1 static inline void cgm_vcons(cgm_vec3 *v, float x, float y, float z)
8 static inline void cgm_vadd(cgm_vec3 *a, const cgm_vec3 *b)
15 static inline void cgm_vsub(cgm_vec3 *a, const cgm_vec3 *b)
22 static inline void cgm_vmul(cgm_vec3 *a, const cgm_vec3 *b)
29 static inline void cgm_vscale(cgm_vec3 *v, float s)
36 static inline void cgm_vmul_m4v3(cgm_vec3 *v, const float *m)
38 float x = v->x * m[0] + v->y * m[4] + v->z * m[8] + m[12];
39 float y = v->x * m[1] + v->y * m[5] + v->z * m[9] + m[13];
40 v->z = v->x * m[2] + v->y * m[6] + v->z * m[10] + m[14];
45 static inline void cgm_vmul_v3m4(cgm_vec3 *v, const float *m)
47 float x = v->x * m[0] + v->y * m[1] + v->z * m[2] + m[3];
48 float y = v->x * m[4] + v->y * m[5] + v->z * m[6] + m[7];
49 v->z = v->x * m[8] + v->y * m[9] + v->z * m[10] + m[11];
54 static inline void cgm_vmul_m3v3(cgm_vec3 *v, const float *m)
56 float x = v->x * m[0] + v->y * m[4] + v->z * m[8];
57 float y = v->x * m[1] + v->y * m[5] + v->z * m[9];
58 v->z = v->x * m[2] + v->y * m[6] + v->z * m[10];
63 static inline void cgm_vmul_v3m3(cgm_vec3 *v, const float *m)
65 float x = v->x * m[0] + v->y * m[1] + v->z * m[2];
66 float y = v->x * m[4] + v->y * m[5] + v->z * m[6];
67 v->z = v->x * m[8] + v->y * m[9] + v->z * m[10];
72 static inline float cgm_vdot(const cgm_vec3 *a, const cgm_vec3 *b)
74 return a->x * b->x + a->y * b->y + a->z * b->z;
77 static inline void cgm_vcross(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b)
79 res->x = a->y * b->z - a->z * b->y;
80 res->y = a->z * b->x - a->x * b->z;
81 res->z = a->x * b->y - a->y * b->x;
84 static inline float cgm_vlength(const cgm_vec3 *v)
86 return sqrt(v->x * v->x + v->y * v->y + v->z * v->z);
89 static inline float cgm_vlength_sq(const cgm_vec3 *v)
91 return v->x * v->x + v->y * v->y + v->z * v->z;
94 static inline float cgm_vdist(const cgm_vec3 *a, const cgm_vec3 *b)
96 float dx = a->x - b->x;
97 float dy = a->y - b->y;
98 float dz = a->z - b->z;
99 return sqrt(dx * dx + dy * dy + dz * dz);
102 static inline float cgm_vdist_sq(const cgm_vec3 *a, const cgm_vec3 *b)
104 float dx = a->x - b->x;
105 float dy = a->y - b->y;
106 float dz = a->z - b->z;
107 return dx * dx + dy * dy + dz * dz;
110 static inline void cgm_vnormalize(cgm_vec3 *v)
112 float len = cgm_vlength(v);
114 float s = 1.0f / len;
121 static inline void cgm_vreflect(cgm_vec3 *v, const cgm_vec3 *n)
123 float ndotv2 = cgm_vdot(v, n) * 2.0f;
124 v->x -= n->x * ndotv2;
125 v->y -= n->y * ndotv2;
126 v->z -= n->z * ndotv2;
129 static inline void cgm_vrefract(cgm_vec3 *v, const cgm_vec3 *n, float ior)
131 float ndotv = cgm_vdot(v, n);
132 float k = 1.0f - ior * ior * (1.0f - ndotv * ndotv);
134 cgm_vreflect(v, n); /* TIR */
136 float sqrt_k = sqrt(k);
137 v->x = ior * v->x - (ior * ndotv + sqrt_k) * n->x;
138 v->y = ior * v->y - (ior * ndotv + sqrt_k) * n->y;
139 v->z = ior * v->z - (ior * ndotv + sqrt_k) * n->z;
143 static inline void cgm_vrotate_quat(cgm_vec3 *v, const cgm_quat *q)
145 cgm_quat vq, inv_q = *q, tmp_q = *q;
147 cgm_qcons(&vq, v->x, v->y, v->z, 0.0f);
149 cgm_qmul(&tmp_q, &vq);
150 cgm_qmul(&vq, &inv_q);
151 cgm_vcons(v, vq.x, vq.y, vq.z);
154 static inline void cgm_vrotate_axis(cgm_vec3 *v, int axis, float angle)
157 cgm_mrotation_axis(m, axis, angle);
161 static inline void cgm_vrotate(cgm_vec3 *v, float angle, float x, float y, float z)
164 cgm_mrotation(m, angle, x, y, z);
168 static inline void cgm_vrotate_euler(cgm_vec3 *v, float a, float b, float c, enum cgm_euler_mode mode)
171 cgm_mrotation_euler(m, a, b, c, mode);
175 static inline void cgm_vlerp(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b, float t)
177 res->x = a->x * (b->x - a->x) * t;
178 res->y = a->y * (b->y - a->y) * t;
179 res->z = a->z * (b->z - a->z) * t;