1 /* C version of the graphene math library
2 * Copyright (C) 2018 John Tsiombikas <nuclear@member.fsf.org>
4 * This program is free software. Feel free to use, modify, and/or redistribute
5 * it under the terms of the MIT/X11 license. See LICENSE for details.
6 * If you intend to redistribute parts of the code without the LICENSE file
7 * replace this paragraph with the full contents of the LICENSE file.
9 * Function prefixes signify the data type of their operand(s):
10 * - cgm_v... functions are operations on cgm_vec3 vectors
11 * - cgm_w... functions are operations on cgm_vec4 vectors
12 * - cgm_q... functions are operations on cgm_quat quaternions (w + xi + yj + zk)
13 * - cgm_m... functions are operations on 4x4 matrices (stored as linear 16 float arrays)
15 * NOTE: *ALL* matrix arguments are pointers to 16 floats. Even the functions
16 * which operate on 3x3 matrices, actually use the upper 3x3 of a 4x4 matrix,
17 * and still expect an array of 16 floats.
19 * NOTE: matrices are treated by all operations as column-major, to match OpenGL
20 * conventions, so everything is pretty much transposed.
36 typedef enum cgm_euler_mode {
55 /* --- operations on cgm_vec3 --- */
56 static inline void cgm_vcons(cgm_vec3 *v, float x, float y, float z);
58 static inline void cgm_vadd(cgm_vec3 *a, const cgm_vec3 *b);
59 static inline void cgm_vsub(cgm_vec3 *a, const cgm_vec3 *b);
60 static inline void cgm_vmul(cgm_vec3 *a, const cgm_vec3 *b);
61 static inline void cgm_vscale(cgm_vec3 *v, float s);
62 static inline void cgm_vmul_m4v3(cgm_vec3 *v, const float *m); /* m4x4 * v */
63 static inline void cgm_vmul_v3m4(cgm_vec3 *v, const float *m); /* v * m4x4 */
64 static inline void cgm_vmul_m3v3(cgm_vec3 *v, const float *m); /* m3x3 * v (m still 16 floats) */
65 static inline void cgm_vmul_v3m3(cgm_vec3 *v, const float *m); /* v * m3x3 (m still 16 floats) */
67 static inline float cgm_vdot(const cgm_vec3 *a, const cgm_vec3 *b);
68 static inline void cgm_vcross(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b);
69 static inline float cgm_vlength(const cgm_vec3 *v);
70 static inline float cgm_vlength_sq(const cgm_vec3 *v);
71 static inline float cgm_vdist(const cgm_vec3 *a, const cgm_vec3 *b);
72 static inline float cgm_vdist_sq(const cgm_vec3 *a, const cgm_vec3 *b);
73 static inline void cgm_vnormalize(cgm_vec3 *v);
75 static inline void cgm_vreflect(cgm_vec3 *v, const cgm_vec3 *n);
76 static inline void cgm_vrefract(cgm_vec3 *v, const cgm_vec3 *n, float ior);
78 static inline void cgm_vrotate_quat(cgm_vec3 *v, const cgm_quat *q);
79 static inline void cgm_vrotate_axis(cgm_vec3 *v, int axis, float angle);
80 static inline void cgm_vrotate(cgm_vec3 *v, float angle, float x, float y, float z);
81 static inline void cgm_vrotate_euler(cgm_vec3 *v, float a, float b, float c, enum cgm_euler_mode mode);
83 static inline void cgm_vlerp(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b, float t);
85 /* --- operations on cgm_vec4 --- */
86 static inline void cgm_wcons(cgm_vec4 *v, float x, float y, float z, float w);
88 static inline void cgm_wadd(cgm_vec4 *a, const cgm_vec4 *b);
89 static inline void cgm_wsub(cgm_vec4 *a, const cgm_vec4 *b);
90 static inline void cgm_wmul(cgm_vec4 *a, const cgm_vec4 *b);
91 static inline void cgm_wscale(cgm_vec4 *v, float s);
93 static inline void cgm_wmul_m4v4(cgm_vec4 *v, const float *m);
94 static inline void cgm_wmul_v4m4(cgm_vec4 *v, const float *m);
95 static inline void cgm_wmul_m34v4(cgm_vec4 *v, const float *m); /* doesn't affect w */
96 static inline void cgm_wmul_v4m43(cgm_vec4 *v, const float *m); /* doesn't affect w */
97 static inline void cgm_wmul_m3v4(cgm_vec4 *v, const float *m); /* (m still 16 floats) */
98 static inline void cgm_wmul_v4m3(cgm_vec4 *v, const float *m); /* (m still 16 floats) */
100 static inline float cgm_wlength(const cgm_vec4 *v);
101 static inline float cgm_wlength_sq(const cgm_vec4 *v);
102 static inline float cgm_wdist(const cgm_vec4 *a, const cgm_vec4 *b);
103 static inline float cgm_wdist_sq(const cgm_vec4 *a, const cgm_vec4 *b);
104 static inline void cgm_wnormalize(cgm_vec4 *v);
106 static inline void cgm_wlerp(cgm_vec4 *res, const cgm_vec4 *a, const cgm_vec4 *b, float t);
108 /* --- operations on quaternions --- */
109 static inline void cgm_qcons(cgm_quat *q, float x, float y, float z, float w);
111 static inline void cgm_qneg(cgm_quat *q);
112 static inline void cgm_qadd(cgm_quat *a, const cgm_quat *b);
113 static inline void cgm_qsub(cgm_quat *a, const cgm_quat *b);
114 static inline void cgm_qmul(cgm_quat *a, const cgm_quat *b);
116 static inline float cgm_qlength(const cgm_quat *q);
117 static inline float cgm_qlength_sq(const cgm_quat *q);
118 static inline void cgm_qnormalize(cgm_quat *q);
119 static inline void cgm_qconjugate(cgm_quat *q);
120 static inline void cgm_qinvert(cgm_quat *q);
122 static inline void cgm_qrotation(cgm_quat *q, const cgm_vec3 *axis, float angle);
123 static inline void cgm_qrotate(cgm_quat *q, const cgm_vec3 *axis, float angle);
125 static inline void cgm_qslerp(cgm_quat *res, const cgm_quat *a, const cgm_quat *b, float t);
126 static inline void cgm_qlerp(cgm_quat *res, const cgm_quat *a, const cgm_quat *b, float t);
128 /* --- operations on matrices --- */
129 static inline void cgm_mcopy(float *dest, const float *src);
130 static inline void cgm_mzero(float *m);
131 static inline void cgm_midentity(float *m);
133 static inline void cgm_mmul(float *a, const float *b);
135 static inline void cgm_msubmatrix(float *m, int row, int col);
136 static inline void cgm_mupper3(float *m);
137 static inline float cgm_msubdet(float *m, int row, int col);
138 static inline float cgm_mcofactor(float *m, int row, int col);
139 static inline float cgm_mdet(float *m);
140 static inline void cgm_mtranspose(float *m);
141 static inline void cgm_mcofmatrix(float *m);
142 static inline int cgm_minverse(float *m); /* returns 0 on success, -1 for singular */
144 static inline void cgm_mtranslation(float *m, float x, float y, float z);
145 static inline void cgm_mscaling(float *m, float sx, float sy, float sz);
146 static inline void cgm_mrotation_x(float *m, float angle);
147 static inline void cgm_mrotation_y(float *m, float angle);
148 static inline void cgm_mrotation_z(float *m, float angle);
149 static inline void cgm_mrotation_axis(float *m, int idx, float angle);
150 static inline void cgm_mrotation(float *m, float angle, float x, float y, float z);
151 static inline void cgm_mrotation_euler(float *m, float a, float b, float c, int mode);
153 static inline void cgm_mtranslate(float *m, float x, float y, float z);
154 static inline void cgm_mscale(float *m, float sx, float sy, float sz);
155 static inline void cgm_mrotate_x(float *m, float angle);
156 static inline void cgm_mrotate_y(float *m, float angle);
157 static inline void cgm_mrotate_z(float *m, float angle);
158 static inline void cgm_mrotate_axis(float *m, int idx, float angle);
159 static inline void cgm_mrotate(float *m, float angle, float x, float y, float z);
160 static inline void cgm_mrotate_euler(float *m, float a, float b, float c, int mode);
162 static inline void cgm_mpretranslate(float *m, float x, float y, float z);
163 static inline void cgm_mprescale(float *m, float sx, float sy, float sz);
164 static inline void cgm_mprerotate_x(float *m, float angle);
165 static inline void cgm_mprerotate_y(float *m, float angle);
166 static inline void cgm_mprerotate_z(float *m, float angle);
167 static inline void cgm_mprerotate_axis(float *m, int idx, float angle);
168 static inline void cgm_mprerotate(float *m, float angle, float x, float y, float z);
169 static inline void cgm_mprerotate_euler(float *m, float a, float b, float c, int mode);
171 static inline void cgm_mget_translation(const float *m, cgm_vec3 *res);
172 static inline void cgm_mget_rotation(const float *m, cgm_quat *res);
173 static inline void cgm_mget_scaling(const float *m, cgm_vec3 *res);
174 static inline void cgm_mget_frustum_plane(const float *m, int p, cgm_vec4 *res);
176 static inline void cgm_mlookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
178 static inline void cgm_minv_lookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
180 static inline void cgm_mortho(float *m, float left, float right, float bot, float top,
181 float znear, float zfar);
182 static inline void cgm_mfrustum(float *m, float left, float right, float bot, float top,
183 float znear, float zfar);
184 static inline void cgm_mperspective(float *m, float vfov, float aspect, float znear, float zfar);
186 static inline void cgm_mmirror(float *m, float a, float b, float c, float d);
189 #include "cgmvec3.inl"
190 #include "cgmvec4.inl"
191 #include "cgmquat.inl"
192 #include "cgmmat.inl"
198 #endif /* CGMATH_H_ */