point.
    // Make '*length' the cos(angle) betqwwn edge 2 and 'q', divided by 'det'.
    *length = f * vec3f_dot(e2, q);
    // Check if the length to the hit point is shorter than the ray length.
    if ((*length <= NEAR_ZERO) || (*length > dir_length)) return FALSE;
    // Successful contact.
    // Make 'add_dir' into 'dir' scaled by 'length'.
    Vec3f add_dir;
    vec3_prod_val(add_dir, dir, *length);
    // Make 'hit_pos' into the sum of 'orig' and 'add_dir'.
    vec3f_sum(hit_pos, orig, add_dir);
    return TRUE;
}

void find_surface_on_ray_list(struct SurfaceNode *list, Vec3f orig, Vec3f dir, f32 dir_length, struct Surface **hit_surface, Vec3f hit_pos, f32 *max_length) {
    s32 hit;
    f32 length;
    Vec3f chk_hit_pos;
    f32 top, bottom;
#if PUPPYPRINT_DEBUG
    OSTime first = osGetTime();
#endif
    // Get upper and lower bounds of ray
    if (dir[1] >= 0.0f) {
        // Ray is upwards.
        top    = orig[1] + (dir[1] * dir_length);
        bottom = orig[1];
    } else {
        // Ray is downwards.
        top    = orig[1];
        bottom = orig[1] + (dir[1] * dir_length);
    }

    // Iterate through every surface of the list
    for (; list != NULL; list = list->next) {
        // Reject surface if out of vertical bounds
        if ((list->surface->lowerY > top) || (list->surface->upperY < bottom)) continue;
        // Check intersection between the ray and this surface
        hit = ray_surface_intersect(orig, dir, dir_length, list->surface, chk_hit_pos, &length);
        if (hit && (length <= *max_length)) {
            *hit_surface = list->surface;
            vec3f_copy(hit_pos, chk_hit_pos);
            *max_length = length;
        }
    }
#if PUPPYPRINT_DEBUG
    collisionTime[perfIteration] += osGetTime() - first;
#endif
}

void find_surface_on_ray_cell(s32 cellX, s32 cellZ, Vec3f orig, Vec3f normalized_dir, f32 dir_length, struct Surface **hit_surface, Vec3f hit_pos, f32 *max_length, s32 flags) {
    // Skip if OOB
    if ((cellX >= 0) && (cellX <= (NUM_CELLS - 1)) && (cellZ >= 0) && (cellZ <= (NUM_CELLS - 1))) {
        // Iterate through each surface in this partition
        if ((normalized_dir[1] > -NEAR_ONE) && (flags & RAYCAST_FIND_CEIL)) {
            find_surface_on_ray_list( gStaticSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_CEILS ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
            find_surface_on_ray_list(gDynamicSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_CEILS ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
        }
        if ((normalized_dir[1] <  NEAR_ONE) && (flags & RAYCAST_FIND_FLOOR)) {
            find_surface_on_ray_list( gStaticSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_FLOORS].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
            find_surface_on_ray_list(gDynamicSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_FLOORS].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
        }
        if (flags & RAYCAST_FIND_WALL) {
            find_surface_on_ray_list( gStaticSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_WALLS ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
            find_surface_on_ray_list(gDynamicSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_WALLS ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
        }
        if (flags & RAYCAST_FIND_WATER) {
            find_surface_on_ray_list( gStaticSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_WATER ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
            find_surface_on_ray_list(gDynamicSurfacePartition[cellZ][cellX][SPATIAL_PARTITION_WATER ].next, orig, normalized_dir, dir_length, hit_surface, hit_pos, max_length);
        }
    }
}

void find_surface_on_ray(Vec3f orig, Vec3f dir, struct Surface **hit_surface, Vec3f hit_pos, s32 flags) {
    Vec3f normalized_dir;
    f32 step;
    s32 i;
    const f32 invcell = 1.0f / CELL_SIZE;

    // Set that no surface has been hit
    *hit_surface = NULL;
    vec3f_sum(hit_pos, orig, dir);

    // Get normalized direction
    f32 dir_length = vec3_mag(dir);
    f32 max_length = dir_length;
    vec3f_copy(normalized_dir, dir);
    vec3f_normalize(normalized_dir);

    // Get our cell coordinate
    f32 fCellX    = (orig[0] + LEVEL_BOUNDARY_MAX) * invcell;
    f32 fCellZ    = (orig[2] + LEVEL_BOUNDARY_MAX) * invcell;
    s32 cellX     = fCellX;
    s32 cellZ     = fCellZ;
    s32 cellPrevX = cellX;
    s32 cellPrevZ = cellZ;

    // Don't do DDA if straight down
    if ((normalized_dir[1] >= NEAR_ONE) || (normalized_dir[1] <= -NEAR_ONE)) {
        find_surface_on_ray_cell(cellX, cellZ, orig, normalized_dir, dir_length, hit_surface, hit_pos, &max_length, flags);
        return;
    }

    // Get cells we cross using DDA
    f32 absDir0 = absf(dir[0]);
    f32 absDir2 = absf(dir[2]);
    if (absDir0 >= absDir2) {
        step = (RAY_STEPS * absDir0) * invcell;
    } else {
        step = (RAY_STEPS * absDir2) * invcell;
    }

    f32 dx = (dir[0] / step) * invcell;
    f32 dz = (dir[2] / step) * invcell;

    for (i = 0; i < step && *hit_surface == NULL; i++) {
        find_surface_on_ray_cell(cellX, cellZ, orig, normalized_dir, dir_length, hit_surface, hit_pos, &max_length, flags);

        // Move cell coordinate
        fCellX   += dx;
        fCellZ   += dz;
        cellPrevX = cellX;
        cellPrevZ = cellZ;
        cellX     = fCellX;
        cellZ     = fCellZ;

        if ((cellPrevX != cellX) && (cellPrevZ != cellZ)) {
            find_surface_on_ray_cell(cellX, cellPrevZ, orig, normalized_dir, dir_length, hit_surface, hit_pos, &max_length, flags);
            find_surface_on_ray_cell(cellPrevX, cellZ, orig, normalized_dir, dir_length, hit_surface, hit_pos, &max_length, flags);
        }
    }
}

// Constructs a float in registers, which can be faster than gcc's default of loading a float from rodata.
// Especially fast for halfword floats, which get loaded with a `lui` + `mtc1`.
static ALWAYS_INLINE float construct_float(const float f)
{
    u32 r;
    float f_out;
    u32 i = *(u32*)(&f);

    if (!__builtin_constant_p(i))
    {
        return *(float*)(&i);
    }

    u32 upper = (i >> 16);
    u32 lower = (i >>  0) & 0xFFFF;

    if ((i & 0xFFFF) == 0) {
        __asm__ ("lui %0, %1"
                                : "=r"(r)
                                : "K"(upper));
    } else if ((i & 0xFFFF0000) == 0) {
        __asm__ ("addiu %0, $0, %1"
                                : "+r"(r)
                                : "K"(lower));
    } else {
        __asm__ ("lui %0, %1"
                                : "=r"(r)
                                : "K"(upper));
        __asm__ ("addiu %0, %0, %1"
                                : "+r"(r)
                                : "K"(lower));
    }

    __asm__ ("mtc1 %1, %0"
                         : "=f"(f_out)
                         : "r"(r));
    return f_out;
}

// Converts a floating point matrix to a fixed point matrix
// Makes some assumptions about certain fields in the matrix, which will always be true for valid matrices.
__attribute__((optimize("Os")))
void mtxf_to_mtx_fast(s16* dst, float* src)
{
    float scale = construct_float(65536.0f / WORLD_SCALE);
    // Iterate over pairs of values in the input matrix
    for (int i = 0; i < 8; i++)
    {
        // Read the first input in the current pair
        float a = src[2 * i + 0];

        // Convert the first input to fixed
        s32 a_int = (s32)(a * scale);
        dst[2 * i +  0] = (s16)(a_int >> 16);
        dst[2 * i + 16] = (s16)(a_int >>  0);

        // If this is the left half of the matrix, convert the second input to fixed
        if ((i & 1) == 0)
        {
            // Read the second input in the current pair
            float b = src[2 * i + 1];
            s32 b_int = (s32)(b * scale);
            dst[2 * i +  1] = (s16)(b_int >> 16);
            dst[2 * i + 17] = (s16)(b_int >>  0);
        }
        // Otherwise, skip the second input because column 4 will always be zero
        // Row 4 column 4 is handled after the loop.
        else
        {
            dst[2 * i +  1] = 0;
            dst[2 * i + 17] = 0;
        }

    }
    // Write 1.0 to the bottom right entry in the output matrix
    // The low half was already set to zero in the loop, so we only need
    //  to set the top half.
    dst[15] = 1;
}
