diff options
Diffstat (limited to 'redist/linmath.h')
| -rw-r--r-- | redist/linmath.h | 71 |
1 files changed, 33 insertions, 38 deletions
diff --git a/redist/linmath.h b/redist/linmath.h index cacb1c6..1a73a06 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -1,18 +1,18 @@ -//Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT/x11 license. +// Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT/x11 license. #ifndef _LINMATH_H #define _LINMATH_H -//Yes, I know it's kind of arbitrary. +// Yes, I know it's kind of arbitrary. #define DEFAULT_EPSILON 0.001 -//For printf +// For printf #define PFTHREE(x) (x)[0], (x)[1], (x)[2] #define PFFOUR(x) (x)[0], (x)[1], (x)[2], (x)[3] #define LINMATHPI ((FLT)3.141592653589) -//uncomment the following line to use double precision instead of single precision. +// uncomment the following line to use double precision instead of single precision. //#define USE_DOUBLE #ifdef USE_DOUBLE @@ -20,11 +20,11 @@ #define FLT double #define FLT_SQRT sqrt #define FLT_TAN tan -#define FLT_SIN sin -#define FLT_COS cos -#define FLT_ACOS acos -#define FLT_ASIN asin -#define FLT_ATAN2 atan2 +#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 @@ -32,24 +32,24 @@ #define FLT float #define FLT_SQRT sqrtf #define FLT_TAN tanf -#define FLT_SIN sinf -#define FLT_COS cosf -#define FLT_ACOS acosf -#define FLT_ASIN asinf -#define FLT_ATAN2 atan2f +#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 #ifdef TCC -#define FLT_FABS(x) (((x)<0)?(-(x)):(x)) +#define FLT_FABS(x) (((x) < 0) ? (-(x)) : (x)) #else #define FLT_FABS FLT_FABS__ #endif typedef FLT LinmathQuat[4]; // This is the [wxyz] quaternion, in wxyz format. typedef FLT LinmathPoint3d[3]; -typedef FLT linmathVec3d[3]; +typedef FLT LinmathVec3d[3]; typedef struct LinmathPose { LinmathPoint3d Pos; @@ -59,33 +59,33 @@ typedef struct LinmathPose { extern LinmathQuat LinmathQuat_Identity; extern LinmathPose LinmathPose_Identity; -//NOTE: Inputs may never be output with cross product. -void cross3d( FLT * out, const FLT * a, const FLT * b ); +// NOTE: Inputs may never be output with cross product. +void cross3d(FLT *out, const FLT *a, const FLT *b); -void sub3d( FLT * out, const FLT * a, const FLT * b ); +void sub3d(FLT *out, const FLT *a, const FLT *b); -void add3d( FLT * out, const FLT * a, const FLT * b ); +void add3d(FLT *out, const FLT *a, const FLT *b); -void scale3d( FLT * out, const FLT * a, FLT scalar ); +void scale3d(FLT *out, const FLT *a, FLT scalar); -void normalize3d( FLT * out, const FLT * in ); +void normalize3d(FLT *out, const FLT *in); -FLT dot3d( const FLT * a, const FLT * b ); +FLT dot3d(const FLT *a, const FLT *b); -//Returns 0 if equal. If either argument is null, 0 will ALWAYS be returned. -int compare3d( const FLT * a, const FLT * b, FLT epsilon ); +// Returns 0 if equal. If either argument is null, 0 will ALWAYS be returned. +int compare3d(const FLT *a, const FLT *b, FLT epsilon); -void copy3d( FLT * out, const FLT * in ); +void copy3d(FLT *out, const FLT *in); -FLT magnitude3d(const FLT * a ); +FLT magnitude3d(const FLT *a); -FLT anglebetween3d( FLT * a, FLT * b ); +FLT anglebetween3d(FLT *a, FLT *b); void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle); void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest); void axisanglefromquat(FLT *angle, FLT *axis, LinmathQuat quat); -//Quaternion things... +// Quaternion things... typedef FLT LinmathEulerAngle[3]; @@ -126,10 +126,10 @@ void ApplyPoseToPose(LinmathPose *pout, const LinmathPose *lhs_pose, const Linma // by definition. void InvertPose(LinmathPose *poseout, const LinmathPose *pose_in); +void PoseToMatrix(FLT *mat44, const LinmathPose *pose_in); // Matrix Stuff -typedef struct -{ +typedef struct { FLT val[3][3]; // row, column } Matrix3x3; @@ -137,12 +137,7 @@ 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); - -void matrix44copy(FLT * mout, const FLT * minm ); -void matrix44transpose(FLT * mout, const FLT * minm ); - +void matrix44copy(FLT *mout, const FLT *minm); +void matrix44transpose(FLT *mout, const FLT *minm); #endif - - - |