diff options
Diffstat (limited to 'linmath.h')
-rw-r--r-- | linmath.h | 133 |
1 files changed, 60 insertions, 73 deletions
@@ -1,6 +1,7 @@ #ifndef LINMATH_H #define LINMATH_H +#include <string.h> #include <math.h> #include <string.h> @@ -58,6 +59,12 @@ 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) \ r[i] = a[i]>b[i] ? a[i] : b[i]; \ +} \ +LINMATH_H_FUNC void vec##n##_dup(vec##n r, vec##n const src) \ +{ \ + int i; \ + for(i=0; i<n; ++i) \ + r[i] = src[i]; \ } LINMATH_H_DEFINE_VEC(2) @@ -79,7 +86,7 @@ LINMATH_H_FUNC void vec3_reflect(vec3 r, vec3 const v, vec3 const n) r[i] = v[i] - p*n[i]; } -LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b) +LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 const a, vec4 const b) { r[0] = a[1]*b[2] - a[2]*b[1]; r[1] = a[2]*b[0] - a[0]*b[2]; @@ -87,7 +94,7 @@ LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b) r[3] = 1.f; } -LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 v, vec4 n) +LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 const v, vec4 const n) { float p = 2.f*vec4_mul_inner(v, n); int i; @@ -103,61 +110,59 @@ LINMATH_H_FUNC void mat4x4_identity(mat4x4 M) for(j=0; j<4; ++j) M[i][j] = i==j ? 1.f : 0.f; } -LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 N) +LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 const N) { - int i, j; + int i; for(i=0; i<4; ++i) - for(j=0; j<4; ++j) - M[i][j] = N[i][j]; + vec4_dup(M[i], N[i]); } -LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 M, int i) +LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 const M, int i) { int k; for(k=0; k<4; ++k) r[k] = M[k][i]; } -LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 M, int i) +LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 const M, int i) { int k; for(k=0; k<4; ++k) r[k] = M[i][k]; } -LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 N) +LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 const N) { + // Note: if M and N are the same, the user has to + // explicitly make a copy of M and set it to N. int i, j; for(j=0; j<4; ++j) for(i=0; i<4; ++i) M[i][j] = N[j][i]; } -LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b) +LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 const a, mat4x4 const b) { int i; for(i=0; i<4; ++i) vec4_add(M[i], a[i], b[i]); } -LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b) +LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 const a, mat4x4 const b) { int i; for(i=0; i<4; ++i) vec4_sub(M[i], a[i], b[i]); } -LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 a, float k) +LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 const a, float k) { int i; for(i=0; i<4; ++i) vec4_scale(M[i], a[i], k); } -LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z) +LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 const a, float x, float y, float z) { - int i; vec4_scale(M[0], a[0], x); vec4_scale(M[1], a[1], y); vec4_scale(M[2], a[2], z); - for(i = 0; i < 4; ++i) { - M[3][i] = a[3][i]; - } + vec4_dup(M[3], a[3]); } -LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b) +LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 const a, mat4x4 const b) { mat4x4 temp; int k, r, c; @@ -168,7 +173,7 @@ LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b) } mat4x4_dup(M, temp); } -LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v) +LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 const M, vec4 const v) { int i, j; for(j=0; j<4; ++j) { @@ -194,13 +199,13 @@ LINMATH_H_FUNC void mat4x4_translate_in_place(mat4x4 M, float x, float y, float M[3][i] += vec4_mul_inner(r, t); } } -LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b) +LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 const a, vec3 const 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; } -LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle) +LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 const M, float x, float y, float z, float angle) { float s = sinf(angle); float c = cosf(angle); @@ -228,13 +233,13 @@ LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, mat4x4_add(T, T, C); mat4x4_add(T, T, S); - T[3][3] = 1.; + T[3][3] = 1.f; mat4x4_mul(R, M, T); } else { mat4x4_dup(R, M); } } -LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle) +LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 const M, float angle) { float s = sinf(angle); float c = cosf(angle); @@ -246,7 +251,7 @@ LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle) }; mat4x4_mul(Q, M, R); } -LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle) +LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 const M, float angle) { float s = sinf(angle); float c = cosf(angle); @@ -258,7 +263,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle) }; mat4x4_mul(Q, M, R); } -LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle) +LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 const M, float angle) { float s = sinf(angle); float c = cosf(angle); @@ -270,7 +275,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle) }; mat4x4_mul(Q, M, R); } -LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M) +LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 const M) { float s[6]; float c[6]; @@ -311,10 +316,10 @@ LINMATH_H_FUNC 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; } -LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M) +LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 const M) { mat4x4_dup(R, M); - float s = 1.; + float s = 1.f; vec3 h; vec3_norm(R[2], R[2]); @@ -370,7 +375,7 @@ LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, floa { /* NOTE: Degrees are an unhandy unit to work with. * linmath.h uses radians for everything! */ - float const a = 1.f / tan(y_fov / 2.f); + float const a = 1.f / tanf(y_fov / 2.f); m[0][0] = a / aspect; m[0][1] = 0.f; @@ -392,7 +397,7 @@ LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, floa m[3][2] = -((2.f * f * n) / (f - n)); m[3][3] = 0.f; } -LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up) +LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 const eye, vec3 const center, vec3 const up) { /* Adapted from Android's OpenGL Matrix.java. */ /* See the OpenGL GLUT documentation for gluLookAt for a description */ @@ -435,24 +440,18 @@ LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up) } typedef float quat[4]; +#define quat_add vec4_add +#define quat_sub vec4_sub +#define quat_norm vec4_norm +#define quat_scale vec4_scale +#define quat_mul_inner vec4_mul_inner + LINMATH_H_FUNC void quat_identity(quat q) { q[0] = q[1] = q[2] = 0.f; q[3] = 1.f; } -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]; -} -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]; -} -LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q) +LINMATH_H_FUNC void quat_mul(quat r, quat const p, quat const q) { vec3 w; vec3_mul_cross(r, p, q); @@ -462,37 +461,22 @@ LINMATH_H_FUNC 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); } -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; -} -LINMATH_H_FUNC float quat_inner_product(quat a, quat b) -{ - float p = 0.f; - int i; - for(i=0; i<4; ++i) - p += b[i]*a[i]; - return p; -} -LINMATH_H_FUNC void quat_conj(quat r, quat q) +LINMATH_H_FUNC void quat_conj(quat r, quat const q) { int i; for(i=0; i<3; ++i) r[i] = -q[i]; r[3] = q[3]; } -LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) { - vec3 v; - vec3_scale(v, axis, sinf(angle / 2)); - int i; - for(i=0; i<3; ++i) - r[i] = v[i]; - r[3] = cosf(angle / 2); +LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 const axis) { + vec3 axis_norm; + vec3_norm(axis_norm, axis); + float s = sinf(angle / 2); + float c = cosf(angle / 2); + vec3_scale(r, axis_norm, s); + r[3] = c; } -#define quat_norm vec4_norm -LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v) +LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat const q, vec3 const v) { /* * Method by Fabian 'ryg' Giessen (of Farbrausch) @@ -512,7 +496,7 @@ v' = v + q.w * t + cross(q.xyz, t) vec3_add(r, v, t); vec3_add(r, r, u); } -LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q) +LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat const q) { float a = q[3]; float b = q[0]; @@ -542,18 +526,21 @@ LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q) M[3][3] = 1.f; } -LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q) +LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 const M, quat const q) { -/* XXX: The way this is written only works for othogonal matrices. */ +/* XXX: The way this is written only works for orthogonal matrices. */ /* TODO: Take care of non-orthogonal case. */ quat_mul_vec3(R[0], q, M[0]); quat_mul_vec3(R[1], q, M[1]); quat_mul_vec3(R[2], q, M[2]); R[3][0] = R[3][1] = R[3][2] = 0.f; - R[3][3] = 1.f; + R[0][3] = M[0][3]; + R[1][3] = M[1][3]; + R[2][3] = M[2][3]; + R[3][3] = M[3][3]; // typically 1.0, but here we make it general } -LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M) +LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 const M) { float r=0.f; int i; @@ -583,7 +570,7 @@ LINMATH_H_FUNC 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) +LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 const M, vec2 const _a, vec2 const _b, float s) { vec2 a; memcpy(a, _a, sizeof(a)); vec2 b; memcpy(b, _b, sizeof(b)); |