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//Copyright 2013 <>< C. N. Lohr. This file licensed under the terms of the MIT license.
#ifndef _LINMATH_H
#define _LINMATH_H
//Yes, I know it's kind of arbitrary.
#define DEFAULT_EPSILON 0.001
//NOTE: Inputs may never be output with cross product.
void cross3d( float * out, const float * a, const float * b );
void sub3d( float * out, const float * a, const float * b );
void add3d( float * out, const float * a, const float * b );
void scale3d( float * out, const float * a, float scalar );
void normalize3d( float * out, const float * in );
float dot3d( const float * a, const float * b );
//Returns 0 if equal. If either argument is null, 0 will ALWAYS be returned.
int compare3d( const float * a, const float * b, float epsilon );
void copy3d( float * out, const float * in );
//Quaternion things...
void quatsetnone( float * q );
void quatcopy( float * qout, const float * qin );
void quatfromeuler( float * q, const float * euler );
void quattoeuler( float * euler, const float * q );
void quatfromaxisangle( float * q, const float * axis, float radians );
float quatmagnitude( const float * q );
float quatinvsqmagnitude( const float * q );
void quatnormalize( float * qout, const float * qin ); //Safe for in to be same as out.
void quattomatrix( float * matrix44, const float * q );
void quatgetconjugate( float * qout, const float * qin );
void quatgetreciprocal( float * qout, const float * qin );
void quatsub( float * qout, const float * a, const float * b );
void quatadd( float * qout, const float * a, const float * b );
void quatrotateabout( float * qout, const float * a, const float * b ); //same as quat multiply, not piecewise multiply.
void quatscale( float * qout, const float * qin, float s );
float quatinnerproduct( const float * qa, const float * qb );
void quatouterproduct( float * outvec3, float * qa, float * qb );
void quatevenproduct( float * q, float * qa, float * qb );
void quatoddproduct( float * outvec3, float * qa, float * qb );
void quatslerp( float * q, const float * qa, const float * qb, float t );
void quatrotatevector( float * vec3out, const float * quat, const float * vec3in );
#endif
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