1 static void vneg (float *res
, float *v
)
8 static void vcopy (float *res
, float *v
)
15 static void vadd (float *res
, float *v1
, float *v2
)
17 res
[0] = v1
[0] + v2
[0];
18 res
[1] = v1
[1] + v2
[1];
19 res
[2] = v1
[2] + v2
[2];
22 static void vsub (float *res
, float *v1
, float *v2
)
24 res
[0] = v1
[0] - v2
[0];
25 res
[1] = v1
[1] - v2
[1];
26 res
[2] = v1
[2] - v2
[2];
29 static void qconjugate (float *res
, float *q
)
35 static float qmagnitude (float *q
)
37 return sqrt (q
[0]*q
[0]+q
[1]*q
[1]+q
[2]*q
[2]+q
[3]*q
[3]);
40 static void qapply (float *res
, float *q
, float *v
)
49 float t2
, t3
, t4
, t5
, t6
, t7
, t8
, t9
, t10
;
59 res
[0] = 2*( (t8
+ t10
)*v1
+ (t6
- t4
)*v2
+ (t3
+ t7
)*v3
) + v1
;
60 res
[1] = 2*( (t4
+ t6
)*v1
+ (t5
+ t10
)*v2
+ (t9
- t2
)*v3
) + v2
;
61 res
[2] = 2*( (t7
- t3
)*v1
+ (t2
+ t9
)*v2
+ (t5
+ t8
)*v3
) + v3
;
64 static void qscale (float *res
, float *q
, float scale
)
66 *res
++ = *q
++ * scale
;
67 *res
++ = *q
++ * scale
;
68 *res
++ = *q
++ * scale
;
69 *res
++ = *q
++ * scale
;
72 static void qcompose (float *res
, float *q1
, float *q2
)
74 res
[0] = q1
[3]*q2
[0] + q1
[0]*q2
[3] + q1
[1]*q2
[2] - q1
[2]*q2
[1];
75 res
[1] = q1
[3]*q2
[1] + q1
[1]*q2
[3] + q1
[2]*q2
[0] - q1
[0]*q2
[2];
76 res
[2] = q1
[3]*q2
[2] + q1
[2]*q2
[3] + q1
[0]*q2
[1] - q1
[1]*q2
[0];
77 res
[3] = q1
[3]*q2
[3] - q1
[0]*q2
[0] - q1
[1]*q2
[1] - q1
[2]*q2
[2];
80 static void q2matrixt (float *mat
, float *q
, float *v
)
99 mat
[0] = 1 - 2 * ( yy
+ zz
);
100 mat
[1] = 2 * ( xy
- zw
);
101 mat
[2] = 2 * ( xz
+ yw
);
103 mat
[4] = 2 * ( xy
+ zw
);
104 mat
[5] = 1 - 2 * ( xx
+ zz
);
105 mat
[6] = 2 * ( yz
- xw
);
107 mat
[8] = 2 * ( xz
- yw
);
108 mat
[9] = 2 * ( yz
+ xw
);
109 mat
[10] = 1 - 2 * ( xx
+ yy
);
122 static void q2matrix (float *mat
, float *q
)
124 float z
[3] = {0,0,0};
125 q2matrixt (mat
, q
, z
);
128 static void mscale (float *res
, float *m
, float s
)
131 for (i
= 0; i
< 12; ++i
) *res
++ = *m
++ * s
;
134 static void mapply_to_point (float *res
, float *m
, float *v
)
139 res
[0] = x
*m
[0] + y
*m
[4] + z
*m
[8] + m
[3];
140 res
[1] = x
*m
[1] + y
*m
[5] + z
*m
[9] + m
[7];
141 res
[2] = x
*m
[2] + y
*m
[6] + z
*m
[10] + m
[11];
144 static void mapply_to_vector (float *res
, float *m
, float *v
)
149 res
[0] = x
*m
[0] + y
*m
[4] + z
*m
[8];
150 res
[1] = x
*m
[1] + y
*m
[5] + z
*m
[9];
151 res
[2] = x
*m
[2] + y
*m
[6] + z
*m
[10];
154 static void vaddto (float *v1
, float *v2
)