rasterizer

C++ software renderer

Initial commit

Arjun Choudhary contact@arjunchoudhary.com

commit: 8348e78

31 files changed, 29962 insertions(+), 0 deletions(-)
ADD.gitattributes+4-0
ADD.gitignore+5-0
ADDREADME.md+77-0
ADDassets/Cube.mtl+11-0
ADDassets/Cube.obj+36-0
ADDassets/Default.png+0-0
ADDassets/Duck.mtl+13-0
ADDassets/Duck.obj+11159-0
ADDassets/DuckCM.png+0-0
ADDassets/Missing_t.png+0-0
ADDassets/Plane.mtl+11-0
ADDassets/Plane.obj+17-0
ADDassets/Sphere.mtl+2-0
ADDassets/Sphere.obj+2537-0
ADDassets/Teapot.obj+14385-0
ADDassets/Tri.obj+9-0
ADDbuild_linux.sh+56-0
ADDbuild_macos.sh+56-0
ADDbuild_win32.bat+81-0
ADDsrc/camera.cpp+44-0
ADDsrc/camera.h+16-0
ADDsrc/clip.cpp+135-0
ADDsrc/clip.h+25-0
ADDsrc/draw.cpp+209-0
ADDsrc/draw.h+18-0
ADDsrc/globals.h+16-0
ADDsrc/mesh.cpp+73-0
ADDsrc/mesh.h+40-0
ADDsrc/renderer.cpp+528-0
ADDsrc/renderer.h+51-0
ADDsrc/util_math.h+348-0
ADD · .gitattributes +4 -0
--- a/.gitattributes
+++ b/.gitattributes
@@ -0,0 +1,4 @@
+* text eol=lf
+*.bat text eol=crlf
+*.ps1 text eol=crlf
+*.sh text=auto eol=lf
ADD · .gitignore +5 -0
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,5 @@
+bin/
+build/
+notes/
+external/
+third-party/
ADD · README.md +77 -0
--- a/README.md
+++ b/README.md
@@ -0,0 +1,77 @@
+### Overview
+
+Interactive software rasterizer written in C++, just to grok some GPU pipeline rendering, associated graphics APIs and math. Attempts to do things more classically in the GPU way. Like a depth buffer instead of sorting, Pineda-style edge triangle rasterization, homogeneous clipping, and floating-point math instead of ints.
+
+- The rasterizer outputs to a color buffer that's blitted to the screen by `SDL_UpdateTexture()`.
+
+- Primitive assembly -> backface culling -> early near plane rejection -> frustum culling.
+
+- Clipping -> NDC and perspective -> depth test -> rasterize -> color buffer.
+
+- The math and the pipeline is handled internally. SDL handles window creation, input events and window surface updates.
+
+- Some clarity on conventions, this uses a right-handed Z-up coordinate system. So X+ is forward, Y- is right and Z+ is up. The math is all in row-major matrices and row vectors. So `v' = v \* m`.
+
+- Currently the scene is hardcoded, just some .obj files that are parsed and loaded at runtime. No textures as of right now.
+
+- There is some initial perspective correct interpolation. I've only validated it with debug textures/patterns seems to check out though.
+
+- Contains a free cam and mouselook, typical `[W][A][S][D]` and `[Q][E]` for +Z, -Z respectively.
+
+### Local setup
+
+Build script for each platform, acquiring SDL is skipped. `-r` for the release build.
+
+**Windows**
+
+```
+.\build_win32.bat
+```
+
+**Linux**
+
+```
+./build_linux.sh
+```
+
+**MacOS**
+
+```
+./build_macos.sh
+```
+
+`/assets` holds the meshes. Scene composition is handled manually in `initialize_scene()`.
+
+### To-do
+
+- Texture sampling
+- Transparency and alpha blending
+- Shading
+- SIMD/Autovec
+
+### Resources
+
+- [OpenGL Specification](https://registry.khronos.org/OpenGL/specs/gl/glspec46.core.pdf)
+
+- [A trip through the Graphics Pipeline](https://fgiesen.wordpress.com/2011/07/09/a-trip-through-the-graphics-pipeline-2011-index/)
+
+- [Mathematics for 3D Game Programming and Computer Graphics, Third Edition](https://mathfor3dgameprogramming.com/)
+
+- [Clipping and culling overview](https://graphicscompendium.com/opengl/24-clipping-culling)
+
+- [Rasterization Overview](https://www.scratchapixel.com/lessons/3d-basic-rendering/rasterization-practical-implementation/overview-rasterization-algorithm.html)
+
+- [3D Clipping in Homogeneous Coordinates](https://chaosinmotion.com/2016/05/22/3d-clipping-in-homogeneous-coordinates/)
+
+- [Polygon Codec/Homogeneous clipping](https://fabiensanglard.net/polygon_codec/)
+
+- **Homogeneous Clipping** [Clipping using homogeneous coordinates (1978)](https://dl.acm.org/doi/pdf/10.1145/965139.807398)
+
+- [Perspective-Correct Interpolation](https://andrewkchan.dev/posts/perspective-interpolation.html)
+
+- [Bresenham's line algorithm](https://wikipedia.org/wiki/Bresenham%27s_line_algorithm)
+
+- [Sutherland–Hodgman algorithm](https://wikipedia.org/wiki/Sutherland%E2%80%93Hodgman_algorithm)
+
+- **Pineda Rasterization**: [A Parallel Algorithm for Polygon Rasterization (1988)](https://www.cs.drexel.edu/~deb39/Classes/Papers/comp175-06-pineda.pdf)
+
ADD · assets/Cube.mtl +11 -0
--- a/assets/Cube.mtl
+++ b/assets/Cube.mtl
@@ -0,0 +1,11 @@
+# www.blender.org
+
+newmtl default
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd Default.png<
\ No newline at end of file
ADD · assets/Cube.obj +36 -0
--- a/assets/Cube.obj
+++ b/assets/Cube.obj
@@ -0,0 +1,36 @@
+# Blender 4.5.3 LTS
+# www.blender.org
+mtllib Cube.mtl
+o cube
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+v -0.500000 -0.500000 0.500000
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+usemtl default
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\ No newline at end of file
ADD · assets/Default.png +0 -0
--- a/assets/Default.png
+++ b/assets/Default.png
ADD · assets/Duck.mtl +13 -0
--- a/assets/Duck.mtl
+++ b/assets/Duck.mtl
@@ -0,0 +1,13 @@
+# Blender 4.5.1 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl blinn3-fx
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd DuckCM.png<
\ No newline at end of file
ADD · assets/Duck.obj +11159 -0
--- a/assets/Duck.obj
+++ b/assets/Duck.obj
@@ -0,0 +1,11159 @@
+# Blender 4.5.1 LTS
+# www.blender.org
+mtllib Duck.mtl
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ADD · assets/DuckCM.png +0 -0
--- a/assets/DuckCM.png
+++ b/assets/DuckCM.png
ADD · assets/Missing_t.png +0 -0
--- a/assets/Missing_t.png
+++ b/assets/Missing_t.png
ADD · assets/Plane.mtl +11 -0
--- a/assets/Plane.mtl
+++ b/assets/Plane.mtl
@@ -0,0 +1,11 @@
+# www.blender.org
+
+newmtl Plane
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+map_Kd Default.png<
\ No newline at end of file
ADD · assets/Plane.obj +17 -0
--- a/assets/Plane.obj
+++ b/assets/Plane.obj
@@ -0,0 +1,17 @@
+# Blender 4.5.1 LTS
+# www.blender.org
+mtllib Plane.mtl
+o Plane
+v -1.000000 1.000000 0.000000
+v -1.000000 -1.000000 0.000000
+v 1.000000 1.000000 0.000000
+v 1.000000 -1.000000 0.000000
+vn -0.0000 -0.0000 1.0000
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+vt 0.000000 1.000000
+vt 0.000000 0.000000
+vt 1.000000 1.000000
+s 0
+usemtl Plane
+f 2/1/1 3/2/1 1/3/1
+f 2/1/1 4/4/1 3/2/1
ADD · assets/Sphere.mtl +2 -0
--- a/assets/Sphere.mtl
+++ b/assets/Sphere.mtl
@@ -0,0 +1,2 @@
+# Blender 4.5.1 LTS MTL File: 'None'
+# www.blender.org
ADD · assets/Sphere.obj +2537 -0
--- a/assets/Sphere.obj
+++ b/assets/Sphere.obj
@@ -0,0 +1,2537 @@
+# Blender 4.5.1 LTS
+# www.blender.org
+#mtllib sphere.mtl
+o Sphere
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ADD · assets/Teapot.obj +14385 -0
--- a/assets/Teapot.obj
+++ b/assets/Teapot.obj
@@ -0,0 +1,14385 @@
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+# www.blender.org
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ADD · assets/Tri.obj +9 -0
--- a/assets/Tri.obj
+++ b/assets/Tri.obj
@@ -0,0 +1,9 @@
+# Blender 4.5.1 LTS
+# www.blender.org
+o tri
+v 0.000000 0.000000 0.000000
+v 0.000000 -1.000000 0.000000
+v 0.000000 0.000000 1.000000
+vn -1.0000 -0.0000 -0.0000
+s 0
+f 1//1 2//1 3//1
ADD · build_linux.sh +56 -0
--- a/build_linux.sh
+++ b/build_linux.sh
@@ -0,0 +1,56 @@
+#!/bin/bash
+set -e
+
+ROOT="$(dirname "$(realpath "$0")")"
+SRC_FILES="src/*.cpp"
+
+# =====================
+# ==== Parse flags ====
+# =====================
+for arg in "$@"; do
+    if [[ "$arg" == "-r" ]]; then
+        BUILD="Release"
+    fi
+done
+
+
+# ===================
+# === Directories ===
+# ===================
+mkdir -p build
+# mkdir -p external
+
+
+# ====================
+# === Dependencies ===
+# ====================
+# sudo apt install libsdl2-dev
+# sudo dnf install SDL2-devel
+SDL_CFLAGS=$(sdl2-config --cflags)
+SDL_LDFLAGS=$(sdl2-config --libs)
+
+
+# =========================
+# === Compilation Flags ===
+# =========================
+if [ "$BUILD" == "Release" ]; then
+    CFLAGS="-std=c++20 -O2"
+    LFLAGS=""
+else
+    CFLAGS="-std=c++20 -g -O0"
+    LFLAGS=""
+fi
+
+
+# ===================
+# === Compilation ===
+# ===================
+pushd build > /dev/null
+g++ \
+  $CFLAGS \
+  $SDL_CFLAGS \
+  $ROOT/$SRC_FILES \
+  $LFLAGS \
+  $SDL_LDFLAGS \
+  -o renderer
+popd > /dev/null
ADD · build_macos.sh +56 -0
--- a/build_macos.sh
+++ b/build_macos.sh
@@ -0,0 +1,56 @@
+#!/bin/bash
+set -e
+
+ROOT="$(dirname "$(realpath "$0")")"
+SRC_FILES="src/*.cpp"
+
+# =====================
+# ==== Parse flags ====
+# =====================
+for arg in "$@"; do
+    if [[ "$arg" == "-r" ]]; then
+        BUILD="Release"
+    fi
+done
+
+
+# ===================
+# === Directories ===
+# ===================
+[ ! -d "build" ] && mkdir build
+#[ ! -d "external" ] && mkdir external
+
+
+# ====================
+# === Dependencies ===
+# ====================
+# brew sdl2
+SDL_CFLAGS=$(sdl2-config --cflags)
+SDL_LDFLAGS=$(sdl2-config --libs)
+
+
+# =========================
+# === Compilation Flags ===
+# =========================
+if [ "$BUILD" == "Release" ]; then
+    CFLAGS="-std=c++20 -O2 -o renderer"
+    LFLAGS=""
+else
+    CFLAGS="-std=c++20 -g -O0 -o renderer"
+    LFLAGS=""
+fi
+
+
+# ===================
+# === Compilation ===
+# ===================
+#clang++ $CFLAGS $SDL_CFLAGS "$SRC_FILES" -o "$" $SDL_LDFLAGS
+
+pushd build > /dev/null
+clang++ \
+  $CFLAGS \
+  $SDL_CFLAGS \
+  $ROOT/$SRC_FILES \
+  $LFLAGS \
+  $SDL_LDFLAGS
+popd > /dev/null
ADD · build_win32.bat +81 -0
--- a/build_win32.bat
+++ b/build_win32.bat
@@ -0,0 +1,81 @@
+echo off
+setlocal enabledelayedexpansion
+
+set ROOT=%~dp0
+::set SRC_FILES=src\renderer.cpp
+set SRC_FILES=%ROOT%src\*.cpp
+
+
+:: =====================
+:: ==== Parse flags ====
+:: =====================
+for %%A in (%*) do (
+    if /I "%%~A"=="-r" set "BUILD=Release"
+)
+
+
+:: =====================
+:: === MSVC Nonsense ===
+:: =====================
+for /f "usebackq tokens=*" %%i in (`"%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe" -latest -property installationPath`) do (
+    set "VS_PATH=%%i"
+)
+if defined VS_PATH (
+    call "%VS_PATH%\VC\Auxiliary\Build\vcvarsall.bat" x64
+) else (
+    echo ERROR: Visual Studio installation not found.
+    exit /b 1
+)
+
+
+:: ===================
+:: === Directories ===
+:: ===================
+if not exist build mkdir build
+if not exist external mkdir external
+
+
+:: ====================
+:: === Dependencies ===
+:: ====================
+
+:: https://github.com/libsdl-org/SDL/releases/download/release-2.32.10/SDL2-devel-2.32.10-VC.zip
+if not exist external\SDL (
+    echo ERROR: %ROOT%external\SDL\ missing.
+    exit /b 1
+)
+
+:: =========================
+:: === Compilation Flags ===
+:: =========================
+
+:: /permissive- not really needed with "/std:c++20?"
+:: /arch:AVX2 /arch:AVX512
+:: /fp:fast /
+:: comp: /GL, link: /LTCG
+if "%BUILD%"=="Release" (
+    set CFLAGS=/std:c++20 /O2 /Oi /GR- /EHsc /permissive- /Fe:renderer.exe
+    set LFLAGS=/SUBSYSTEM:WINDOWS
+) else (
+    set CFLAGS=/std:c++20 /W4 /permissive- /Od /ZI /EHsc /Fe:renderer.exe
+    set LFLAGS=/SUBSYSTEM:CONSOLE /DEBUG
+)
+
+
+:: ===================
+:: === Compilation ===
+:: ===================
+pushd build
+cl %CFLAGS% ^
+  /I %ROOT%external\SDL\include %SRC_FILES% ^
+  /link %LFLAGS% ^
+  shell32.lib ^
+  %ROOT%external\SDL\lib\x64\SDL2main.lib ^
+  %ROOT%external\SDL\lib\x64\SDL2.lib
+popd
+
+
+:: ========================
+:: === Post compilation ===
+:: ========================
+copy /Y %ROOT%external\SDL\lib\x64\SDL2.dll build\ >nul
ADD · src/camera.cpp +44 -0
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -0,0 +1,44 @@
+#include "camera.h"
+
+#include "util_math.h"
+
+Mat4 perspective(float fov, float aspect, float near_plane, float far_plane) {
+    // far + near / far - near   0                                       0                 -(2.0f * far * near)/ far - near) \\
+    // 0                         near_plane / right                      0                  0                                \\
+    // 0                         0                                       near_plane / top   0                                \\
+    // 1.0f                      0                                       0                  0                                \\
+
+    Mat4 r = Mat4::zeroed();
+
+    float top   = near_plane * tan(fov * 0.5f);
+    float right = top * aspect;
+
+    // X = depth
+    r.m[0][0] = (far_plane + near_plane) / (far_plane - near_plane);
+    r.m[0][3] = 1.0f;  // w row
+    r.m[3][0] = -(2.0f * far_plane * near_plane) / (far_plane - near_plane);
+    // Y = Right
+    r.m[1][1] = near_plane / right;
+    // Z = up
+    r.m[2][2] = near_plane / top;
+
+    return r;
+};
+
+Mat4 lookAt(Camera *camera) {
+    vec3f f = camera->forward;
+    vec3f r = camera->right;
+    vec3f u = camera->up;
+    vec3f p = camera->position;
+
+    Mat4 view = Mat4::identity();
+    // mind the transpose here since its a complete inverse
+    view = {
+        {{f.x, r.x, u.x, 0.0},                           // X+ forward row
+         {f.y, r.y, u.y, 0.0},                           // Y- right row
+         {f.z, r.z, u.z, 0.0},                           // Z+ up row
+         {-(f.dot(p)), -(r.dot(p)), -(u.dot(p)), 1.0f}}  // negate cam world pos translateions
+    };
+
+    return view;
+};
ADD · src/camera.h +16 -0
--- a/src/camera.h
+++ b/src/camera.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "util_math.h"
+
+struct Camera {
+    vec3f position;
+    vec3f forward;
+    vec3f right;
+    vec3f up;
+    float pitch;
+    float yaw;
+};
+
+Mat4 perspective(float fov, float aspect, float near_plane, float far_plane);
+
+Mat4 lookAt(Camera *camera);
ADD · src/clip.cpp +135 -0
--- a/src/clip.cpp
+++ b/src/clip.cpp
@@ -0,0 +1,135 @@
+#include "clip.h"
+
+#include <math.h>
+
+#include <vector>
+
+#include "util_math.h"
+
+using std::vector;
+
+// canonical view volume
+float plane_x_min(const vec4f &v) {
+    return v.w + v.x;  // x >= -w
+}
+float plane_x_max(const vec4f &v) {
+    return v.w - v.x;  // x <=  w
+}
+float plane_y_min(const vec4f &v) {
+    return v.w + v.y;  // y >= -w
+}
+float plane_y_max(const vec4f &v) {
+    return v.w - v.y;  // y <=  w
+}
+float plane_z_min(const vec4f &v) {
+    return v.w + v.z;  // z >= -w
+}
+float plane_z_max(const vec4f &v) {
+    return v.w - v.z;  // z <=  w
+}
+
+// dead simple helpers to handle basic floating point precision on pushing
+inline bool almost_same(const vec4f &a, const vec4f &b, float eps = 1e-6f) {
+    return fabs(a.x - b.x) < eps &&
+           fabs(a.y - b.y) < eps &&
+           fabs(a.z - b.z) < eps &&
+           fabs(a.w - b.w) < eps;
+}
+
+inline void push_unique(vector<ClipVertex> &out, const ClipVertex &v) {
+    if (out.empty() || !almost_same(out.back().pos, v.pos)) {
+        out.push_back(v);
+    }
+}
+
+ClipVertex lerp_vert(const ClipVertex &a, const ClipVertex &b, float t) {
+    ClipVertex result;
+    result.pos    = vec4f_lerp(a.pos, b.pos, t);
+    result.color  = vec3f_lerp(a.color, b.color, t);
+    result.uv     = vec2f_lerp(a.uv, b.uv, t);
+    result.normal = vec3f_lerp(a.normal, b.normal, t);
+    return result;
+}
+
+vector<ClipVertex> clip_against_plane(
+    const vector<ClipVertex> &polygon_in, float (*plane_dist)(const vec4f &)
+) {
+    vector<ClipVertex> clipped_polygon;
+    if (polygon_in.empty()) {
+        return clipped_polygon;
+    }
+
+    // prev vertex and distance to compare against
+    ClipVertex prev_vert   = polygon_in.back();
+    float      prev_dist   = plane_dist(prev_vert.pos);
+    bool       prev_inside = (prev_dist >= 0.0f);
+
+    // loop over each vertex to compare
+    for (size_t i = 0; i < polygon_in.size(); ++i) {
+        const ClipVertex &curr_vert   = polygon_in[i];
+        float             curr_dist   = plane_dist(curr_vert.pos);
+        bool              curr_inside = (curr_dist >= 0.0f);
+
+        // case 1: both prev and curr are inside the plane
+        // so the curr vertex also gets added to the new clipped polygon
+        // notes/clipping/9
+        if (prev_inside && curr_inside) {
+            push_unique(clipped_polygon, curr_vert);
+        }
+
+        // case 2: either vertex ends up inside while the other is outside the plane
+        // time to create a new vert on the intersection and add it to the new polygon
+        else if (prev_inside != curr_inside) {
+            float      dist_difference           = prev_dist - curr_dist;
+            float      edge_interpolation_factor = prev_dist / (dist_difference);
+            ClipVertex intersect_vert            = lerp_vert(prev_vert, curr_vert, edge_interpolation_factor);
+            push_unique(clipped_polygon, intersect_vert);
+
+            // case 3 (more like case 2.5): If the curr vertex is also already inside
+            // safely add it to the clipped polygon
+            // notes/clipping/10
+            if (curr_inside) {
+                push_unique(clipped_polygon, curr_vert);
+            }
+        }
+
+        // update prev_vert for the next iter
+        prev_vert   = curr_vert;
+        prev_dist   = curr_dist;
+        prev_inside = curr_inside;
+    }
+
+    return clipped_polygon;
+}
+
+// Clip space/Sutherland–Hodgman/Homogeneous clipping
+// clipping any polygon to the canonical view volume: -w <= x,y,z <= w.
+vector<ClipVertex> clip_polygon_with_attrs(
+    vec4f *clip_positions,
+    vec2f *input_uv,
+    vec3f  input_color,
+    vec3f  input_normal
+) {
+    vector<ClipVertex> clipped_vertices;
+    clipped_vertices.reserve(3);
+
+    for (int i = 0; i < 3; ++i) {
+        ClipVertex cv;
+        cv.pos    = clip_positions[i];
+        cv.uv     = input_uv[i];
+        cv.color  = input_color;
+        cv.normal = input_normal;
+        clipped_vertices.push_back(cv);
+    }
+
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_x_min);
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_x_max);
+
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_y_min);
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_y_max);
+
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_z_min);
+    clipped_vertices = clip_against_plane(clipped_vertices, plane_z_max);
+
+    return clipped_vertices;  // could be empty if triangle fully outside
+}
ADD · src/clip.h +25 -0
--- a/src/clip.h
+++ b/src/clip.h
@@ -0,0 +1,25 @@
+#include <vector>
+
+#include "util_math.h"
+
+using std::vector;
+
+struct ClipVertex {
+    vec4f pos;
+    vec3f color;
+    vec3f normal;
+    vec2f uv;
+    float inv_w;
+};
+
+// canonical view volume
+float plane_x_min(const vec4f &v);
+float plane_x_max(const vec4f &v);
+float plane_y_min(const vec4f &v);
+float plane_y_max(const vec4f &v);
+float plane_z_min(const vec4f &v);
+float plane_z_max(const vec4f &v);
+
+vector<ClipVertex> clip_polygon_with_attrs(
+    vec4f *clip_positions, vec2f *input_uv, vec3f input_color, vec3f input_normal
+);
ADD · src/draw.cpp +209 -0
--- a/src/draw.cpp
+++ b/src/draw.cpp
@@ -0,0 +1,209 @@
+#include "draw.h"
+
+#include "globals.h"
+#include "util_math.h"
+
+static inline u32 vec3_to_u32RGBA(vec3f &c) {
+    u8 r = (u8)(c.x * 255.0f);
+    u8 g = (u8)(c.y * 255.0f);
+    u8 b = (u8)(c.z * 255.0f);
+    u8 a = 255;
+
+    u32 final_color = (r << 24) | (g << 16) | (b << 8) | a;
+    return final_color;
+};
+
+void clear_color_buffer(u32 color, Window *window) {
+    for (int i = 0; i < window->width * window->height; i++) {
+        window->back_buffer[i] = color;
+    };
+};
+
+// (0,0) bottom left, screen space origin
+// Y- in NDC is X+ in screen space
+// Z+ in NDC is Y+ in screen space
+static inline void draw_pixel(int x, int y, u32 color, Window *window) {
+    if (x >= 0 && x < window->width && y >= 0 && y < window->height) {
+        int flipped_y                                        = (window->height - 1) - y;
+        window->back_buffer[(window->width * flipped_y) + x] = color;
+    };
+};
+
+void draw_rect(int x, int y, int width, int height, u32 color, Window *window) {
+    for (int i = 0; i < height; i++) {
+        for (int j = 0; j < width; j++) {
+            int offset_x = x + j;
+            int offset_y = y - i;
+            draw_pixel(offset_x, offset_y, color, window);
+        };
+    };
+};
+
+void draw_line_grid(u32 color, Window *window, u8 spacing = 10) {
+    for (int y = 0; y < window->height; y++) {
+        for (int x = 0; x < window->width; x++) {
+            if (x % spacing == 0 || y % spacing == 0) {
+                draw_pixel(x, y, color, window);
+            };
+        };
+    };
+};
+
+// Bresenham's Line Algorithm
+// https://wikipedia.org/wiki/Bresenham's_line_algorithm
+// TODO: Wu's whenever I add pure primitives toggling
+void draw_line(int x0, int y0, int x1, int y1, u32 color, Window *window) {
+    // differences
+    int delta_x = (x1 > x0) ? (x1 - x0) : (x0 - x1);
+    int delta_y = (y1 > y0) ? (y1 - y0) : (y0 - y1);
+    // direction
+    int step_x = (x0 < x1) ? 1 : -1;
+    int step_y = (y0 < y1) ? 1 : -1;
+    // error term, to adjust direction
+    int error_calib = delta_x - delta_y;
+
+    while (1) {
+        draw_pixel(x0, y0, color, window);
+        if (x0 == x1 && y0 == y1) {
+            break;
+        }
+        int error_double = 2 * error_calib;
+        if (error_double > -delta_y) {
+            error_calib -= delta_y;
+            x0 += step_x;
+        }
+        if (error_double < delta_x) {
+            error_calib += delta_x;
+            y0 += step_y;
+        };
+    };
+};
+
+static inline void process_fragment(int buff_idx, float pixel_depth, u32 pixel_color, Window *window) {
+    float current_depth_at_pixel = window->depth_buffer[buff_idx];
+    if (pixel_depth < current_depth_at_pixel) {
+        window->depth_buffer[buff_idx] = pixel_depth;
+        window->back_buffer[buff_idx]  = pixel_color;
+    }
+}
+
+void rasterize_triangle(ScreenTriangle *tri, Window *window) {
+    vec3f v0 = tri->points[0];
+    vec3f v1 = tri->points[1];
+    vec3f v2 = tri->points[2];
+
+    float inv_w0 = tri->inv_w[0];
+    float inv_w1 = tri->inv_w[1];
+    float inv_w2 = tri->inv_w[2];
+
+    vec3f c0 = tri->color_over_w[0];
+    vec3f c1 = tri->color_over_w[1];
+    vec3f c2 = tri->color_over_w[2];
+
+    float ndc_depth0 = tri->ndc_depth[0];
+    float ndc_depth1 = tri->ndc_depth[1];
+    float ndc_depth2 = tri->ndc_depth[2];
+
+    vec2f uv_over_w0 = tri->uv_over_w[0];
+    vec2f uv_over_w1 = tri->uv_over_w[1];
+    vec2f uv_over_w2 = tri->uv_over_w[2];
+
+    // bounding box (expensive fmin, fmax here I think)
+    float minX_f = fmin(v0.x, fmin(v1.x, v2.x));
+    float minY_f = fmin(v0.y, fmin(v1.y, v2.y));
+    float maxX_f = fmax(v0.x, fmax(v1.x, v2.x));
+    float maxY_f = fmax(v0.y, fmax(v1.y, v2.y));
+
+    minX_f = fmax(0.0f, minX_f);
+    minY_f = fmax(0.0f, minY_f);
+    maxX_f = fmin(static_cast<float>(window->width - 1), maxX_f);
+    maxY_f = fmin(static_cast<float>(window->height - 1), maxY_f);
+
+    int minX = static_cast<int>(floor(minX_f));
+    int minY = static_cast<int>(floor(minY_f));
+    int maxX = static_cast<int>(ceil(maxX_f));
+    int maxY = static_cast<int>(ceil(maxY_f));
+
+    // edge coefficients (dY, -dX) pineda-style rasterization
+    float dX01 = v0.x - v1.x;  // delta X (v0 to v1)
+    float dY01 = v0.y - v1.y;  // delta Y (v0 to v1)
+    float dX12 = v1.x - v2.x;  // delta X (v1 to v2)
+    float dY12 = v1.y - v2.y;  // delta Y (v1 to v2)
+    float dX20 = v2.x - v0.x;  // delta X (v2 to v0)
+    float dY20 = v2.y - v0.y;  // delta Y (v2 to v0)
+
+    float triangleArea = (v1.y - v2.y) * (v0.x - v2.x) + (v2.x - v1.x) * (v0.y - v2.y);
+    if (fabs(triangleArea) < 1e-6f) {  // degen triangle
+        return;
+    }
+    float invArea = 1.0f / triangleArea;
+
+    // center of the top-left pixel in the bounding box
+    vec2f pixel_start = {(float)minX + 0.5f, (float)minY + 0.5f};
+
+    // initial edge function (A0, B0, G0) for pixel_start
+    float E0 = (v1.y - v2.y) * (pixel_start.x - v2.x) + (v2.x - v1.x) * (pixel_start.y - v2.y);
+    float E1 = (v2.y - v0.y) * (pixel_start.x - v0.x) + (v0.x - v2.x) * (pixel_start.y - v0.y);
+    float E2 = (v0.y - v1.y) * (pixel_start.x - v1.x) + (v1.x - v0.x) * (pixel_start.y - v1.y);
+
+    // x delta step (move right one pixel)
+    float stepX0 = dY12;
+    float stepX1 = dY20;
+    float stepX2 = dY01;
+
+    // y delta step (move down one row)
+    float stepY0 = dX12;
+    float stepY1 = dX20;
+    float stepY2 = dX01;
+
+    float E0_row = E0;
+    float E1_row = E1;
+    float E2_row = E2;
+
+    for (int y = minY; y <= maxY; ++y) {
+        // reset
+        E0 = E0_row;
+        E1 = E1_row;
+        E2 = E2_row;
+
+        int flipped_y = (window->height - 1) - y;  // draw_pixel origin convention
+        int row_start = flipped_y * window->width;
+
+        // inside tri
+        for (int x = minX; x <= maxX; ++x) {
+            if (E0 >= 0.0f && E1 >= 0.0f && E2 >= 0.0f) {
+                int buffer_idx = row_start + x;
+
+                // edge based barycentric coords eval
+                float alpha = E0 * invArea;
+                float beta  = E1 * invArea;
+                float gamma = E2 * invArea;
+
+                // lerp the attribute accross the triangle's barycentric coords
+                float lerp_inv_w   = alpha * inv_w0 + beta * inv_w1 + gamma * inv_w2;
+                float lerp_depth   = alpha * ndc_depth0 + beta * ndc_depth1 + gamma * ndc_depth2;
+                vec2f lerp_uv      = uv_over_w0 * alpha + uv_over_w1 * beta + uv_over_w2 * gamma;
+                vec3f lerped_color = alpha * c0 + beta * c1 + gamma * c2;  // TODO: not needed, sample a texture by lerp_uv here
+
+                vec3f color     = lerped_color / lerp_inv_w;
+                u32   u32_color = vec3_to_u32RGBA(color);
+                vec2f uv        = lerp_uv / lerp_inv_w;
+
+                process_fragment(buffer_idx, lerp_depth, u32_color, window);
+            }
+
+            // increment edge functions
+            // advance right one pixel: x -> x + 1
+            E0 += stepX0;
+            E1 += stepX1;
+            E2 += stepX2;
+        }
+
+        // increment edge functions
+        // advance one row: y -> y + 1
+        // NOTE: Edge stepping for Y is subtraction since we start a triangle at top left (0, 0)
+        E0_row -= stepY0;
+        E1_row -= stepY1;
+        E2_row -= stepY2;
+    }
+}
ADD · src/draw.h +18 -0
--- a/src/draw.h
+++ b/src/draw.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "globals.h"
+#include "util_math.h"
+#include "renderer.h"
+
+struct ScreenTriangle {
+    vec3f points[3];
+    vec2f uv_over_w[3];
+    vec3f color_over_w[3];
+    float inv_w[3];
+    float ndc_depth[3];
+};
+
+void clear_color_buffer(u32 color, Window *window);
+void draw_line_grid(u32 color, Window *window, u8 spacing);
+void draw_line(int x0, int y0, int x1, int y1, u32 color, Window *window);
+void rasterize_triangle(ScreenTriangle *tri, Window *window);
ADD · src/globals.h +16 -0
--- a/src/globals.h
+++ b/src/globals.h
@@ -0,0 +1,16 @@
+#include <stdint.h>
+
+typedef int8_t   i8;
+typedef int16_t  i16;
+typedef int32_t  i32;
+typedef int64_t  i64;
+typedef uint8_t  u8;
+typedef uint16_t u16;
+typedef uint32_t u32;
+typedef uint64_t u64;
+typedef float    f32;
+typedef double   f64;
+
+#define static_global   static
+#define static_local    static
+#define static_internal static
ADD · src/mesh.cpp +73 -0
--- a/src/mesh.cpp
+++ b/src/mesh.cpp
@@ -0,0 +1,73 @@
+#include "mesh.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <vector>
+
+#include "util_math.h"
+
+using std::vector;
+
+Mesh parse_obj(const char *filename) {
+    Mesh mesh;
+
+    FILE *file = fopen(filename, "r");
+    if (!file) {
+        printf("Failed to open file: %s\n", filename);
+        return mesh;
+    }
+
+    char line[1024];
+    while (fgets(line, sizeof(line), file)) {
+        if (strncmp(line, "#", 2) == 0 || strncmp(line, "\n", 2) == 0) {
+            continue;
+        }
+        if (strncmp(line, "v ", 2) == 0) {
+            vec3f v;
+            sscanf(line, "v %f %f %f", &v.x, &v.y, &v.z);
+            mesh.vertices.push_back(v);
+        } else if (strncmp(line, "vt ", 3) == 0) {
+            vec2f vt;
+            sscanf(line, "vt %f %f", &vt.x, &vt.y);
+            mesh.texcoords.push_back(vt);
+        } else if (strncmp(line, "vn ", 3) == 0) {
+            vec3f vn;
+            sscanf(line, "vn %f %f %f", &vn.x, &vn.y, &vn.z);
+            mesh.normals.push_back(vn);
+        } else if (strncmp(line, "f ", 2) == 0) {
+            char *face_token = strtok(line + 2, " \n\r");
+            while (face_token) {
+                Face idx = {0, 0, 0};
+                int  v = 0, vt = 0, vn = 0;
+
+                char *slash1 = strchr(face_token, '/');
+                if (slash1) {
+                    *slash1 = '\0';
+                    v       = atoi(face_token);
+
+                    char *slash2 = strchr(slash1 + 1, '/');
+                    if (slash2) {
+                        *slash2 = '\0';
+                        vt      = atoi(slash1 + 1);
+                        vn      = atoi(slash2 + 1);
+                    } else {
+                        vt = atoi(slash1 + 1);
+                    }
+                } else {
+                    v = atoi(face_token);
+                }
+
+                if (v > 0) idx.vertex_idx = v - 1;
+                if (vt > 0) idx.vertex_texture_idx = vt - 1;
+                if (vn > 0) idx.vertex_normal_idx = vn - 1;
+
+                mesh.faces.push_back(idx);
+                face_token = strtok(nullptr, " \n\r");
+            }
+        }
+    }
+    fclose(file);
+    return mesh;
+}
ADD · src/mesh.h +40 -0
--- a/src/mesh.h
+++ b/src/mesh.h
@@ -0,0 +1,40 @@
+#pragma once
+
+#include <vector>
+
+#include "util_math.h"
+
+using std::vector;
+
+struct Face {
+    int vertex_idx;
+    int vertex_texture_idx;
+    int vertex_normal_idx;
+};
+
+struct Transform {
+    vec3f position{4.0, 0, 0};
+    vec3f rotation{0, 0, 0};
+    vec3f scale{1.0, 1.0, 1.0};
+
+    Mat4 model_matrix() const {
+        Mat4 scale_matrix     = Mat4::scale(scale.x, scale.y, scale.z);
+        Mat4 rx               = Mat4::rotation_x(rotation.x);
+        Mat4 ry               = Mat4::rotation_y(rotation.y);
+        Mat4 rz               = Mat4::rotation_z(rotation.z);
+        Mat4 rotation_matrix  = rx * ry * rz;
+        Mat4 translate_matrix = Mat4::translate(position.x, position.y, position.z);
+        return scale_matrix * rotation_matrix * translate_matrix;
+    }
+};
+
+struct Mesh {
+    vector<vec3f> vertices;
+    vector<vec2f> texcoords;
+    vector<vec3f> normals;
+    vector<Face>  faces;
+    Transform     transform;
+    vec3f         color;
+};
+
+Mesh parse_obj(const char *filename);
ADD · src/renderer.cpp +528 -0
--- a/src/renderer.cpp
+++ b/src/renderer.cpp
@@ -0,0 +1,528 @@
+#include "renderer.h"
+
+#include <math.h>
+#include <stdio.h>
+
+#include <vector>
+
+#include "SDL.h"
+#include "camera.h"
+#include "clip.h"
+#include "draw.h"
+#include "util_math.h"
+#include "mesh.h"
+
+using std::vector;
+
+static_global Window window = {
+    .sdl_window   = nullptr,
+    .renderer     = nullptr,
+    .front_buffer = nullptr,
+    .back_buffer  = nullptr,
+    .width        = 1280,
+    .height       = 800,
+};
+
+static_global Camera camera = {
+    .position = {-5.0, 0.0, 1.25},
+    .forward  = {1.0, 0.0, 0.0},
+    .right    = {0.0, -1.0, 0.0},
+    .up       = {0.0, 0.0, 1.0},
+    .pitch    = 0.0,
+    .yaw      = 0.0,
+};
+
+static_global InputState input_state = {0};
+static_global bool       IS_RUNNING  = false;
+
+static_global float aspect       = float(window.width) / float(window.height);
+static_global float fov_y        = 59.0f * M_PI / 180.0f;
+static_global float grid_spacing = (fmin(window.width, window.height) / 2) / 10;
+
+// NOTE: should be like a module type thingy along with the entire pipeline?
+static_global vector<Mesh> scene;                   // vertex stage input
+static_global vector<ScreenTriangle> raster_queue;  // raster stage input
+
+void initialize_scene() {
+    Mesh plane = parse_obj("../assets/Plane.obj");
+    scene.emplace_back(plane);
+    scene.back().transform.position = {0.0, 0.0, 0.0};
+    scene.back().transform.scale    = {10.0, 10.0, 10.0};
+    scene.back().color              = {0.1, 0.1, 0.1};
+
+    Mesh tri = parse_obj("../assets/Tri.obj");
+    scene.emplace_back(tri);
+    scene.back().transform.position = {3.0, 3.0, 1.5};
+    scene.back().transform.scale    = {2.0, 2.0, 2.0};
+    scene.back().color              = {0.0, 0.0, 0.5};
+
+    Mesh cube = parse_obj("../assets/Cube.obj");
+    scene.emplace_back(cube);
+    scene.back().transform.position = {3.0, -3.0, 1.0};
+    scene.back().color              = {0.5, 0.0, 0.0};
+
+    Mesh duck = parse_obj("../assets/Duck.obj");
+    scene.emplace_back(duck);
+    scene.back().transform.position = {0.0, 3.0, 0.65};
+    scene.back().color              = {0.5, 0.5, 0.0};
+
+    Mesh teapot = parse_obj("../assets/Teapot.obj");
+    scene.emplace_back(teapot);
+    scene.back().transform.position = {0.0, -3.0, 0.65};
+    scene.back().color              = {0.0, 0.5, 0.0};
+}
+
+void update_scene() {
+    scene[1].transform.rotation.x += 0.01f;
+    scene[2].transform.rotation.y += 0.01f;
+    scene[3].transform.rotation.z += 0.01f;
+    scene[4].transform.rotation.z += 0.01f;
+}
+
+void process_input(void) {
+    // reset mouse delta
+    input_state.mouse_dx = 0;
+    input_state.mouse_dy = 0;
+
+    // mouse input
+    int x, y;
+    SDL_GetRelativeMouseState(&x, &y);
+    input_state.mouse_dx = x;
+    input_state.mouse_dy = y;
+
+    SDL_Event event;
+    while (SDL_PollEvent(&event)) {
+        switch (event.type) {
+            case SDL_QUIT:
+                IS_RUNNING = false;
+                break;
+            case SDL_KEYDOWN:
+            case SDL_KEYUP: {
+                bool is_down = (event.type == SDL_KEYDOWN);
+                switch (event.key.keysym.sym) {
+                    case SDLK_ESCAPE:
+                        IS_RUNNING = false;
+                        break;
+                    case SDLK_w:
+                        input_state.move_forward = is_down;
+                        break;
+                    case SDLK_s:
+                        input_state.move_backward = is_down;
+                        break;
+                    case SDLK_a:
+                        input_state.move_left = is_down;
+                        break;
+                    case SDLK_d:
+                        input_state.move_right = is_down;
+                        break;
+                    case SDLK_e:
+                        input_state.move_down = is_down;
+                        break;
+                    case SDLK_q:
+                        input_state.move_up = is_down;
+                        break;
+                }
+            } break;
+        }
+    }
+}
+
+// same convention as rot functions in math.h
+// increasing angle == CCW rot, source
+void update_camera(float dt) {
+    float move_speed        = 10.0f;
+    float mouse_sensitivity = 0.0025f;
+    float velocity          = move_speed * dt;
+
+    camera.yaw -= input_state.mouse_dx * mouse_sensitivity;
+    camera.pitch -= input_state.mouse_dy * mouse_sensitivity;
+    camera.pitch = fmaxf(-1.5f, fminf(1.5f, camera.pitch));
+
+    // not the biggest fan of trig here,
+    // rather this than the matrices juggling
+    // perfect place to do quaternions later maybe
+    camera.forward = {
+        cosf(camera.pitch) * cosf(camera.yaw),
+        cosf(camera.pitch) * sinf(camera.yaw),
+        sinf(camera.pitch)
+    };
+
+    camera.forward = camera.forward.normalized();
+    camera.right   = camera.forward.cross(vec3f(0.0, 0.0, 1.0)).normalized();
+    camera.up      = camera.right.cross(camera.forward).normalized();
+
+    if (input_state.move_forward) {
+        camera.position = camera.position + camera.forward * velocity;
+    }
+    if (input_state.move_backward) {
+        camera.position = camera.position - camera.forward * velocity;
+    }
+    if (input_state.move_left) {
+        camera.position = camera.position - camera.right * velocity;
+    }
+    if (input_state.move_right) {
+        camera.position = camera.position + camera.right * velocity;
+    }
+    if (input_state.move_up) {
+        camera.position.z += velocity;
+    }
+    if (input_state.move_down) {
+        camera.position.z -= velocity;
+    }
+}
+
+inline vec3f project_to_screen(
+    const vec4f &clip_pos, const float &inv_w, int win_width, int win_height
+) {
+    // NDC construction, should remap to []
+    float ndc_x = clip_pos.x * inv_w;  // NDC depth coordinate
+    float ndc_y = clip_pos.y * inv_w;  // NDC screen X coordinate
+    float ndc_z = clip_pos.z * inv_w;  // NDC screen Y coordinate
+
+    // screen space mapping (y is horizontal and z is vertical)
+    float screen_x = (ndc_y + 1.0f) * 0.5f * win_width;
+    float screen_y = (ndc_z + 1.0f) * 0.5f * win_height;
+
+    return {screen_x, screen_y, ndc_x};
+}
+
+void vertex_stage(
+    Mesh &m, Camera &camera, float fov_y, float aspect, vector<vec3f> &world_verts,
+    vector<vec3f> &view_verts
+) {
+    world_verts.resize(m.vertices.size());
+    view_verts.resize(m.vertices.size());
+
+    mat4 world_mat = m.transform.model_matrix();
+    mat4 view_mat  = lookAt(&camera);
+
+    for (int i = 0; i < m.vertices.size(); i++) {
+        vec4f obj_v = vec4f(m.vertices[i], 1.0f);
+
+        // world space
+        vec4f world_v  = obj_v * world_mat;
+        world_verts[i] = vec3f(world_v.x, world_v.y, world_v.z);
+
+        // view space
+        vec4f view_v  = world_v * view_mat;
+        view_verts[i] = vec3f(view_v.x, view_v.y, view_v.z);
+    }
+}
+
+// just bool wrappers over the same planes defined for clipping
+bool inside_x_min(const vec4f &v) {
+    return plane_x_min(v) >= 0.0f;
+}
+bool inside_x_max(const vec4f &v) {
+    return plane_x_max(v) >= 0.0f;
+}
+bool inside_y_min(const vec4f &v) {
+    return plane_y_min(v) >= 0.0f;
+}
+bool inside_y_max(const vec4f &v) {
+    return plane_y_max(v) >= 0.0f;
+}
+bool inside_z_min(const vec4f &v) {
+    return plane_z_min(v) >= 0.0f;
+}
+bool inside_z_max(const vec4f &v) {
+    return plane_z_max(v) >= 0.0f;
+}
+
+enum FrustumStatus {
+    Outside,
+    Inside,
+    Straddle
+};
+
+FrustumStatus triangle_frustum_status(const vec4f verts[3]) {
+    bool any_straddle = false;
+
+    bool (*planes[6])(const vec4f &) = {
+        inside_x_min,
+        inside_x_max,
+        inside_y_min,
+        inside_y_max,
+        inside_z_min,
+        inside_z_max
+    };
+
+    for (int p = 0; p < 6; p++) {
+        int inside  = 0;
+        int outside = 0;
+
+        for (int i = 0; i < 3; i++) {
+            if (planes[p](verts[i])) {
+                inside++;
+            } else {
+                outside++;
+            }
+        }
+
+        if (outside == 3) {
+            return Outside;
+        }
+
+        if (inside > 0 && outside > 0) {
+            any_straddle = true;
+        }
+    }
+
+    return any_straddle ? Straddle : Inside;
+}
+
+static inline vec2f get_uv(const vector<vec2f> &texcoords, int idx) {
+    if (idx >= 0 && idx < (int)texcoords.size()) {
+        return texcoords[idx];
+    }
+    return vec2f(0.0f, 0.0f);
+}
+
+void run_pipeline(void) {
+    raster_queue.clear();
+
+    mat4 projection_matrix = perspective(fov_y, aspect, 0.1f, 5000.0f);
+
+    // NOTE: not 100% sold on the static here, look into this
+    static_local vector<vec3f> world_verts;
+    static_local vector<vec3f> view_verts;
+    static_local vector<ClipVertex> clip_verts;
+
+    for (int mesh_idx = 0; mesh_idx < scene.size(); mesh_idx++) {
+        Mesh &m = scene[mesh_idx];
+
+        world_verts.resize(m.vertices.size());
+        view_verts.resize(m.vertices.size());
+        clip_verts.resize(m.vertices.size());
+
+        vertex_stage(m, camera, fov_y, aspect, world_verts, view_verts);
+
+        for (int i = 0; i < m.faces.size(); i += 3) {
+            Face f0 = m.faces[i + 0];
+            Face f1 = m.faces[i + 1];
+            Face f2 = m.faces[i + 2];
+
+            // populated by vertex_stage()
+            vec3f v0_view = view_verts[f0.vertex_idx];
+            vec3f v1_view = view_verts[f1.vertex_idx];
+            vec3f v2_view = view_verts[f2.vertex_idx];
+
+            vec3f v0_world = world_verts[f0.vertex_idx];
+            vec3f v1_world = world_verts[f1.vertex_idx];
+            vec3f v2_world = world_verts[f2.vertex_idx];
+
+            // TODO: use the Mesh vertex normal
+            vec3f world_edge1 = v1_world - v0_world;
+            vec3f world_edge2 = v2_world - v0_world;
+            vec3f face_normal = world_edge2.cross(world_edge1).normalized();
+
+            // backface culling (view space)
+            vec3f tri_edge1  = v1_view - v0_view;
+            vec3f tri_edge2  = v2_view - v0_view;
+            vec3f tri_normal = tri_edge2.cross(tri_edge1).normalized();
+            if (tri_normal.dot(v0_view) >= 0.0f) {
+                continue;
+            }
+
+            // early and cheap near plane rejection (view space)
+            const float near_plane_dist   = 0.1f;  // same as proj_mat
+            int         behind_vert_count = 0;
+            if (v0_view.x < near_plane_dist) {
+                behind_vert_count++;
+            }
+            if (v1_view.x < near_plane_dist) {
+                behind_vert_count++;
+            }
+            if (v2_view.x < near_plane_dist) {
+                behind_vert_count++;
+            }
+            if (behind_vert_count == 3) {
+                continue;
+            }
+
+            // only the worthy go further (clip space)
+            vec4f v0_clip = vec4f(v0_view, 1.0f) * projection_matrix;
+            vec4f v1_clip = vec4f(v1_view, 1.0f) * projection_matrix;
+            vec4f v2_clip = vec4f(v2_view, 1.0f) * projection_matrix;
+
+            vec4f tri_clip[3] = {v0_clip, v1_clip, v2_clip};  // clip space tri
+            vec2f tri_uv[3]   = {
+                get_uv(m.texcoords, f0.vertex_texture_idx),
+                get_uv(m.texcoords, f1.vertex_texture_idx),
+                get_uv(m.texcoords, f2.vertex_texture_idx)
+            };
+
+            FrustumStatus status = triangle_frustum_status(tri_clip);
+            if (status == Outside) {
+                continue;  // reject
+            }
+
+            clip_verts.clear();
+            if (status == Inside) {
+                clip_verts.reserve(3);
+                for (int vi = 0; vi < 3; vi++) {
+                    ClipVertex cv;
+                    cv.pos    = tri_clip[vi];
+                    cv.color  = m.color;
+                    cv.normal = tri_normal;
+                    cv.uv     = tri_uv[vi];
+                    clip_verts.push_back(cv);
+                }
+            } else {
+                // straddle case
+                // expernsive 6 plane clipping so get here if all else fails
+                clip_verts = clip_polygon_with_attrs(tri_clip, tri_uv, m.color, face_normal);
+                if (clip_verts.size() < 3) {
+                    continue;
+                }
+            }
+
+            for (int k = 1; k < clip_verts.size() - 1; ++k) {
+                // NOTE: rudimentary triangulation, not sure if somethin more robust is used or
+                // needed tbh. Look into it
+                const ClipVertex &cv0  = clip_verts[0];
+                const ClipVertex &cvk  = clip_verts[k];
+                const ClipVertex &cvk1 = clip_verts[k + 1];
+
+                ScreenTriangle tri;
+
+                const ClipVertex cvs[3] = {cv0, cvk, cvk1};
+                for (int i = 0; i < 3; ++i) {
+                    const vec4f &p     = cvs[i].pos;
+                    float        inv_w = 1.0f / p.w;
+                    vec3f        ndc   = project_to_screen(p, inv_w, window.width, window.height);
+
+                    tri.points[i]       = ndc;
+                    tri.inv_w[i]        = 1.0f / cvs[i].pos.w;
+                    tri.uv_over_w[i]    = cvs[i].uv * inv_w;
+                    tri.color_over_w[i] = cvs[i].color * inv_w;
+                    tri.ndc_depth[i]    = ndc.z;
+                }
+                raster_queue.push_back(tri);
+            }
+        }
+    }
+}
+
+void rasterize(void) {
+    clear_color_buffer(0x00000000, &window);
+
+    //  clear depth buffer
+    for (int i = 0; i < window.width * window.height; ++i) {
+        // NOTE: look into log depth
+        window.depth_buffer[i] = 1.0f;
+    }
+
+    draw_line_grid(0x252525FF, &window, grid_spacing);
+    draw_line(window.width / 2, window.height, window.width / 2, 0, 0x656565FF, &window);
+    draw_line(0, window.height / 2, window.width, window.height / 2, 0x656565FF, &window);
+
+    for (int i = 0; i < raster_queue.size(); i++) {
+        ScreenTriangle &triangle = raster_queue[i];
+        // TODO: toggle primitives
+
+        // triangle primitives
+        rasterize_triangle(&triangle, &window);
+
+        // line primitives
+        // const u32 line_color = 0x000000FF;
+        // draw_line(
+        //     triangle.points[0].x,
+        //     triangle.points[0].y,
+        //     triangle.points[1].x,
+        //     triangle.points[1].y,
+        //     line_color,
+        //     &window
+        // );
+        // draw_line(
+        //     triangle.points[1].x,
+        //     triangle.points[1].y,
+        //     triangle.points[2].x,
+        //     triangle.points[2].y,
+        //     line_color,
+        //     &window
+        // );
+        // draw_line(
+        //     triangle.points[2].x,
+        //     triangle.points[2].y,
+        //     triangle.points[0].x,
+        //     triangle.points[0].y,
+        //     line_color,
+        //     &window
+        // );
+
+        // points primitives
+        // draw_rect(triangle.points[0].x, triangle.points[0].y, 5, 5, line_color, &window);
+        // draw_rect(triangle.points[1].x, triangle.points[1].y, 5, 5, line_color, &window);
+        // draw_rect(triangle.points[2].x, triangle.points[2].y, 5, 5, line_color, &window);
+    }
+
+    // blit the color buffer onto a texture
+    // basically the present frame stage in a pipeline
+    SDL_RenderPresent(window.renderer);
+    SDL_UpdateTexture(window.front_buffer, nullptr, window.back_buffer, (int)(window.width * sizeof(u32)));
+    SDL_RenderCopy(window.renderer, window.front_buffer, nullptr, nullptr);
+}
+
+int main(int argc, char *argv[]) {
+    // init sdl
+    if (SDL_Init(SDL_INIT_VIDEO != 0 || SDL_INIT_EVENTS) != 0) {
+        printf("SDL_Init failed: %s\n", SDL_GetError());
+        return -1;
+    }
+    window.sdl_window = SDL_CreateWindow(
+        "cpp-rasterizer",
+        SDL_WINDOWPOS_CENTERED,
+        SDL_WINDOWPOS_CENTERED,
+        window.width,
+        window.height,
+        SDL_WINDOW_SHOWN
+    );
+    if (!window.sdl_window) {
+        printf("SDL_CreateWindow failed: %s\n", SDL_GetError());
+        return -1;
+    }
+    window.renderer = SDL_CreateRenderer(window.sdl_window, -1, 0);
+    if (!window.renderer) {
+        printf("SDL_CreateRenderer failed: %s\n", SDL_GetError());
+        return -1;
+    }
+    window.front_buffer = SDL_CreateTexture(
+        window.renderer,
+        SDL_PIXELFORMAT_RGBA8888,
+        SDL_TEXTUREACCESS_STREAMING,
+        window.width,
+        window.height
+    );
+    if (!window.front_buffer) {
+        printf("Error creating SDL texture: %s\n", SDL_GetError());
+    }
+    SDL_SetRelativeMouseMode(SDL_TRUE);
+
+    // init globals
+    window.back_buffer  = (u32 *)malloc(sizeof(u32) * window.height * window.width);
+    window.depth_buffer = (float *)malloc(sizeof(float) * window.height * window.width);
+    initialize_scene();
+    IS_RUNNING = true;
+
+    u32   last_frame_time = 0;
+    float delta_time      = 0.0f;
+    while (IS_RUNNING) {
+        u32 current_time = SDL_GetTicks();
+        delta_time       = (current_time - last_frame_time) / 1000.0f;
+        last_frame_time  = current_time;
+        update_scene();
+        process_input();
+        update_camera(delta_time);
+        run_pipeline();
+        rasterize();
+    }
+
+    free(window.depth_buffer);
+    free(window.back_buffer);
+    SDL_DestroyRenderer(window.renderer);
+    SDL_DestroyWindow(window.sdl_window);
+    SDL_Quit();
+
+    return 0;
+}
ADD · src/renderer.h +51 -0
--- a/src/renderer.h
+++ b/src/renderer.h
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <SDL.h>
+#include <stdint.h>
+
+typedef int8_t   i8;
+typedef int16_t  i16;
+typedef int32_t  i32;
+typedef int64_t  i64;
+typedef uint8_t  u8;
+typedef uint16_t u16;
+typedef uint32_t u32;
+typedef uint64_t u64;
+typedef float    f32;
+typedef double   f64;
+
+#define static_global   static
+#define static_local    static
+#define static_internal static
+
+// could manually blit instead of using SDL_Renderer, but there's no point?
+// GPU gets used to composite the window anyway.
+// The only added step after skipping SDL_Renderer would be walking color_buffer and
+// memcpying by the stride
+struct Window {
+    SDL_Window   *sdl_window;
+    SDL_Renderer *renderer;
+    SDL_Texture  *front_buffer;
+    u32          *back_buffer;
+    float        *depth_buffer;
+    int           width;
+    int           height;
+};
+
+struct InputState {
+    bool move_forward;
+    bool move_backward;
+    bool move_left;
+    bool move_right;
+    bool move_up;
+    bool move_down;
+    int  mouse_dx;
+    int  mouse_dy;
+};
+
+struct Camera;
+struct ClipVertex;
+struct ScreenTriangle;
+struct Face;
+struct Transform;
+struct Mesh;
ADD · src/util_math.h +348 -0
--- a/src/util_math.h
+++ b/src/util_math.h
@@ -0,0 +1,348 @@
+#pragma once
+
+#include <math.h>
+
+typedef struct Vec2f {
+    union {
+        struct {
+            float x, y;
+        };
+        struct {
+            float u, v;
+        };
+    };
+
+    Vec2f() : x(0.0f), y(0.0f) {};
+
+    Vec2f(float x_, float y_) {
+        x = x_;
+        y = y_;
+    }
+
+    Vec2f operator+(const Vec2f &other) const {
+        return Vec2f(x + other.x, y + other.y);
+    }
+
+    Vec2f operator-(const Vec2f &other) const {
+        return Vec2f(x - other.x, y - other.y);
+    }
+
+    Vec2f operator*(float s) const {
+        return Vec2f(x * s, y * s);
+    }
+
+    Vec2f operator/(float s) const {
+        if (s != 0.0f) {
+            return Vec2f(x / s, y / s);
+        }
+        return Vec2f();
+    }
+
+    Vec2f normalized() const {
+        float len = length();
+        return (len > 0) ? (*this * (1.0f / len)) : Vec2f();
+    }
+
+    float dot(const Vec2f &other) const {
+        return x * other.x + y * other.y;
+    }
+
+    float length() const {
+        return sqrtf(x * x + y * y);
+    }
+
+} vec2f;
+
+typedef struct Vec3f {
+    union {
+        struct {
+            float x, y, z;
+        };
+        struct {
+            float r, g, b;
+        };
+    };
+
+    Vec3f() : x(0.0f), y(0.0f), z(0.0f) {};
+
+    Vec3f(float x_, float y_, float z_) {
+        x = x_;
+        y = y_;
+        z = z_;
+    }
+
+    Vec3f operator+(const Vec3f &o) const {
+        return Vec3f(x + o.x, y + o.y, z + o.z);
+    }
+
+    Vec3f operator-(const Vec3f &o) const {
+        return Vec3f(x - o.x, y - o.y, z - o.z);
+    }
+
+    Vec3f operator*(float s) const {
+        return Vec3f(x * s, y * s, z * s);
+    }
+
+    Vec3f operator/(float s) const {
+        if (s != 0.0f) {
+            return Vec3f(x / s, y / s, z / s);
+        }
+        return Vec3f();
+    }
+
+    Vec3f normalized() const {
+        float len = length();
+        if (len > 0.0f) {
+            return *this * (1.0f / len);
+        }
+        return Vec3f();
+    }
+
+    float length() const {
+        return sqrtf(x * x + y * y + z * z);
+    }
+
+    Vec3f cross(const Vec3f &o) const {
+        return Vec3f(y * o.z - z * o.y, z * o.x - x * o.z, x * o.y - y * o.x);
+    }
+
+    float dot(const Vec3f &o) const {
+        return x * o.x + y * o.y + z * o.z;
+    }
+
+} vec3f;
+
+inline vec3f operator*(float s, const vec3f &v) {
+    return {v.x * s, v.y * s, v.z * s};
+}
+
+typedef struct Vec4f {
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+    float w = 0.0f;
+
+    Vec4f() = default;
+
+    Vec4f(float x_, float y_, float z_, float w_) {
+        x = x_;
+        y = y_;
+        z = z_;
+        w = w_;
+    }
+
+    // probably shouldn't be implicit? I like it though
+    Vec4f(const vec3f &v, float w_ = 1.0f) {
+        x = v.x;
+        y = v.y;
+        z = v.z;
+        w = w_;
+    }
+
+    Vec4f operator+(const Vec4f &o) const {
+        return Vec4f(x + o.x, y + o.y, z + o.z, w + o.w);
+    }
+
+    Vec4f operator*(float s) const {
+        return Vec4f(x * s, y * s, z * s, w * s);
+    }
+
+    Vec4f operator/(float s) const {
+        return Vec4f(x / s, y / s, z / s, w / s);
+    }
+
+    Vec4f operator-(const Vec4f &o) const {
+        return Vec4f(x - o.x, y - o.y, z - o.z, w - o.w);
+    }
+
+    inline Vec3f to_vec3() const {
+        return vec3f(x, y, z);
+    }
+} vec4f;
+
+typedef struct Mat4 {
+    // Row Major : m[row][col]
+    //
+    //           Col0         Col1         Col2         Col3
+    //       |-----------|-----------|-----------|-----------|
+    // Row0  |   Xx      |   Xy      |   Xz      |   Xw      |
+    // Row1  |   Yx      |   Yy      |   Yz      |   Yw      |
+    // Row2  |   Zx      |   Zy      |   Zz      |   Zw      |
+    // Row3  |   Wx      |   Wy      |   Wy      |   Ww      |
+    //
+    // Flat memory order (16 floats):
+    // Xx, Xy, Xz, Xw,   Yx, Yy, Yz, Yw,   Zx, Zy, Zz, Zw,   Wx, Wy, Wz, Ww
+
+    float m[4][4];
+
+    static Mat4 zeroed() {
+        // 0 0 0 0
+        // 0 0 0 0
+        // 0 0 0 0
+        // 0 0 0 0
+        Mat4 result;
+        for (int i = 0; i < 4; ++i) {
+            for (int j = 0; j < 4; ++j) {
+                result.m[i][j] = 0.0f;
+            }
+        }
+        return result;
+    }
+
+    // 1 0 0 0
+    // 0 1 0 0
+    // 0 0 1 0
+    // 0 0 0 1
+    static Mat4 identity() {
+        Mat4 result = Mat4::zeroed();
+        for (int i = 0; i < 4; ++i) {
+            result.m[i][i] = 1.0f;
+        }
+        return result;
+    }
+
+    Mat4 operator*(const Mat4 &o) const {
+        Mat4 r;
+        for (int i = 0; i < 4; ++i) {
+            for (int j = 0; j < 4; ++j) {
+                float s = 0.0f;
+                for (int k = 0; k < 4; ++k) {
+                    s += m[i][k] * o.m[k][j];
+                }
+                r.m[i][j] = s;
+            }
+        }
+        return r;
+    }
+
+    static Mat4 scale(float sx, float sy, float sz) {
+        Mat4 r = Mat4::identity();
+        // sx   0   0   0
+        //  0  sy   0   0
+        //  0   0  sz   0
+        //  0   0   0   1
+        r.m[0][0] = sx;
+        r.m[1][1] = sy;
+        r.m[2][2] = sz;
+        return r;
+    }
+
+    static Mat4 translate(float tx, float ty, float tz) {
+        Mat4 r = Mat4::identity();
+        //  1   0   0   0
+        //  0   1   0   0
+        //  0   0   1   0
+        //  tx  ty  tz  1
+        r.m[3][0] = tx;
+        r.m[3][1] = ty;
+        r.m[3][2] = tz;
+        return r;
+    }
+
+    static Mat4 rotation_x(float a) {
+        Mat4 r = Mat4::identity();
+        //  0       0       0   0    // x axis
+        //  0 cosf(a) -sinf(a)  0    // y axis
+        //  0 cosf(a)  cosf(a)  0    // z axis
+        //  0       0        0  1
+        r.m[1][1] = cosf(a);
+        r.m[1][2] = sinf(a);
+        r.m[2][1] = -sinf(a);
+        r.m[2][2] = cosf(a);
+        return r;
+    }
+
+    static Mat4 rotation_y(float a) {
+        Mat4 r = Mat4::identity();
+        //  cosf(a)   0  -sinf(a)  0   // x axis
+        //       0    0        0   0   // y axis
+        //  sinf(a)   0   cosf(a)  0   // z axis
+        //  0         0        0   1
+
+        r.m[0][0] = cosf(a);
+        r.m[0][2] = -sinf(a);
+        r.m[2][0] = sinf(a);
+        r.m[2][2] = cosf(a);
+        return r;
+    }
+
+    static Mat4 rotation_z(float a) {
+        // cosf(a) sinf(a)  0  0   // x axis
+        // -sinf(a) cosf(a)  0  0  // y axis
+        // 0        0        1  0  // z axis (lock)
+        // 0        0        0  1
+        Mat4 r    = Mat4::identity();
+        r.m[0][0] = cosf(a);
+        r.m[0][1] = sinf(a);
+        r.m[1][0] = -sinf(a);
+        r.m[1][1] = cosf(a);
+        return r;
+    }
+
+    // Build a 4x4 rotation matrix around an arbitrary axis
+    static Mat4 rotation_axis(const vec3f &axis, float angle_rad) {
+        vec3f k = axis.normalized();
+        float c = cosf(angle_rad);
+        float s = sinf(angle_rad);
+        float t = 1.0f - c;
+
+        float kx = k.x, ky = k.y, kz = k.z;
+
+        Mat4 R;
+        R.m[0][0] = t * kx * kx + c;
+        R.m[0][1] = t * kx * ky - s * kz;
+        R.m[0][2] = t * kx * kz + s * ky;
+        R.m[0][3] = 0.0f;
+        // row 1
+        R.m[1][0] = t * kx * ky + s * kz;
+        R.m[1][1] = t * ky * ky + c;
+        R.m[1][2] = t * ky * kz - s * kx;
+        R.m[1][3] = 0.0f;
+        // row 2
+        R.m[2][0] = t * kx * kz - s * ky;
+        R.m[2][1] = t * ky * kz + s * kx;
+        R.m[2][2] = t * kz * kz + c;
+        R.m[2][3] = 0.0f;
+        // row 3
+        R.m[3][0] = 0.0f;
+        R.m[3][1] = 0.0f;
+        R.m[3][2] = 0.0f;
+        R.m[3][3] = 1.0f;
+        return R;
+    }
+
+    void transpose() {
+        for (int i = 0; i < 4; ++i)
+            for (int j = i + 1; j < 4; ++j) {
+                float tmp = m[i][j];
+                m[i][j]   = m[j][i];
+                m[j][i]   = tmp;
+            }
+    }
+} mat4;
+
+static inline vec4f operator*(const vec4f &v, const mat4 &m) {
+    return vec4f(
+        v.x * m.m[0][0] + v.y * m.m[1][0] + v.z * m.m[2][0] + v.w * m.m[3][0],
+        v.x * m.m[0][1] + v.y * m.m[1][1] + v.z * m.m[2][1] + v.w * m.m[3][1],
+        v.x * m.m[0][2] + v.y * m.m[1][2] + v.z * m.m[2][2] + v.w * m.m[3][2],
+        v.x * m.m[0][3] + v.y * m.m[1][3] + v.z * m.m[2][3] + v.w * m.m[3][3]
+    );
+}
+
+static inline vec2f vec2f_lerp(const vec2f &a, const vec2f &b, float t) {
+    return a * (1.0f - t) + b * t;
+}
+
+static inline vec3f vec3f_lerp(const vec3f &a, const vec3f &b, float t) {
+    return a * (1.0f - t) + b * t;
+}
+
+static inline vec4f vec4f_lerp(const vec4f &a, const vec4f &b, float t) {
+    return vec4f(
+        a.x + (b.x - a.x) * t,
+        a.y + (b.y - a.y) * t,
+        a.z + (b.z - a.z) * t,
+        a.w + (b.w - a.w) * t
+    );
+}