From aeb60de1de05a640343c2e37ac3d5932a0fb369b Mon Sep 17 00:00:00 2001 From: cnlohr Date: Wed, 14 Dec 2016 22:41:03 -0500 Subject: Add Linmath to the redistributable portion. --- redist/linmath.c | 326 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ redist/linmath.h | 64 +++++++++++ 2 files changed, 390 insertions(+) create mode 100644 redist/linmath.c create mode 100644 redist/linmath.h (limited to 'redist') diff --git a/redist/linmath.c b/redist/linmath.c new file mode 100644 index 0000000..808bfbf --- /dev/null +++ b/redist/linmath.c @@ -0,0 +1,326 @@ +//Copyright 2013,2016 <>< C. N. Lohr. This file licensed under the terms of the MIT license. + +#include "linmath.h" +#include + +void cross3d( FLT * out, const FLT * a, const FLT * b ) +{ + out[0] = a[1]*b[2] - a[2]*b[1]; + out[1] = a[2]*b[0] - a[0]*b[2]; + out[2] = a[0]*b[1] - a[1]*b[0]; +} + +void sub3d( FLT * out, const FLT * a, const FLT * b ) +{ + out[0] = a[0] - b[0]; + out[1] = a[1] - b[1]; + out[2] = a[2] - b[2]; +} + +void add3d( FLT * out, const FLT * a, const FLT * b ) +{ + out[0] = a[0] + b[0]; + out[1] = a[1] + b[1]; + out[2] = a[2] + b[2]; +} + +void scale3d( FLT * out, const FLT * a, FLT scalar ) +{ + out[0] = a[0] * scalar; + out[1] = a[1] * scalar; + out[2] = a[2] * scalar; +} + +void normalize3d( FLT * out, const FLT * in ) +{ + FLT r = 1./sqrtf( in[0] * in[0] + in[1] * in[1] + in[2] * in[2] ); + out[0] = in[0] * r; + out[1] = in[1] * r; + out[2] = in[2] * r; +} + +FLT dot3d( const FLT * a, const FLT * b ) +{ + return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; +} + +int compare3d( const FLT * a, const FLT * b, FLT epsilon ) +{ + if( !a || !b ) return 0; + if( a[2] - b[2] > epsilon ) return 1; + if( b[2] - a[2] > epsilon ) return -1; + if( a[1] - b[1] > epsilon ) return 1; + if( b[1] - a[1] > epsilon ) return -1; + if( a[0] - b[0] > epsilon ) return 1; + if( b[0] - a[0] > epsilon ) return -1; + return 0; +} + +void copy3d( FLT * out, const FLT * in ) +{ + out[0] = in[0]; + out[1] = in[1]; + out[2] = in[2]; +} + + + +/////////////////////////////////////QUATERNIONS////////////////////////////////////////// +//Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman) +//Under the mit/X11 license. + + + + +void quatsetnone( FLT * q ) +{ + q[0] = 0; q[1] = 0; q[2] = 0; q[3] = 1; +} + +void quatcopy( FLT * qout, const FLT * qin ) +{ + qout[0] = qin[0]; + qout[1] = qin[1]; + qout[2] = qin[2]; + qout[3] = qin[3]; +} + +void quatfromeuler( FLT * q, const FLT * euler ) +{ + FLT X = euler[0]/2.0f; //roll + FLT Y = euler[1]/2.0f; //pitch + FLT Z = euler[2]/2.0f; //yaw + + FLT cx = cosf(X); + FLT sx = sinf(X); + FLT cy = cosf(Y); + FLT sy = sinf(Y); + FLT cz = cosf(Z); + FLT sz = sinf(Z); + + //Correct according to + //http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles + q[0] = cx*cy*cz+sx*sy*sz;//q1 + q[1] = sx*cy*cz-cx*sy*sz;//q2 + q[2] = cx*sy*cz+sx*cy*sz;//q3 + q[3] = cx*cy*sz-sx*sy*cz;//q4 + quatnormalize( q, q ); +} + +void quattoeuler( FLT * euler, const FLT * q ) +{ + //According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009) + euler[0] = atan2( 2 * (q[0]*q[1] + q[2]*q[3]), 1 - 2 * (q[1]*q[1] + q[2]*q[2] ) ); + euler[1] = asin( 2 * (q[0] *q[2] - q[3]*q[1] ) ); + euler[2] = atan2( 2 * (q[0]*q[3] + q[1]*q[2]), 1 - 2 * (q[2]*q[2] + q[3]*q[3] ) ); +} + +void quatfromaxisangle( FLT * q, const FLT * axis, FLT radians ) +{ + FLT v[3]; + normalize3d( v, axis ); + + FLT sn = sin(radians/2.0f); + q[0] = cos(radians/2.0f); + q[1] = sn * v[0]; + q[2] = sn * v[1]; + q[3] = sn * v[2]; + + quatnormalize( q, q ); +} + +FLT quatmagnitude( const FLT * q ) +{ + return sqrt((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3])); +} + +FLT quatinvsqmagnitude( const FLT * q ) +{ + return 1./((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3])); +} + + +void quatnormalize( FLT * qout, const FLT * qin ) +{ + FLT imag = quatinvsqmagnitude( qin ); + quatscale( qout, qin, imag ); +} + +void quattomatrix( FLT * matrix44, const FLT * qin ) +{ + FLT q[4]; + quatnormalize( q, qin ); + + //Reduced calulation for speed + FLT xx = 2*q[0]*q[0]; + FLT xy = 2*q[0]*q[1]; + FLT xz = 2*q[0]*q[2]; + FLT xw = 2*q[0]*q[3]; + + FLT yy = 2*q[1]*q[1]; + FLT yz = 2*q[1]*q[2]; + FLT yw = 2*q[1]*q[3]; + + FLT zz = 2*q[2]*q[2]; + FLT zw = 2*q[2]*q[3]; + + //opengl major + matrix44[0] = 1-yy-zz; + matrix44[1] = xy-zw; + matrix44[2] = xz+yw; + matrix44[3] = 0; + + matrix44[4] = xy+zw; + matrix44[5] = 1-xx-zz; + matrix44[6] = yz-xw; + matrix44[7] = 0; + + matrix44[8] = xz-yw; + matrix44[9] = yz+xw; + matrix44[10] = 1-xx-yy; + matrix44[11] = 0; + + matrix44[12] = 0; + matrix44[13] = 0; + matrix44[14] = 0; + matrix44[15] = 1; +} + +void quatgetconjugate( FLT * qout, const FLT * qin ) +{ + qout[0] = qin[0]; + qout[1] = -qin[1]; + qout[2] = -qin[2]; + qout[3] = -qin[3]; +} + +void quatgetreciprocal( FLT * qout, const FLT * qin ) +{ + FLT m = quatinvsqmagnitude(qin); + quatgetconjugate( qout, qin ); + quatscale( qout, qout, m ); +} + +void quatsub( FLT * qout, const FLT * a, const FLT * b ) +{ + qout[0] = a[0] - b[0]; + qout[1] = a[1] - b[1]; + qout[2] = a[2] - b[2]; + qout[3] = a[3] - b[3]; +} + +void quatadd( FLT * qout, const FLT * a, const FLT * b ) +{ + qout[0] = a[0] + b[0]; + qout[1] = a[1] + b[1]; + qout[2] = a[2] + b[2]; + qout[3] = a[3] + b[3]; +} + +void quatrotateabout( FLT * qout, const FLT * a, const FLT * b ) +{ + FLT q1[4]; + FLT q2[4]; + + quatnormalize( q1, a ); + quatnormalize( q2, b ); + + qout[0] = (q1[0]*q2[0])-(q1[1]*q2[1])-(q1[2]*q2[2])-(q1[3]*q2[3]); + qout[1] = (q1[0]*q2[1])+(q1[1]*q2[0])+(q1[2]*q2[3])-(q1[3]*q2[2]); + qout[2] = (q1[0]*q2[2])-(q1[1]*q2[3])+(q1[2]*q2[0])+(q1[3]*q2[1]); + qout[3] = (q1[0]*q2[3])+(q1[1]*q2[2])-(q1[2]*q2[1])+(q1[3]*q2[0]); +} + +void quatscale( FLT * qout, const FLT * qin, FLT s ) +{ + qout[0] = qin[0] * s; + qout[1] = qin[1] * s; + qout[2] = qin[2] * s; + qout[3] = qin[3] * s; +} + + +FLT quatinnerproduct( const FLT * qa, const FLT * qb ) +{ + return (qa[0]*qb[0])+(qa[1]*qb[1])+(qa[2]*qb[2])+(qa[3]*qb[3]); +} + +void quatouterproduct( FLT * outvec3, FLT * qa, FLT * qb ) +{ + outvec3[0] = (qa[0]*qb[1])-(qa[1]*qb[0])-(qa[2]*qb[3])+(qa[3]*qb[2]); + outvec3[1] = (qa[0]*qb[2])+(qa[1]*qb[3])-(qa[2]*qb[0])-(qa[3]*qb[1]); + outvec3[2] = (qa[0]*qb[3])-(qa[1]*qb[2])+(qa[2]*qb[1])-(qa[3]*qb[0]); +} + +void quatevenproduct( FLT * q, FLT * qa, FLT * qb ) +{ + q[0] = (qa[0]*qb[0])-(qa[1]*qb[1])-(qa[2]*qb[2])-(qa[3]*qb[3]); + q[1] = (qa[0]*qb[1])+(qa[1]*qb[0]); + q[2] = (qa[0]*qb[2])+(qa[2]*qb[0]); + q[3] = (qa[0]*qb[3])+(qa[3]*qb[0]); +} + +void quatoddproduct( FLT * outvec3, FLT * qa, FLT * qb ) +{ + outvec3[0] = (qa[2]*qb[3])-(qa[3]*qb[2]); + outvec3[1] = (qa[3]*qb[1])-(qa[1]*qb[3]); + outvec3[2] = (qa[1]*qb[2])-(qa[2]*qb[1]); +} + +void quatslerp( FLT * q, const FLT * qa, const FLT * qb, FLT t ) +{ + FLT an[4]; + FLT bn[4]; + quatnormalize( an, qa ); + quatnormalize( bn, qb ); + FLT cosTheta = quatinnerproduct(an,bn); + FLT sinTheta; + + //Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll + // cause SQRT to produce not a number, and screw everything up. + if ( 1 - (cosTheta*cosTheta) <= 0 ) + sinTheta = 0; + else + sinTheta = sqrt(1 - (cosTheta*cosTheta)); + + FLT Theta = acos(cosTheta); //Theta is half the angle between the 2 MQuaternions + + if(fabs(Theta) < DEFAULT_EPSILON ) + quatcopy( q, qa ); + else if(fabs(sinTheta) < DEFAULT_EPSILON ) + { + quatadd( q, qa, qb ); + quatscale( q, q, 0.5 ); + } + else + { + FLT aside[4]; + FLT bside[4]; + quatscale( bside, qb, sin( t * Theta ) ); + quatscale( aside, qa, sin((1-t)*Theta) ); + quatadd( q, aside, bside ); + quatscale( q, q, 1./sinTheta ); + } +} + +void quatrotatevector( FLT * vec3out, const FLT * quat, const FLT * vec3in ) +{ + FLT tquat[4]; + FLT vquat[4]; + FLT qrecp[4]; + vquat[0] = 0; + vquat[1] = vec3in[0]; + vquat[2] = vec3in[1]; + vquat[3] = vec3in[2]; + + quatrotateabout( tquat, quat, vquat ); + quatgetreciprocal( qrecp, quat ); + quatrotateabout( vquat, tquat, qrecp ); + + vec3out[0] = vquat[1]; + vec3out[1] = vquat[2]; + vec3out[2] = vquat[3]; +} + + + diff --git a/redist/linmath.h b/redist/linmath.h new file mode 100644 index 0000000..9b21347 --- /dev/null +++ b/redist/linmath.h @@ -0,0 +1,64 @@ +//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. +#define DEFAULT_EPSILON 0.001 + +//If you want, you can define FLT to be double for double precision. +#ifndef FLT +#define FLT float +#endif + + +//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 add3d( FLT * out, const FLT * a, const FLT * b ); + +void scale3d( FLT * out, const FLT * a, FLT scalar ); + +void normalize3d( FLT * out, const FLT * in ); + +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 ); + +void copy3d( FLT * out, const FLT * in ); + + + + +//Quaternion things... + +void quatsetnone( FLT * q ); +void quatcopy( FLT * qout, const FLT * qin ); +void quatfromeuler( FLT * q, const FLT * euler ); +void quattoeuler( FLT * euler, const FLT * q ); +void quatfromaxisangle( FLT * q, const FLT * axis, FLT radians ); +FLT quatmagnitude( const FLT * q ); +FLT quatinvsqmagnitude( const FLT * q ); +void quatnormalize( FLT * qout, const FLT * qin ); //Safe for in to be same as out. +void quattomatrix( FLT * matrix44, const FLT * q ); +void quatgetconjugate( FLT * qout, const FLT * qin ); +void quatgetreciprocal( FLT * qout, const FLT * qin ); +void quatsub( FLT * qout, const FLT * a, const FLT * b ); +void quatadd( FLT * qout, const FLT * a, const FLT * b ); +void quatrotateabout( FLT * qout, const FLT * a, const FLT * b ); //same as quat multiply, not piecewise multiply. +void quatscale( FLT * qout, const FLT * qin, FLT s ); +FLT quatinnerproduct( const FLT * qa, const FLT * qb ); +void quatouterproduct( FLT * outvec3, FLT * qa, FLT * qb ); +void quatevenproduct( FLT * q, FLT * qa, FLT * qb ); +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 ); + + +#endif + + + -- cgit v1.2.3