1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
//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
//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.
//#define USE_DOUBLE
#ifdef USE_DOUBLE
#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_FABS__ fabs
#else
#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_FABS__ fabsf
#endif
#ifdef TCC
#define FLT_FABS(x) (((x)<0)?(-(x)):(x))
#else
#define FLT_FABS FLT_FABS__
#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 );
FLT magnitude3d(const FLT * a );
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, FLT *quat);
//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 quatfrommatrix( FLT * q, const FLT * matrix44 );
void quatfrommatrix33(FLT *q, const FLT *matrix33);
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 );
void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest);
//Poses are Position: [x, y, z] Quaternion: [q, x, y, z]
typedef FLT *LINMATH_POSE;
// Points are [x, y, z]
typedef FLT *LINMATH_POINT;
// This is the quat equivalent of 'pout = pose * pin' if pose were a 4x4 matrix in homogenous space
void ApplyPoseToPoint(LINMATH_POINT pout, const LINMATH_POSE pose, const LINMATH_POINT pin);
// This is the quat equivalent of 'pout = lhs_pose * rhs_pose' if poses were a 4x4 matrix in homogenous space
void ApplyPoseToPose(LINMATH_POSE pout, const LINMATH_POSE lhs_pose, const LINMATH_POSE rhs_pose);
// This is the quat equivlant of 'pose_in^-1'; so that ApplyPoseToPose(..., InvertPose(..., pose_in), pose_in) ==
// Identity ( [0, 0, 0], [1, 0, 0, 0] )
// by definition.
void InvertPose(LINMATH_POSE poseout, const LINMATH_POSE pose_in);
// 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);
void matrix44copy(FLT * mout, const FLT * minm );
void matrix44transpose(FLT * mout, const FLT * minm );
#endif
|
