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//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
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