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-rw-r--r--README2
-rw-r--r--linmath.h142
2 files changed, 89 insertions, 55 deletions
diff --git a/README b/README
index 9c43c8e..a61a9e0 100644
--- a/README
+++ b/README
@@ -1,6 +1,6 @@
# linmath.h -- A small library for linear math as required for computer graphics
-linmath.h provides the most used types required programming computer graphice:
+linmath.h provides the most used types required for programming computer graphics:
vec3 -- 3 element vector of floats
vec4 -- 4 element vector of floats (4th component used for homogenous computations)
diff --git a/linmath.h b/linmath.h
index af82e59..c652c86 100644
--- a/linmath.h
+++ b/linmath.h
@@ -3,27 +3,33 @@
#include <math.h>
+#ifdef LINMATH_NO_INLINE
+#define LINMATH_H_FUNC static
+#else
+#define LINMATH_H_FUNC static inline
+#endif
+
#define LINMATH_H_DEFINE_VEC(n) \
typedef float vec##n[n]; \
-static inline void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
+LINMATH_H_FUNC void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i] + b[i]; \
} \
-static inline void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
+LINMATH_H_FUNC void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i] - b[i]; \
} \
-static inline void vec##n##_scale(vec##n r, vec##n const v, float const s) \
+LINMATH_H_FUNC void vec##n##_scale(vec##n r, vec##n const v, float const s) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = v[i] * s; \
} \
-static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
+LINMATH_H_FUNC float vec##n##_mul_inner(vec##n const a, vec##n const b) \
{ \
float p = 0.f; \
int i; \
@@ -31,22 +37,22 @@ static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
p += b[i]*a[i]; \
return p; \
} \
-static inline float vec##n##_len(vec##n const v) \
+LINMATH_H_FUNC float vec##n##_len(vec##n const v) \
{ \
return sqrtf(vec##n##_mul_inner(v,v)); \
} \
-static inline void vec##n##_norm(vec##n r, vec##n const v) \
+LINMATH_H_FUNC void vec##n##_norm(vec##n r, vec##n const v) \
{ \
float k = 1.f / vec##n##_len(v); \
vec##n##_scale(r, v, k); \
} \
-static inline void vec##n##_min(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_min(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i]<b[i] ? a[i] : b[i]; \
} \
-static inline void vec##n##_max(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
@@ -57,14 +63,14 @@ LINMATH_H_DEFINE_VEC(2)
LINMATH_H_DEFINE_VEC(3)
LINMATH_H_DEFINE_VEC(4)
-static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
+LINMATH_H_FUNC void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
r[2] = a[0]*b[1] - a[1]*b[0];
}
-static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
+LINMATH_H_FUNC void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
{
float p = 2.f * vec3_mul_inner(v, n);
int i;
@@ -72,7 +78,7 @@ static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
r[i] = v[i] - p*n[i];
}
-static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
+LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
@@ -80,7 +86,7 @@ static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
r[3] = 1.f;
}
-static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
+LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 v, vec4 n)
{
float p = 2.f*vec4_mul_inner(v, n);
int i;
@@ -89,58 +95,58 @@ static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
}
typedef vec4 mat4x4[4];
-static inline void mat4x4_identity(mat4x4 M)
+LINMATH_H_FUNC void mat4x4_identity(mat4x4 M)
{
int i, j;
for(i=0; i<4; ++i)
for(j=0; j<4; ++j)
M[i][j] = i==j ? 1.f : 0.f;
}
-static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 N)
{
int i, j;
for(i=0; i<4; ++i)
for(j=0; j<4; ++j)
M[i][j] = N[i][j];
}
-static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[k][i];
}
-static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[i][k];
}
-static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 N)
{
int i, j;
for(j=0; j<4; ++j)
for(i=0; i<4; ++i)
M[i][j] = N[j][i];
}
-static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
{
int i;
for(i=0; i<4; ++i)
vec4_add(M[i], a[i], b[i]);
}
-static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
{
int i;
for(i=0; i<4; ++i)
vec4_sub(M[i], a[i], b[i]);
}
-static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
+LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
{
int i;
for(i=0; i<4; ++i)
vec4_scale(M[i], a[i], k);
}
-static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
{
int i;
vec4_scale(M[0], a[0], x);
@@ -150,7 +156,7 @@ static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, floa
M[3][i] = a[3][i];
}
}
-static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
{
mat4x4 temp;
int k, r, c;
@@ -161,7 +167,7 @@ static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
}
mat4x4_dup(M, temp);
}
-static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
+LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
{
int i, j;
for(j=0; j<4; ++j) {
@@ -170,14 +176,14 @@ static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
r[j] += M[i][j] * v[i];
}
}
-static inline void mat4x4_translate(mat4x4 T, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_translate(mat4x4 T, float x, float y, float z)
{
mat4x4_identity(T);
T[3][0] = x;
T[3][1] = y;
T[3][2] = z;
}
-static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z)
{
vec4 t = {x, y, z, 0};
vec4 r;
@@ -187,13 +193,13 @@ static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z
M[3][i] += vec4_mul_inner(r, t);
}
}
-static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
+LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
{
int i, j;
for(i=0; i<4; ++i) for(j=0; j<4; ++j)
M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
}
-static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
+LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -227,7 +233,7 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
mat4x4_dup(R, M);
}
}
-static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -239,19 +245,19 @@ static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
-static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
- { c, 0.f, s, 0.f},
+ { c, 0.f, -s, 0.f},
{ 0.f, 1.f, 0.f, 0.f},
- { -s, 0.f, c, 0.f},
+ { s, 0.f, c, 0.f},
{ 0.f, 0.f, 0.f, 1.f}
};
mat4x4_mul(Q, M, R);
}
-static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@@ -263,7 +269,7 @@ static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
-static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
{
float s[6];
float c[6];
@@ -304,7 +310,7 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
}
-static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
{
mat4x4_dup(R, M);
float s = 1.;
@@ -315,12 +321,11 @@ static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
s = vec3_mul_inner(R[1], R[2]);
vec3_scale(h, R[2], s);
vec3_sub(R[1], R[1], h);
- vec3_norm(R[2], R[2]);
+ vec3_norm(R[1], R[1]);
- s = vec3_mul_inner(R[1], R[2]);
+ s = vec3_mul_inner(R[0], R[2]);
vec3_scale(h, R[2], s);
- vec3_sub(R[1], R[1], h);
- vec3_norm(R[1], R[1]);
+ vec3_sub(R[0], R[0], h);
s = vec3_mul_inner(R[0], R[1]);
vec3_scale(h, R[1], s);
@@ -328,7 +333,7 @@ static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
vec3_norm(R[0], R[0]);
}
-static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
+LINMATH_H_FUNC void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
M[0][0] = 2.f*n/(r-l);
M[0][1] = M[0][2] = M[0][3] = 0.f;
@@ -344,7 +349,7 @@ static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t,
M[3][2] = -2.f*(f*n)/(f-n);
M[3][0] = M[3][1] = M[3][3] = 0.f;
}
-static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
+LINMATH_H_FUNC void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
M[0][0] = 2.f/(r-l);
M[0][1] = M[0][2] = M[0][3] = 0.f;
@@ -360,7 +365,7 @@ static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, fl
M[3][2] = -(f+n)/(f-n);
M[3][3] = 1.f;
}
-static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
+LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
{
/* NOTE: Degrees are an unhandy unit to work with.
* linmath.h uses radians for everything! */
@@ -386,7 +391,7 @@ static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float
m[3][2] = -((2.f * f * n) / (f - n));
m[3][3] = 0.f;
}
-static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
+LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
{
/* Adapted from Android's OpenGL Matrix.java. */
/* See the OpenGL GLUT documentation for gluLookAt for a description */
@@ -429,24 +434,24 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
}
typedef float quat[4];
-static inline void quat_identity(quat q)
+LINMATH_H_FUNC void quat_identity(quat q)
{
q[0] = q[1] = q[2] = 0.f;
q[3] = 1.f;
}
-static inline void quat_add(quat r, quat a, quat b)
+LINMATH_H_FUNC void quat_add(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
r[i] = a[i] + b[i];
}
-static inline void quat_sub(quat r, quat a, quat b)
+LINMATH_H_FUNC void quat_sub(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
r[i] = a[i] - b[i];
}
-static inline void quat_mul(quat r, quat p, quat q)
+LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
{
vec3 w;
vec3_mul_cross(r, p, q);
@@ -456,13 +461,13 @@ static inline void quat_mul(quat r, quat p, quat q)
vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
}
-static inline void quat_scale(quat r, quat v, float s)
+LINMATH_H_FUNC void quat_scale(quat r, quat v, float s)
{
int i;
for(i=0; i<4; ++i)
r[i] = v[i] * s;
}
-static inline float quat_inner_product(quat a, quat b)
+LINMATH_H_FUNC float quat_inner_product(quat a, quat b)
{
float p = 0.f;
int i;
@@ -470,14 +475,14 @@ static inline float quat_inner_product(quat a, quat b)
p += b[i]*a[i];
return p;
}
-static inline void quat_conj(quat r, quat q)
+LINMATH_H_FUNC void quat_conj(quat r, quat q)
{
int i;
for(i=0; i<3; ++i)
r[i] = -q[i];
r[3] = q[3];
}
-static inline void quat_rotate(quat r, float angle, vec3 axis) {
+LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) {
vec3 v;
vec3_scale(v, axis, sinf(angle / 2));
int i;
@@ -486,7 +491,7 @@ static inline void quat_rotate(quat r, float angle, vec3 axis) {
r[3] = cosf(angle / 2);
}
#define quat_norm vec4_norm
-static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
+LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v)
{
/*
* Method by Fabian 'ryg' Giessen (of Farbrausch)
@@ -506,7 +511,7 @@ v' = v + q.w * t + cross(q.xyz, t)
vec3_add(r, v, t);
vec3_add(r, r, u);
}
-static inline void mat4x4_from_quat(mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
{
float a = q[3];
float b = q[0];
@@ -536,7 +541,7 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q)
M[3][3] = 1.f;
}
-static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
{
/* XXX: The way this is written only works for othogonal matrices. */
/* TODO: Take care of non-orthogonal case. */
@@ -547,7 +552,7 @@ static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
R[3][0] = R[3][1] = R[3][2] = 0.f;
R[3][3] = 1.f;
}
-static inline void quat_from_mat4x4(quat q, mat4x4 M)
+LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
{
float r=0.f;
int i;
@@ -577,4 +582,33 @@ static inline void quat_from_mat4x4(quat q, mat4x4 M)
q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
}
+LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s)
+{
+ vec2 a; memcpy(a, _a, sizeof(a));
+ vec2 b; memcpy(b, _b, sizeof(b));
+
+ float z_a = 0.;
+ float z_b = 0.;
+
+ if(vec2_len(a) < 1.) {
+ z_a = sqrtf(1. - vec2_mul_inner(a, a));
+ } else {
+ vec2_norm(a, a);
+ }
+
+ if(vec2_len(b) < 1.) {
+ z_b = sqrtf(1. - vec2_mul_inner(b, b));
+ } else {
+ vec2_norm(b, b);
+ }
+
+ vec3 a_ = {a[0], a[1], z_a};
+ vec3 b_ = {b[0], b[1], z_b};
+
+ vec3 c_;
+ vec3_mul_cross(c_, a_, b_);
+
+ float const angle = acos(vec3_mul_inner(a_, b_)) * s;
+ mat4x4_rotate(R, M, c_[0], c_[1], c_[2], angle);
+}
#endif