diff options
Diffstat (limited to 'redist/linmath.h')
-rw-r--r-- | redist/linmath.h | 48 |
1 files changed, 44 insertions, 4 deletions
diff --git a/redist/linmath.h b/redist/linmath.h index 5cc7b7d..20a7848 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -10,14 +10,37 @@ #define PFTHREE(x) x[0], x[1], x[2] #define PFFOUR(x) x[0], x[1], x[2], x[3] -#define LINMATHPI 3.141592653589 +#define LINMATHPI ((FLT)3.141592653589) + +//uncomment the following line to use double precision instead of single precision. +//#define USE_DOUBLE + +#ifdef USE_DOUBLE + +#define FLT double +#define FLT_SQRT sqrt +#define FLT_SIN sin +#define FLT_COS cos +#define FLT_ACOS acos +#define FLT_ASIN asin +#define FLT_ATAN2 atan2 +#define FLT_FABS fabs + +#else -//If you want, you can define FLT to be double for double precision. -#ifndef FLT #define FLT float +#define FLT_SQRT sqrtf +#define FLT_SIN sinf +#define FLT_COS cosf +#define FLT_ACOS acosf +#define FLT_ASIN asinf +#define FLT_ATAN2 atan2f +#define FLT_FABS fabsf + #endif + //NOTE: Inputs may never be output with cross product. void cross3d( FLT * out, const FLT * a, const FLT * b ); @@ -36,7 +59,7 @@ int compare3d( const FLT * a, const FLT * b, FLT epsilon ); void copy3d( FLT * out, const FLT * in ); -FLT magnitude3d( FLT * a ); +FLT magnitude3d(const FLT * a ); FLT anglebetween3d( FLT * a, FLT * b ); @@ -64,6 +87,23 @@ void quatoddproduct( FLT * outvec3, FLT * qa, FLT * qb ); void quatslerp( FLT * q, const FLT * qa, const FLT * qb, FLT t ); void quatrotatevector( FLT * vec3out, const FLT * quat, const FLT * vec3in ); +void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest); + +// Matrix Stuff + +typedef struct +{ + FLT val[3][3]; // row, column +} Matrix3x3; + +void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot); +void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]); +Matrix3x3 inverseM33(const Matrix3x3 mat); + + + + + #endif |