share/vec3.h

   1 /*
   2  * Copyright (C) 2003 Robert Kooima
   3  *
   4  * NEVERBALL is  free software; you can redistribute  it and/or modify
   5  * it under the  terms of the GNU General  Public License as published
   6  * by the Free  Software Foundation; either version 2  of the License,
   7  * or (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT  ANY  WARRANTY;  without   even  the  implied  warranty  of
  11  * MERCHANTABILITY or  FITNESS FOR A PARTICULAR PURPOSE.   See the GNU
  12  * General Public License for more details.
  13  */
  14
  15 #ifndef VEC_H
  16 #define VEC_H
  17
  18 #include <math.h>
  19
  20 #define V_PI 3.1415927f
  21
  22 #define V_RAD(d) (d * V_PI / 180.f)
  23 #define V_DEG(r) (r * 180.f / V_PI)
  24
  25 #define fsinf(a)      ((float) sin((double) (a)))
  26 #define fcosf(a)      ((float) cos((double) (a)))
  27 #define ftanf(a)      ((float) tan((double) (a)))
  28 #define fabsf(a)      ((float) fabs((double) (a)))
  29 #define fsqrtf(a)     ((float) sqrt((double) (a)))
  30 #define fpowf(x,y)    ((float) pow((double) (x), (double) (y)))
  31 #define fasinf(a)     ((float) asin((double) (a)))
  32 #define facosf(a)     ((float) acos((double) (a)))
  33 #define fmodf(x,y)    ((float) fmod((double) (x), (double) (y)))
  34 #define fatan2f(x, y) ((float) atan2((double) (x), (double) (y)))
  35
  36 #define flerp(f0, f1, a) ((f0) + ((f1) - (f0)) * (a))
  37
  38 /*---------------------------------------------------------------------------*/
  39
  40 #define v_dot(u, v)  ((u)[0] * (v)[0] + (u)[1] * (v)[1] + (u)[2] * (v)[2])
  41 #define v_len(u)     fsqrtf(v_dot(u, u))
  42
  43 #define v_cpy(u, v) do { \
  44     (u)[0] = (v)[0];     \
  45     (u)[1] = (v)[1];     \
  46     (u)[2] = (v)[2];     \
  47 } while (0)
  48
  49 #define v_inv(u, v) do { \
  50     (u)[0] = -(v)[0];    \
  51     (u)[1] = -(v)[1];    \
  52     (u)[2] = -(v)[2];    \
  53 } while (0)
  54
  55 #define v_scl(u, v, k) do { \
  56     (u)[0] = (v)[0] * (k);  \
  57     (u)[1] = (v)[1] * (k);  \
  58     (u)[2] = (v)[2] * (k);  \
  59 } while (0)
  60
  61 #define v_add(u, v, w) do {   \
  62     (u)[0] = (v)[0] + (w)[0]; \
  63     (u)[1] = (v)[1] + (w)[1]; \
  64     (u)[2] = (v)[2] + (w)[2]; \
  65 } while (0)
  66
  67 #define v_sub(u, v, w) do {   \
  68     (u)[0] = (v)[0] - (w)[0]; \
  69     (u)[1] = (v)[1] - (w)[1]; \
  70     (u)[2] = (v)[2] - (w)[2]; \
  71 } while (0)
  72
  73 #define v_mid(u, v, w) do {           \
  74     (u)[0] = ((v)[0] + (w)[0]) / 2.f; \
  75     (u)[1] = ((v)[1] + (w)[1]) / 2.f; \
  76     (u)[2] = ((v)[2] + (w)[2]) / 2.f; \
  77 } while (0)
  78
  79 #define v_mad(u, p, v, t) do {      \
  80     (u)[0] = (p)[0] + (v)[0] * (t); \
  81     (u)[1] = (p)[1] + (v)[1] * (t); \
  82     (u)[2] = (p)[2] + (v)[2] * (t); \
  83 } while (0)
  84
  85 #define v_lerp(u, v, w, a) do {    \
  86     (u)[0] = flerp(v[0], w[0], a); \
  87     (u)[1] = flerp(v[1], w[1], a); \
  88     (u)[2] = flerp(v[2], w[2], a); \
  89 } while (0)
  90
  91 #define e_cpy(d, e) do {   \
  92     v_cpy((d)[0], (e)[0]); \
  93     v_cpy((d)[1], (e)[1]); \
  94     v_cpy((d)[2], (e)[2]); \
  95 } while (0)
  96
  97 #define e_orthonrm(e) do {         \
  98     v_crs((e)[0], (e)[1], (e)[2]); \
  99     v_crs((e)[2], (e)[0], (e)[1]); \
 100     v_nrm((e)[0], (e)[0]);         \
 101     v_nrm((e)[1], (e)[1]);         \
 102     v_nrm((e)[2], (e)[2]);         \
 103 } while (0)
 104
 105 #define e_lerp(c, d, e, a) do {        \
 106     v_lerp((c)[0], (d)[0], (e)[0], a); \
 107     v_lerp((c)[1], (d)[1], (e)[1], a); \
 108     v_lerp((c)[2], (d)[2], (e)[2], a); \
 109     e_orthonrm(c);                     \
 110 } while (0)
 111
 112 /*---------------------------------------------------------------------------*/
 113
 114 void   v_nrm(float *, const float *);
 115 void   v_crs(float *, const float *, const float *);
 116
 117 void   m_cpy(float *, const float *);
 118 void   m_xps(float *, const float *);
 119 int    m_inv(float *, const float *);
 120
 121 void   m_ident(float *);
 122 void   m_basis(float *, const float *,
 123                         const float *,
 124                         const float *);
 125 void   m_xlt(float *, const float *);
 126 void   m_scl(float *, const float *);
 127 void   m_rot(float *, const float *, float);
 128
 129 void   m_mult(float *, const float *, const float *);
 130 void   m_pxfm(float *, const float *, const float *);
 131 void   m_vxfm(float *, const float *, const float *);
 132
 133 /*---------------------------------------------------------------------------*/
 134
 135 #define q_dot(q, r) ((q)[0] * (r)[0] + v_dot((q) + 1, (r) + 1))
 136 #define q_len(q)    fsqrtf(q_dot((q), (q)))
 137
 138 #define q_cpy(q, r) do { \
 139     (q)[0] = (r)[0];     \
 140     (q)[1] = (r)[1];     \
 141     (q)[2] = (r)[2];     \
 142     (q)[3] = (r)[3];     \
 143 } while (0)
 144
 145 #define q_conj(q, r) do { \
 146     (q)[0] =  (r)[0];     \
 147     (q)[1] = -(r)[1];     \
 148     (q)[2] = -(r)[2];     \
 149     (q)[3] = -(r)[3];     \
 150 } while (0)
 151
 152 void q_as_axisangle(const float q[4], float u[3], float *a);
 153 void q_by_axisangle(float q[4], const float u[3], float a);
 154
 155 void q_nrm(float q[4], const float r[4]);
 156 void q_mul(float q[4], const float a[4], const float b[4]);
 157 void q_rot(float v[3], const float r[4], const float w[3]);
 158
 159 void q_euler(float v[3], const float q[4]);
 160 void q_slerp(float q[4], const float a[4], const float b[4], float t);
 161
 162 #endif