Updated all the libs, added citro3d, added ctr.swkbd (WIP, untested)

libs/citro3d/include/c3d/attribs.h

@@ -0,0 +1,16 @@
+#pragma once
+#include "types.h"
+
+typedef struct
+{
+	u32 flags[2];
+	u64 permutation;
+	int attrCount;
+} C3D_AttrInfo;
+
+void AttrInfo_Init(C3D_AttrInfo* info);
+int  AttrInfo_AddLoader(C3D_AttrInfo* info, int regId, GPU_FORMATS format, int count);
+int  AttrInfo_AddFixed(C3D_AttrInfo* info, int regId);
+
+C3D_AttrInfo* C3D_GetAttrInfo(void);
+void C3D_SetAttrInfo(C3D_AttrInfo* info);

libs/citro3d/include/c3d/base.h

@@ -0,0 +1,63 @@
+#pragma once
+#include "types.h"
+#include "buffers.h"
+#define C3D_DEFAULT_CMDBUF_SIZE 0x40000
+
+enum
+{
+	C3D_UNSIGNED_BYTE = 0,
+	C3D_UNSIGNED_SHORT = 1,
+};
+
+bool C3D_Init(size_t cmdBufSize);
+void C3D_FlushAsync(void);
+void C3D_Fini(void);
+
+float C3D_GetCmdBufUsage(void);
+
+void C3D_BindProgram(shaderProgram_s* program);
+
+void C3D_SetViewport(u32 x, u32 y, u32 w, u32 h);
+void C3D_SetScissor(GPU_SCISSORMODE mode, u32 left, u32 top, u32 right, u32 bottom);
+
+void C3D_DrawArrays(GPU_Primitive_t primitive, int first, int size);
+void C3D_DrawElements(GPU_Primitive_t primitive, int count, int type, const void* indices);
+
+// Immediate-mode vertex submission
+void C3D_ImmDrawBegin(GPU_Primitive_t primitive);
+void C3D_ImmSendAttrib(float x, float y, float z, float w);
+void C3D_ImmDrawEnd(void);
+
+static inline void C3D_ImmDrawRestartPrim(void)
+{
+	GPUCMD_AddWrite(GPUREG_RESTART_PRIMITIVE, 1);
+}
+
+static inline void C3D_FlushAwait(void)
+{
+	gspWaitForP3D();
+}
+
+static inline void C3D_Flush(void)
+{
+	C3D_FlushAsync();
+	C3D_FlushAwait();
+}
+
+static inline void C3D_VideoSync(void)
+{
+	gspWaitForEvent(GSPGPU_EVENT_VBlank0, false);
+	gfxSwapBuffersGpu();
+}
+
+// Fixed vertex attributes
+C3D_FVec* C3D_FixedAttribGetWritePtr(int id);
+
+static inline void C3D_FixedAttribSet(int id, float x, float y, float z, float w)
+{
+	C3D_FVec* ptr = C3D_FixedAttribGetWritePtr(id);
+	ptr->x = x;
+	ptr->y = y;
+	ptr->z = z;
+	ptr->w = w;
+}

libs/citro3d/include/c3d/buffers.h

@@ -0,0 +1,21 @@
+#pragma once
+#include "types.h"
+
+typedef struct
+{
+	u32 offset;
+	u32 flags[2];
+} C3D_BufCfg;
+
+typedef struct
+{
+	u32 base_paddr;
+	int bufCount;
+	C3D_BufCfg buffers[12];
+} C3D_BufInfo;
+
+void BufInfo_Init(C3D_BufInfo* info);
+int  BufInfo_Add(C3D_BufInfo* info, const void* data, ptrdiff_t stride, int attribCount, u64 permutation);
+
+C3D_BufInfo* C3D_GetBufInfo(void);
+void C3D_SetBufInfo(C3D_BufInfo* info);

libs/citro3d/include/c3d/effect.h

@@ -0,0 +1,13 @@
+#pragma once
+#include "types.h"
+
+void C3D_DepthMap(float zScale, float zOffset);
+void C3D_CullFace(GPU_CULLMODE mode);
+void C3D_StencilTest(bool enable, GPU_TESTFUNC function, int ref, int inputMask, int writeMask);
+void C3D_StencilOp(GPU_STENCILOP sfail, GPU_STENCILOP dfail, GPU_STENCILOP pass);
+void C3D_BlendingColor(u32 color);
+void C3D_DepthTest(bool enable, GPU_TESTFUNC function, GPU_WRITEMASK writemask);
+void C3D_AlphaTest(bool enable, GPU_TESTFUNC function, int ref);
+void C3D_AlphaBlend(GPU_BLENDEQUATION colorEq, GPU_BLENDEQUATION alphaEq, GPU_BLENDFACTOR srcClr, GPU_BLENDFACTOR dstClr, GPU_BLENDFACTOR srcAlpha, GPU_BLENDFACTOR dstAlpha);
+void C3D_ColorLogicOp(GPU_LOGICOP op);
+void C3D_FragOpMode(GPU_FRAGOPMODE mode);

libs/citro3d/include/c3d/light.h

@@ -0,0 +1,136 @@
+#pragma once
+#include "types.h"
+#include "lightlut.h"
+
+//-----------------------------------------------------------------------------
+// Material
+//-----------------------------------------------------------------------------
+
+typedef struct
+{
+	float ambient[3];
+	float diffuse[3];
+	float specular0[3];
+	float specular1[3];
+	float emission[3];
+} C3D_Material;
+
+//-----------------------------------------------------------------------------
+// Light environment
+//-----------------------------------------------------------------------------
+
+// Forward declarations
+typedef struct C3D_Light_t C3D_Light;
+typedef struct C3D_LightEnv_t C3D_LightEnv;
+
+typedef struct
+{
+	u32 abs, select, scale;
+} C3D_LightLutInputConf;
+
+typedef struct
+{
+	u32 ambient;
+	u32 numLights;
+	u32 config[2];
+	C3D_LightLutInputConf lutInput;
+	u32 permutation;
+} C3D_LightEnvConf;
+
+enum
+{
+	C3DF_LightEnv_Dirty    = BIT(0),
+	C3DF_LightEnv_MtlDirty = BIT(1),
+	C3DF_LightEnv_LCDirty  = BIT(2),
+
+#define C3DF_LightEnv_LutDirty(n) BIT(26+(n))
+#define C3DF_LightEnv_LutDirtyAll (0x3F<<26)
+};
+
+struct C3D_LightEnv_t
+{
+	void (* Update)(C3D_LightEnv* env);
+	void (* Dirty)(C3D_LightEnv* env);
+	u32 flags;
+	C3D_LightLut* luts[6];
+	float ambient[3];
+	C3D_Light* lights[8];
+	C3D_LightEnvConf conf;
+	C3D_Material material;
+};
+
+void C3D_LightEnvInit(C3D_LightEnv* env);
+void C3D_LightEnvBind(C3D_LightEnv* env);
+
+void C3D_LightEnvMaterial(C3D_LightEnv* env, const C3D_Material* mtl);
+void C3D_LightEnvAmbient(C3D_LightEnv* env, float r, float g, float b);
+void C3D_LightEnvLut(C3D_LightEnv* env, int lutId, int input, bool abs, C3D_LightLut* lut);
+
+enum
+{
+	GPU_SHADOW_PRIMARY   = BIT(16),
+	GPU_SHADOW_SECONDARY = BIT(17),
+	GPU_INVERT_SHADOW    = BIT(18),
+	GPU_SHADOW_ALPHA     = BIT(19),
+};
+
+void C3D_LightEnvFresnel(C3D_LightEnv* env, GPU_FRESNELSEL selector);
+void C3D_LightEnvBumpMode(C3D_LightEnv* env, GPU_BUMPMODE mode);
+void C3D_LightEnvBumpSel(C3D_LightEnv* env, int texUnit);
+void C3D_LightEnvShadowMode(C3D_LightEnv* env, u32 mode);
+void C3D_LightEnvShadowSel(C3D_LightEnv* env, int texUnit);
+void C3D_LightEnvClampHighlights(C3D_LightEnv* env, bool clamp);
+
+//-----------------------------------------------------------------------------
+// Light
+//-----------------------------------------------------------------------------
+
+typedef struct
+{
+	u32 specular0, specular1, diffuse, ambient;
+} C3D_LightMatConf;
+
+typedef struct
+{
+	C3D_LightMatConf material;
+	u16 position[3]; u16 padding0;
+	u16 spotDir[3];  u16 padding1;
+	u32 padding2;
+	u32 config;
+	u32 distAttnBias, distAttnScale;
+} C3D_LightConf;
+
+enum
+{
+	C3DF_Light_Enabled  = BIT(0),
+	C3DF_Light_Dirty    = BIT(1),
+	C3DF_Light_MatDirty = BIT(2),
+	//C3DF_Light_Shadow   = BIT(3),
+	//C3DF_Light_Spot     = BIT(4),
+	//C3DF_Light_DistAttn = BIT(5),
+
+	C3DF_Light_SPDirty  = BIT(14),
+	C3DF_Light_DADirty  = BIT(15),
+};
+
+struct C3D_Light_t
+{
+	u16 flags, id;
+	C3D_LightEnv* parent;
+	C3D_LightLut *lut_SP, *lut_DA;
+	float color[3];
+	C3D_LightConf conf;
+};
+
+int  C3D_LightInit(C3D_Light* light, C3D_LightEnv* env);
+void C3D_LightEnable(C3D_Light* light, bool enable);
+void C3D_LightTwoSideDiffuse(C3D_Light* light, bool enable);
+void C3D_LightGeoFactor(C3D_Light* light, int id, bool enable);
+void C3D_LightColor(C3D_Light* light, float r, float g, float b);
+void C3D_LightPosition(C3D_Light* light, C3D_FVec* pos);
+void C3D_LightShadowEnable(C3D_Light* light, bool enable);
+void C3D_LightSpotEnable(C3D_Light* light, bool enable);
+void C3D_LightSpotDir(C3D_Light* light, float x, float y, float z);
+void C3D_LightSpotLut(C3D_Light* light, C3D_LightLut* lut);
+void C3D_LightDistAttnEnable(C3D_Light* light, bool enable);
+void C3D_LightDistAttn(C3D_Light* light, C3D_LightLutDA* lut);

libs/citro3d/include/c3d/lightlut.h

@@ -0,0 +1,29 @@
+#pragma once
+#include "types.h"
+#include <math.h>
+
+typedef struct
+{
+	u32 data[256];
+} C3D_LightLut;
+
+typedef struct
+{
+	C3D_LightLut lut;
+	float bias, scale;
+} C3D_LightLutDA;
+
+typedef float (* C3D_LightLutFunc)(float x, float param);
+typedef float (* C3D_LightLutFuncDA)(float dist, float arg0, float arg1);
+
+static inline float quadratic_dist_attn(float dist, float linear, float quad)
+{
+	return 1.0f / (1.0f + linear*dist + quad*dist*dist);
+}
+
+void LightLut_FromArray(C3D_LightLut* lut, float* data);
+void LightLut_FromFunc(C3D_LightLut* lut, C3D_LightLutFunc func, float param, bool negative);
+void LightLutDA_Create(C3D_LightLutDA* lut, C3D_LightLutFuncDA func, float from, float to, float arg0, float arg1);
+
+#define LightLut_Phong(lut, shininess) LightLut_FromFunc((lut), powf, (shininess), false)
+#define LightLutDA_Quadratic(lut, from, to, linear, quad) LightLutDA_Create((lut), quadratic_dist_attn, (from), (to), (linear), (quad))

libs/citro3d/include/c3d/maths.h

@@ -0,0 +1,671 @@
+#pragma once
+#include "types.h"
+#include <math.h>
+#include <string.h>
+
+// See http://tauday.com/tau-manifesto
+//#define M_TAU 6.28318530717958647693
+/// The one true circumference-to-radius ratio
+#define M_TAU (2*M_PI)
+
+/**
+ * @brief Convert an angle from revolutions to radians
+ * @param[in] _angle Proportion of a full revolution
+ * @return Angle in radians
+ */
+#define C3D_Angle(_angle) ((_angle)*M_TAU)
+
+/**
+ * @brief Convert an angle from degrees to radians
+ * @param[in] _angle Angle in degrees
+ * @return Angle in radians
+ */
+#define C3D_AngleFromDegrees(_angle) ((_angle)*M_TAU/360.0f)
+
+#define C3D_AspectRatioTop (400.0f / 240.0f) ///< Aspect ratio for 3DS top screen
+#define C3D_AspectRatioBot (320.0f / 240.0f) ///< Aspect ratio for 3DS bottom screen
+
+///@name Vector Math
+///@{
+/**
+ * @brief Create a new FVec4
+ * @param[in] x X-component
+ * @param[in] y Y-component
+ * @param[in] z Z-component
+ * @param[in] w W-component
+ * @return New FVec4
+ */
+static inline C3D_FVec FVec4_New(float x, float y, float z, float w)
+{
+	return (C3D_FVec){{ w, z, y, x }};
+}
+
+/**
+ * @brief Add two FVec4s
+ * @param[in] lhs Augend
+ * @param[in] rhs Addend
+ * @return lhs+rhs (sum)
+ */
+static inline C3D_FVec FVec4_Add(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// component-wise addition
+	return FVec4_New(lhs.x+rhs.x, lhs.y+rhs.y, lhs.z+rhs.z, lhs.w+rhs.w);
+}
+
+/**
+ * @brief Subtract two FVec4s
+ * @param[in] lhs Minuend
+ * @param[in] rhs Subtrahend
+ * @return lhs-rhs (difference)
+ */
+static inline C3D_FVec FVec4_Subtract(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// component-wise subtraction
+	return FVec4_New(lhs.x-rhs.x, lhs.y-rhs.y, lhs.z-rhs.z, lhs.w-rhs.w);
+}
+
+/**
+ * @brief Negate a FVec4
+ * @note This is the same as scaling by -1
+ * @param[in] v Vector to negate
+ * @return -v
+ */
+static inline C3D_FVec FVec4_Negate(C3D_FVec v)
+{
+	// component-wise negation
+	return FVec4_New(-v.x, -v.y, -v.z, -v.w);
+}
+
+/**
+ * @brief Scale a FVec4
+ * @param[in] v Vector to scale
+ * @param[in] s Scale factor
+ * @return v*s
+ */
+static inline C3D_FVec FVec4_Scale(C3D_FVec v, float s)
+{
+	// component-wise scaling
+	return FVec4_New(v.x*s, v.y*s, v.z*s, v.w*s);
+}
+
+/**
+ * @brief Perspective divide
+ * @param[in] v Vector to divide
+ * @return v/v.w
+ */
+static inline C3D_FVec FVec4_PerspDivide(C3D_FVec v)
+{
+	// divide by w
+	return FVec4_New(v.x/v.w, v.y/v.w, v.z/v.w, 1.0f);
+}
+
+/**
+ * @brief Dot product of two FVec4s
+ * @param[in] lhs Left-side FVec4
+ * @param[in] rhs Right-side FVec4
+ * @return lhs∙rhs
+ */
+static inline float FVec4_Dot(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// A∙B = sum of component-wise products
+	return lhs.x*rhs.x + lhs.y*rhs.y + lhs.z*rhs.z + lhs.w*rhs.w;
+}
+
+/**
+ * @brief Magnitude of a FVec4
+ * @param[in] v Vector
+ * @return ‖v‖
+ */
+static inline float FVec4_Magnitude(C3D_FVec v)
+{
+	// ‖v‖ = √(v∙v)
+	return sqrtf(FVec4_Dot(v,v));
+}
+
+/**
+ * @brief Normalize a FVec4
+ * @param[in] v FVec4 to normalize
+ * @return v/‖v‖
+ */
+static inline C3D_FVec FVec4_Normalize(C3D_FVec v)
+{
+	// get vector magnitude
+	float m = FVec4_Magnitude(v);
+
+	// scale by inverse magnitude to get a unit vector
+	return FVec4_New(v.x/m, v.y/m, v.z/m, v.w/m);
+}
+
+/**
+ * @brief Create a new FVec3
+ * @param[in] x X-component
+ * @param[in] y Y-component
+ * @param[in] z Z-component
+ * @return New FVec3
+ */
+static inline C3D_FVec FVec3_New(float x, float y, float z)
+{
+	return FVec4_New(x, y, z, 0.0f);
+}
+
+/**
+ * @brief Dot product of two FVec3s
+ * @param[in] lhs Left-side FVec3
+ * @param[in] rhs Right-side FVec3
+ * @return lhs∙rhs
+ */
+static inline float FVec3_Dot(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// A∙B = sum of component-wise products
+	return lhs.x*rhs.x + lhs.y*rhs.y + lhs.z*rhs.z;
+}
+
+/**
+ * @brief Magnitude of a FVec3
+ * @param[in] v Vector
+ * @return ‖v‖
+ */
+static inline float FVec3_Magnitude(C3D_FVec v)
+{
+	// ‖v‖ = √(v∙v)
+	return sqrtf(FVec3_Dot(v,v));
+}
+
+/**
+ * @brief Normalize a FVec3
+ * @param[in] v FVec3 to normalize
+ * @return v/‖v‖
+ */
+static inline C3D_FVec FVec3_Normalize(C3D_FVec v)
+{
+	// get vector magnitude
+	float m = FVec3_Magnitude(v);
+
+	// scale by inverse magnitude to get a unit vector
+	return FVec3_New(v.x/m, v.y/m, v.z/m);
+}
+
+/**
+ * @brief Add two FVec3s
+ * @param[in] lhs Augend
+ * @param[in] rhs Addend
+ * @return lhs+rhs (sum)
+ */
+static inline C3D_FVec FVec3_Add(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// component-wise addition
+	return FVec3_New(lhs.x+rhs.x, lhs.y+rhs.y, lhs.z+rhs.z);
+}
+
+/**
+ * @brief Subtract two FVec3s
+ * @param[in] lhs Minuend
+ * @param[in] rhs Subtrahend
+ * @return lhs-rhs (difference)
+ */
+static inline C3D_FVec FVec3_Subtract(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// component-wise subtraction
+	return FVec3_New(lhs.x-rhs.x, lhs.y-rhs.y, lhs.z-rhs.z);
+}
+
+/**
+ * @brief Distance between two 3D points
+ * @param[in] lhs Relative origin
+ * @param[in] rhs Relative point of interest
+ * @return ‖lhs-rhs‖
+ */
+static inline float FVec3_Distance(C3D_FVec lhs, C3D_FVec rhs)
+{
+        // distance = ‖lhs-rhs‖
+	return FVec3_Magnitude(FVec3_Subtract(lhs, rhs));
+}
+
+/**
+ * @brief Scale a FVec4
+ * @param[in] v Vector to scale
+ * @param[in] s Scale factor
+ * @return v*s
+ */
+static inline C3D_FVec FVec3_Scale(C3D_FVec v, float s)
+{
+	// component-wise scaling
+	return FVec3_New(v.x*s, v.y*s, v.z*s);
+}
+
+/**
+ * @brief Negate a FVec4
+ * @note This is the same as scaling by -1
+ * @param[in] v Vector to negate
+ * @return -v
+ */
+static inline C3D_FVec FVec3_Negate(C3D_FVec v)
+{
+	// component-wise negation
+	return FVec3_New(-v.x, -v.y, -v.z);
+}
+
+/**
+ * @brief Cross product of two FVec3s
+ * @note This returns a pseudo-vector which is perpendicular to the plane
+ *       spanned by the two input vectors.
+ * @param[in] lhs Left-side FVec3
+ * @param[in] rhs Right-side FVec3
+ * @return lhs×rhs
+ */
+static inline C3D_FVec FVec3_Cross(C3D_FVec lhs, C3D_FVec rhs)
+{
+	// A×B = (AyBz - AzBy, AzBx - AxBz, AxBy - AyBx)
+	return FVec3_New(lhs.y*rhs.z - lhs.z*rhs.y, lhs.z*rhs.x - lhs.x*rhs.z, lhs.x*rhs.y - lhs.y*rhs.x);
+}
+///@}
+
+///@name Matrix Math
+///@note All matrices are 4x4 unless otherwise noted
+///@{
+
+/**
+ * @brief Zero matrix
+ * @param[out] out Matrix to zero
+ */
+static inline void Mtx_Zeros(C3D_Mtx* out)
+{
+	memset(out, 0, sizeof(*out));
+}
+
+/**
+ * @brief Copy a matrix
+ * @param[out] out Output matrix
+ * @param[in]  in  Input matrix
+ */
+static inline void Mtx_Copy(C3D_Mtx* out, const C3D_Mtx* in)
+{
+	*out = *in;
+}
+
+/**
+ * @brief Identity matrix
+ * @param[out] out Matrix to fill
+ */
+void Mtx_Identity(C3D_Mtx* out);
+
+/**
+ * @brief Multiply two matrices
+ * @param[out] out Output matrix
+ * @param[in]  a   Multiplicand
+ * @param[in]  b   Multiplier
+ */
+void Mtx_Multiply(C3D_Mtx* out, const C3D_Mtx* a, const C3D_Mtx* b);
+
+/**
+ * @brief Inverse a matrix
+ * @note returns 0.0f if the matrix is degenerate; i.e. no inverse
+ * @param[in,out] out Matrix to inverse
+ * @return determinant
+ */
+float Mtx_Inverse(C3D_Mtx* out);
+
+/**
+ * @brief Multiply 3x3 matrix by a FVec3
+ * @param[in] mtx Matrix
+ * @param[in] v   Vector
+ * @return Product of mtx and v
+ */
+C3D_FVec Mtx_MultiplyFVec3(const C3D_Mtx* mtx, C3D_FVec v);
+
+/**
+ * @brief Multiply 4x4 matrix by a FVec4
+ * @param[in] mtx Matrix
+ * @param[in] v   Vector
+ * @return Product of mtx and v
+ */
+C3D_FVec Mtx_MultiplyFVec4(const C3D_Mtx* mtx, C3D_FVec v);
+
+/**
+ * @brief Multiply 4x3 matrix by a FVec3
+ * @param[in] mtx Matrix
+ * @param[in] v   Vector
+ * @return Product of mtx and v
+ */
+static inline C3D_FVec Mtx_MultiplyFVecH(const C3D_Mtx* mtx, C3D_FVec v)
+{
+	v.w = 1.0f;
+
+	return Mtx_MultiplyFVec4(mtx, v);
+}
+///@}
+
+/**
+ * @name 3D Transformation Matrix Math
+ * @note bRightSide is used to determine which side to perform the transformation.
+ *       With an input matrix A and a transformation matrix B, bRightSide being
+ *       true yields AB, while being false yield BA.
+ */
+///@{
+
+/**
+ * @brief 3D translation
+ * @param[in,out] mtx Matrix to translate
+ * @param[in]     x            X component to translate
+ * @param[in]     y            Y component to translate
+ * @param[in]     z            Z component to translate
+ * @param[in]     bRightSide   Whether to transform from the right side
+ */
+void Mtx_Translate(C3D_Mtx* mtx, float x, float y, float z, bool bRightSide);
+
+/**
+ * @brief 3D Scale
+ * @param[in,out] mtx Matrix to scale
+ * @param[in]     x   X component to scale
+ * @param[in]     y   Y component to scale
+ * @param[in]     z   Z component to scale
+ */
+void Mtx_Scale(C3D_Mtx* mtx, float x, float y, float z);
+
+/**
+ * @brief 3D Rotation
+ * @param[in,out] mtx        Matrix to rotate
+ * @param[in]     axis       Axis about which to rotate
+ * @param[in]     angle      Radians to rotate
+ * @param[in]     bRightSide Whether to transform from the right side
+ */
+void Mtx_Rotate(C3D_Mtx* mtx, C3D_FVec axis, float angle, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the X axis
+ * @param[in,out] mtx        Matrix to rotate
+ * @param[in]     angle      Radians to rotate
+ * @param[in]     bRightSide Whether to transform from the right side
+ */
+void Mtx_RotateX(C3D_Mtx* mtx, float angle, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the Y axis
+ * @param[in,out] mtx        Matrix to rotate
+ * @param[in]     angle      Radians to rotate
+ * @param[in]     bRightSide Whether to transform from the right side
+ */
+void Mtx_RotateY(C3D_Mtx* mtx, float angle, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the Z axis
+ * @param[in,out] mtx        Matrix to rotate
+ * @param[in]     angle      Radians to rotate
+ * @param[in]     bRightSide Whether to transform from the right side
+ */
+void Mtx_RotateZ(C3D_Mtx* mtx, float angle, bool bRightSide);
+///@}
+
+///@name 3D Projection Matrix Math
+///@{
+
+/**
+ * @brief Orthogonal projection
+ * @param[out] mtx Output matrix
+ * @param[in]  left         Left clip plane (X=left)
+ * @param[in]  right        Right clip plane (X=right)
+ * @param[in]  bottom       Bottom clip plane (Y=bottom)
+ * @param[in]  top          Top clip plane (Y=top)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_Ortho(C3D_Mtx* mtx, float left, float right, float bottom, float top, float near, float far, bool isLeftHanded);
+
+/**
+ * @brief Perspective projection
+ * @param[out] mtx          Output matrix
+ * @param[in]  fovy         Vertical field of view in radians
+ * @param[in]  aspect       Aspect ration of projection plane (width/height)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_Persp(C3D_Mtx* mtx, float fovy, float aspect, float near, float far, bool isLeftHanded);
+
+/**
+ * @brief Stereo perspective projection
+ * @note Typically you will use iod to mean the distance between the eyes. Plug
+ *       in -iod for the left eye and iod for the right eye.
+ * @note The focal length is defined by screen. If objects are further than this,
+ *       they will appear to be inside the screen. If objects are closer than this,
+ *       they will appear to pop out of the screen. Objects at this distance appear
+ *       to be at the screen.
+ * @param[out] mtx          Output matrix
+ * @param[in]  fovy         Vertical field of view in radians
+ * @param[in]  aspect       Aspect ration of projection plane (width/height)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  iod          Interocular distance
+ * @param[in]  screen       Focal length
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_PerspStereo(C3D_Mtx* mtx, float fovy, float aspect, float near, float far, float iod, float screen, bool isLeftHanded);
+
+/**
+ * @brief Orthogonal projection, tilted to account for the 3DS screen rotation
+ * @param[in]  left         Left clip plane (X=left)
+ * @param[in]  right        Right clip plane (X=right)
+ * @param[in]  bottom       Bottom clip plane (Y=bottom)
+ * @param[in]  top          Top clip plane (Y=top)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_OrthoTilt(C3D_Mtx* mtx, float left, float right, float bottom, float top, float near, float far, bool isLeftHanded);
+
+/**
+ * @brief Perspective projection, tilted to account for the 3DS screen rotation
+ * @param[out] mtx          Output matrix
+ * @param[in]  fovy         Vertical field of view in radians
+ * @param[in]  aspect       Aspect ration of projection plane (width/height)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_PerspTilt(C3D_Mtx* mtx, float fovy, float aspect, float near, float far, bool isLeftHanded);
+
+/**
+ * @brief Stereo perspective projection, tilted to account for the 3DS screen rotation
+ * @note See the notes for Mtx_PerspStereo
+ * @param[out] mtx          Output matrix
+ * @param[in]  fovy         Vertical field of view in radians
+ * @param[in]  aspect       Aspect ration of projection plane (width/height)
+ * @param[in]  near         Near clip plane (Z=near)
+ * @param[in]  far          Far clip plane (Z=far)
+ * @param[in]  iod          Interocular distance
+ * @param[in]  screen       Focal length
+ * @param[in]  isLeftHanded Whether to build a LH projection
+ */
+void Mtx_PerspStereoTilt(C3D_Mtx* mtx, float fovy, float aspect, float near, float far, float iod, float screen, bool isLeftHanded);
+
+/**
+ * @brief Left-handed Look-At matrix, using DirectX implementation
+ * @note See https://msdn.microsoft.com/en-us/library/windows/desktop/bb205342
+ * @param[out] out               Output matrix.
+ * @param[in]  cameraPosition    Position of the intended camera in 3D space.
+ * @param[in]  cameraTarget      Position of the intended target the camera is supposed to face in 3D space.
+ * @param[in]  cameraUpVector    The vector that points straight up depending on the camera's "Up" direction.
+ * @param[in]  isLeftHanded      If true, output matrix is left-handed. If false, output matrix is right-handed.
+ */
+void Mtx_LookAt(C3D_Mtx* out, C3D_FVec cameraPosition, C3D_FVec cameraTarget, C3D_FVec cameraUpVector, bool isLeftHanded);
+///@}
+
+///@name Quaternion Math
+///@{
+//
+/**
+ * @brief Create a new Quaternion
+ * @param[in] i I-component
+ * @param[in] j J-component
+ * @param[in] k K-component
+ * @param[in] r R-component
+ * @return New Quaternion
+ */
+#define Quat_New(i,j,k,r) FVec4_New(i,j,k,r)
+
+/**
+ * @brief Negate a Quaternion
+ * @note This is the same as scaling by -1
+ * @param[in] q Quaternion to negate
+ * @return -q
+ */
+#define Quat_Negate(q) FVec4_Negate(q)
+
+/**
+ * @brief Add two Quaternions
+ * @param[in] lhs Augend
+ * @param[in] rhs Addend
+ * @return lhs+rhs (sum)
+ */
+#define Quat_Add(lhs,rhs) FVec4_Add(lhs,rhs)
+
+/**
+ * @brief Subtract two Quaternions
+ * @param[in] lhs Minuend
+ * @param[in] rhs Subtrahend
+ * @return lhs-rhs (difference)
+ */
+#define Quat_Subtract(lhs,rhs) FVec4_Subtract(lhs,rhs)
+
+/**
+ * @brief Scale a Quaternion
+ * @param[in] q Quaternion to scale
+ * @param[in] s Scale factor
+ * @return q*s
+ */
+#define Quat_Scale(q,s) FVec4_Scale(q,s)
+
+/**
+ * @brief Normalize a Quaternion
+ * @param[in] q Quaternion to normalize
+ * @return q/‖q‖
+ */
+#define Quat_Normalize(q) FVec4_Normalize(q)
+
+/**
+ * @brief Dot product of two Quaternions
+ * @param[in] lhs Left-side Quaternion
+ * @param[in] rhs Right-side Quaternion
+ * @return lhs∙rhs
+ */
+#define Quat_Dot(lhs,rhs) FVec4_Dot(lhs,rhs)
+
+/**
+ * @brief Multiply two Quaternions
+ * @param[in] lhs Multiplicand
+ * @param[in] rhs Multiplier
+ * @return lhs*rhs
+ */
+C3D_FQuat Quat_Multiply(C3D_FQuat lhs, C3D_FQuat rhs);
+
+/**
+ * @brief Raise Quaternion to a power
+ * @note If p is 0, this returns the identity Quaternion.
+ *       If p is 1, this returns q.
+ * @param[in] q Base Quaternion
+ * @param[in] p Power
+ * @return q^p
+ */
+C3D_FQuat Quat_Pow(C3D_FQuat q, float p);
+
+/**
+ * @brief Cross product of Quaternion and FVec3
+ * @param[in] lhs Left-side Quaternion
+ * @param[in] rhs Right-side FVec3
+ * @return q×v
+ */
+C3D_FVec Quat_CrossFVec3(C3D_FQuat q, C3D_FVec v);
+
+/**
+ * @brief 3D Rotation
+ * @param[in] q          Quaternion to rotate
+ * @param[in] axis       Axis about which to rotate
+ * @param[in] r          Radians to rotate
+ * @param[in] bRightSide Whether to transform from the right side
+ * @return Rotated Quaternion
+ */
+C3D_FQuat Quat_Rotate(C3D_FQuat q, C3D_FVec axis, float r, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the X axis
+ * @param[in] q          Quaternion to rotate
+ * @param[in] r          Radians to rotate
+ * @param[in] bRightSide Whether to transform from the right side
+ * @return Rotated Quaternion
+ */
+C3D_FQuat Quat_RotateX(C3D_FQuat q, float r, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the Y axis
+ * @param[in] q          Quaternion to rotate
+ * @param[in] r          Radians to rotate
+ * @param[in] bRightSide Whether to transform from the right side
+ * @return Rotated Quaternion
+ */
+C3D_FQuat Quat_RotateY(C3D_FQuat q, float r, bool bRightSide);
+
+/**
+ * @brief 3D Rotation about the Z axis
+ * @param[in] q          Quaternion to rotate
+ * @param[in] r          Radians to rotate
+ * @param[in] bRightSide Whether to transform from the right side
+ * @return Rotated Quaternion
+ */
+C3D_FQuat Quat_RotateZ(C3D_FQuat q, float r, bool bRightSide);
+
+/**
+ * @brief Get 4x4 matrix equivalent to Quaternion
+ * @param[out] m Output matrix
+ * @param[in]  q Input Quaternion
+ */
+void Mtx_FromQuat(C3D_Mtx* m, C3D_FQuat q);
+
+/**
+ * @brief Identity Quaternion
+ * @return Identity Quaternion
+ */
+static inline C3D_FQuat Quat_Identity(void)
+{
+	// r=1, i=j=k=0
+	return Quat_New(0.0f, 0.0f, 0.0f, 1.0f);
+}
+
+/**
+ * @brief Quaternion conjugate
+ * @param[in] q Quaternion of which to get conjugate
+ * @return Conjugate of q
+ */
+static inline C3D_FQuat Quat_Conjugate(C3D_FQuat q)
+{
+	// q* = q.r - q.i - q.j - q.k
+	return Quat_New(-q.i, -q.j, -q.k, q.r);
+}
+
+/**
+ * @brief Quaternion inverse
+ * @note This is the same as raising to the power of -1
+ * @param[in] q Quaternion of which to get inverse
+ * @return Inverse of q
+ */
+static inline C3D_FQuat Quat_Inverse(C3D_FQuat q)
+{
+	// q^-1 = (q.r - q.i - q.j - q.k) / (q.r^2 + q.i^2 + q.j^2 + q.k^2)
+	//      = q* / (q∙q)
+	C3D_FQuat c = Quat_Conjugate(q);
+	float     d = Quat_Dot(q, q);
+	return Quat_New(c.i/d, c.j/d, c.k/d, c.r/d);
+}
+
+/**
+ * @brief Cross product of FVec3 and Quaternion
+ * @param[in] lhs Left-side FVec3
+ * @param[in] rhs Right-side Quaternion
+ * @return v×q
+ */
+static inline C3D_FVec FVec3_CrossQuat(C3D_FVec v, C3D_FQuat q)
+{
+	// v×q = q^-1×v
+	return Quat_CrossFVec3(Quat_Inverse(q), v);
+}
+///@}

libs/citro3d/include/c3d/mtxstack.h

@@ -0,0 +1,23 @@
+#pragma once
+#include "maths.h"
+#define C3D_MTXSTACK_SIZE 8
+
+typedef struct
+{
+	C3D_Mtx m[C3D_MTXSTACK_SIZE];
+	int pos;
+	u8 unifType, unifPos, unifLen;
+	bool isDirty;
+} C3D_MtxStack;
+
+static inline C3D_Mtx* MtxStack_Cur(C3D_MtxStack* stk)
+{
+	stk->isDirty = true;
+	return &stk->m[stk->pos];
+}
+
+void MtxStack_Init(C3D_MtxStack* stk);
+void MtxStack_Bind(C3D_MtxStack* stk, GPU_SHADER_TYPE unifType, int unifPos, int unifLen);
+C3D_Mtx* MtxStack_Push(C3D_MtxStack* stk);
+C3D_Mtx* MtxStack_Pop(C3D_MtxStack* stk);
+void MtxStack_Update(C3D_MtxStack* stk);

libs/citro3d/include/c3d/renderbuffer.h

@@ -0,0 +1,28 @@
+#pragma once
+#include "types.h"
+#include "texture.h"
+
+typedef struct
+{
+	C3D_Tex colorBuf, depthBuf;
+	u32 clearColor, clearDepth;
+	int depthFmt;
+} C3D_RenderBuf;
+
+bool C3D_RenderBufInit(C3D_RenderBuf* rb, int width, int height, int colorFmt, int depthFmt);
+void C3D_RenderBufClearAsync(C3D_RenderBuf* rb);
+void C3D_RenderBufTransferAsync(C3D_RenderBuf* rb, u32* frameBuf, u32 flags);
+void C3D_RenderBufBind(C3D_RenderBuf* rb);
+void C3D_RenderBufDelete(C3D_RenderBuf* rb);
+
+static inline void C3D_RenderBufClear(C3D_RenderBuf* rb)
+{
+	C3D_RenderBufClearAsync(rb);
+	gspWaitForPSC0();
+}
+
+static inline void C3D_RenderBufTransfer(C3D_RenderBuf* rb, u32* frameBuf, u32 flags)
+{
+	C3D_RenderBufTransferAsync(rb, frameBuf, flags);
+	gspWaitForPPF();
+}

libs/citro3d/include/c3d/renderqueue.h

@@ -0,0 +1,46 @@
+#pragma once
+#include "renderbuffer.h"
+
+typedef struct C3D_RenderTarget_tag C3D_RenderTarget;
+
+struct C3D_RenderTarget_tag
+{
+	C3D_RenderTarget *next, *prev, *link, *frame[2];
+	C3D_RenderBuf renderBuf;
+	u32 transferFlags;
+
+	u8 clearBits;
+	bool drawOk, transferOk;
+
+	bool linked;
+	gfxScreen_t screen;
+	gfx3dSide_t side;
+};
+
+// Flags for C3D_FrameBegin
+enum
+{
+	C3D_FRAME_SYNCDRAW = BIT(0), // Do not render the frame until the previous has finished rendering
+	C3D_FRAME_NONBLOCK = BIT(1), // Return false instead of waiting for the GPU to finish rendering
+};
+
+bool C3D_FrameBegin(u8 flags);
+bool C3D_FrameDrawOn(C3D_RenderTarget* target);
+void C3D_FrameEnd(u8 flags);
+
+// Flags for C3D_RenderTargetSetClear (only C3D_CLEAR_ALL implemented atm)
+enum
+{
+	C3D_CLEAR_COLOR = BIT(0),
+	C3D_CLEAR_DEPTH = BIT(1),
+	C3D_CLEAR_ALL   = C3D_CLEAR_COLOR | C3D_CLEAR_DEPTH,
+};
+
+C3D_RenderTarget* C3D_RenderTargetCreate(int width, int height, int colorFmt, int depthFmt);
+void C3D_RenderTargetDelete(C3D_RenderTarget* target);
+void C3D_RenderTargetSetClear(C3D_RenderTarget* target, u32 clearBits, u32 clearColor, u32 clearDepth);
+void C3D_RenderTargetSetOutput(C3D_RenderTarget* target, gfxScreen_t screen, gfx3dSide_t side, u32 transferFlags);
+
+void C3D_SafeDisplayTransfer(u32* inadr, u32 indim, u32* outadr, u32 outdim, u32 flags);
+void C3D_SafeTextureCopy(u32* inadr, u32 indim, u32* outadr, u32 outdim, u32 size, u32 flags);
+void C3D_SafeMemoryFill(u32* buf0a, u32 buf0v, u32* buf0e, u16 control0, u32* buf1a, u32 buf1v, u32* buf1e, u16 control1);

libs/citro3d/include/c3d/texenv.h

@@ -0,0 +1,65 @@
+#pragma once
+#include "types.h"
+
+typedef struct
+{
+	u16 srcRgb, srcAlpha;
+	u16 opRgb, opAlpha;
+	u16 funcRgb, funcAlpha;
+	u32 color;
+	u16 scaleRgb, scaleAlpha;
+} C3D_TexEnv;
+
+enum
+{
+	C3D_RGB = BIT(0),
+	C3D_Alpha = BIT(1),
+	C3D_Both = C3D_RGB | C3D_Alpha,
+};
+
+void TexEnv_Init(C3D_TexEnv* env);
+
+C3D_TexEnv* C3D_GetTexEnv(int id);
+void C3D_SetTexEnv(int id, C3D_TexEnv* env);
+
+void C3D_TexEnvBufUpdate(int mode, int mask);
+void C3D_TexEnvBufColor(u32 color);
+
+static inline void C3D_TexEnvSrc(C3D_TexEnv* env, int mode, int s1, int s2, int s3)
+{
+	int param = GPU_TEVSOURCES(s1, s2, s3);
+	if (mode & C3D_RGB)
+		env->srcRgb = param;
+	if (mode & C3D_Alpha)
+		env->srcAlpha = param;
+}
+
+static inline void C3D_TexEnvOp(C3D_TexEnv* env, int mode, int o1, int o2, int o3)
+{
+	int param = GPU_TEVOPERANDS(o1, o2, o3);
+	if (mode & C3D_RGB)
+		env->opRgb = param;
+	if (mode & C3D_Alpha)
+		env->opAlpha = param;
+}
+
+static inline void C3D_TexEnvFunc(C3D_TexEnv* env, int mode, int param)
+{
+	if (mode & C3D_RGB)
+		env->funcRgb = param;
+	if (mode & C3D_Alpha)
+		env->funcAlpha = param;
+}
+
+static inline void C3D_TexEnvColor(C3D_TexEnv* env, u32 color)
+{
+	env->color = color;
+}
+
+static inline void C3D_TexEnvScale(C3D_TexEnv* env, int mode, int param)
+{
+	if (mode & C3D_RGB)
+		env->scaleRgb = param;
+	if (mode & C3D_Alpha)
+		env->scaleAlpha = param;
+}

libs/citro3d/include/c3d/texture.h

@@ -0,0 +1,22 @@
+#pragma once
+#include "types.h"
+
+typedef struct
+{
+	void* data;
+
+	GPU_TEXCOLOR fmt : 4;
+	size_t size : 28;
+
+	u16 width, height;
+	u32 param;
+} C3D_Tex;
+
+bool C3D_TexInit(C3D_Tex* tex, int width, int height, GPU_TEXCOLOR format);
+bool C3D_TexInitVRAM(C3D_Tex* tex, int width, int height, GPU_TEXCOLOR format);
+void C3D_TexUpload(C3D_Tex* tex, const void* data);
+void C3D_TexSetFilter(C3D_Tex* tex, GPU_TEXTURE_FILTER_PARAM magFilter, GPU_TEXTURE_FILTER_PARAM minFilter);
+void C3D_TexSetWrap(C3D_Tex* tex, GPU_TEXTURE_WRAP_PARAM wrapS, GPU_TEXTURE_WRAP_PARAM wrapT);
+void C3D_TexBind(int unitId, C3D_Tex* tex);
+void C3D_TexFlush(C3D_Tex* tex);
+void C3D_TexDelete(C3D_Tex* tex);

libs/citro3d/include/c3d/types.h

@@ -0,0 +1,32 @@
+#pragma once
+#ifdef _3DS
+#include <3ds.h>
+#else
+#include <stdbool.h>
+#include <stdint.h>
+typedef uint8_t u8;
+typedef uint32_t u32;
+#endif
+
+typedef u32 C3D_IVec;
+
+typedef union
+{
+	struct { float w, z, y, x; };
+	struct { float r, k, j, i; };
+	float c[4];
+} C3D_FVec;
+
+typedef C3D_FVec C3D_FQuat;
+
+// Row-major 4x4 matrix
+typedef union
+{
+	C3D_FVec r[4]; // Rows are vectors
+	float m[4*4];
+} C3D_Mtx;
+
+static inline C3D_IVec IVec_Pack(u8 x, u8 y, u8 z, u8 w)
+{
+	return (u32)x | ((u32)y << 8) | ((u32)z << 16) | ((u32)w << 24);
+}

libs/citro3d/include/c3d/uniforms.h

@@ -0,0 +1,77 @@
+#pragma once
+#include "types.h"
+#define C3D_FVUNIF_COUNT 96
+#define C3D_IVUNIF_COUNT 4
+
+extern C3D_FVec C3D_FVUnif[2][C3D_FVUNIF_COUNT];
+extern C3D_IVec C3D_IVUnif[2][C3D_IVUNIF_COUNT];
+extern u16      C3D_BoolUnifs[2];
+
+extern bool C3D_FVUnifDirty[2][C3D_FVUNIF_COUNT];
+extern bool C3D_IVUnifDirty[2][C3D_IVUNIF_COUNT];
+extern bool C3D_BoolUnifsDirty[2];
+
+static inline C3D_FVec* C3D_FVUnifWritePtr(GPU_SHADER_TYPE type, int id, int size)
+{
+	int i;
+	for (i = 0; i < size; i ++)
+		C3D_FVUnifDirty[type][id+i] = true;
+	return &C3D_FVUnif[type][id];
+}
+
+static inline C3D_IVec* C3D_IVUnifWritePtr(GPU_SHADER_TYPE type, int id)
+{
+	id -= 0x60;
+	C3D_IVUnifDirty[type][id] = true;
+	return &C3D_IVUnif[type][id];
+}
+
+static inline void C3D_FVUnifMtxNx4(GPU_SHADER_TYPE type, int id, const C3D_Mtx* mtx, int num)
+{
+	int i;
+	C3D_FVec* ptr = C3D_FVUnifWritePtr(type, id, num);
+	for (i = 0; i < num; i ++)
+		ptr[i] = mtx->r[i]; // Struct copy.
+}
+
+static inline void C3D_FVUnifMtx4x4(GPU_SHADER_TYPE type, int id, const C3D_Mtx* mtx)
+{
+	C3D_FVUnifMtxNx4(type, id, mtx, 4);
+}
+
+static inline void C3D_FVUnifMtx3x4(GPU_SHADER_TYPE type, int id, const C3D_Mtx* mtx)
+{
+	C3D_FVUnifMtxNx4(type, id, mtx, 3);
+}
+
+static inline void C3D_FVUnifMtx2x4(GPU_SHADER_TYPE type, int id, const C3D_Mtx* mtx)
+{
+	C3D_FVUnifMtxNx4(type, id, mtx, 2);
+}
+
+static inline void C3D_FVUnifSet(GPU_SHADER_TYPE type, int id, float x, float y, float z, float w)
+{
+	C3D_FVec* ptr = C3D_FVUnifWritePtr(type, id, 1);
+	ptr->x = x;
+	ptr->y = y;
+	ptr->z = z;
+	ptr->w = w;
+}
+
+static inline void C3D_IVUnifSet(GPU_SHADER_TYPE type, int id, int x, int y, int z, int w)
+{
+	C3D_IVec* ptr = C3D_IVUnifWritePtr(type, id);
+	*ptr = IVec_Pack(x, y, z, w);
+}
+
+static inline void C3D_BoolUnifSet(GPU_SHADER_TYPE type, int id, bool value)
+{
+	id -= 0x68;
+	C3D_BoolUnifsDirty[type] = true;
+	if (value)
+		C3D_BoolUnifs[type] |= BIT(id);
+	else
+		C3D_BoolUnifs[type] &= ~BIT(id);
+}
+
+void C3D_UpdateUniforms(GPU_SHADER_TYPE type);

libs/citro3d/include/citro3d.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#ifdef CITRO3D_BUILD
+#error "This header file is only for external users of citro3d."
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "c3d/types.h"
+#include "c3d/maths.h"
+#include "c3d/mtxstack.h"
+
+#include "c3d/uniforms.h"
+#include "c3d/attribs.h"
+#include "c3d/buffers.h"
+#include "c3d/base.h"
+
+#include "c3d/texenv.h"
+#include "c3d/effect.h"
+#include "c3d/texture.h"
+#include "c3d/light.h"
+
+#include "c3d/renderbuffer.h"
+#include "c3d/renderqueue.h"
+
+#ifdef __cplusplus
+}
+#endif